设计并实现了一种机器人自主攀爬楼梯系统，研究了复杂环境下可变形机器人自主攀爬楼梯的控制方法。通过分析楼梯面与机器人履带的接触方式，包括梯面打滑、棱刺打滑、履带打滑等，确定了机器人进行梯面翻越、梯面行走时不打滑的条件，以提高机器人的爬行效率。对传感器的感知信息进行滤波，以提高机器人的感知能力，确定楼梯的首末台阶，进而制定有效的爬行策略。通过对整个控制系统进行建模分析，建立了系统的软件流程图；通过对多种典型楼梯环境进行试验，验证设计方法的有效性及较好的鲁棒性。%A robot system capable of autonomous stair climbing was designed and implemented, and a method for autono-mous stair climbing control of shape-shifting robots in complex environments was studied. Through the analysis of the contact modes between stairs and robot tracks, including tread slipping, edge slipping and track slipping, the non-slipping conditions meeting the robot during the tread overcoming process were determined to improve the effi-ciency of climbing stairs for the robot. Through filtering of the sensor’ s perception information, the robot’ s aware-ness was enhanced. Then the first and last stairs were determined and the control strategy was established effective-ly. By the modeling analysis of the whole control system, the software flow diagram was established. The experi-ments were done on several typical kinds of staris to test the robustness and validity of the design, and the results were satisfactory.
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