All fours type bionic robot control device

A bionic robot and control device technology, applied in the directions of digital control, attitude control, electrical program control, etc., can solve the problem that a quadruped robot cannot adjust its own motion autonomously, and achieve the effect of intelligent enhancement of adaptive navigation.

Inactive Publication Date: 2008-08-27
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0004] In order to overcome the problem that existing quadruped robots cannot autonomously adjust their own movement through self-perception of the external environment, the present invention proposes a quadruped bionic robot control device and s

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  • All fours type bionic robot control device
  • All fours type bionic robot control device
  • All fours type bionic robot control device

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Embodiment Construction

[0013] Device embodiment: As shown in Fig. 1, it is the robot control device scheme according to the present invention. The neural control system of most organisms including human beings all occurs in a biological mode, which is divided into decision-making with the upper brain as the core. The control layer and the lower central nervous system are the coordination execution layer with the core. Among them, the brain is used to calculate and process the environmental data collected by various organs and make judgments, that is, to obtain useful information, and to convey information generation instructions to the central nervous system. The central nervous system is used to issue execution instructions and control the movement of limbs (including bones, muscles, etc.). This mode is the dynamic neuron network mode of the upper and lower control layers used in the present invention.

[0014] Similar to the biological motion control system, the quadruped bionic robot moving in th...

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Abstract

The present invention discloses a four-foot type bionic robot control device, wherein an upper control layer and a lower control layer are established; sensors provide environment information for the robot control layers; an upper layer calculator and a lower layer calculator process acquired information and transmit a decision instruction to a servo motor; after the motor rotates to drive a robot body to move, the state of the robot is changed, and then the sensors survey new environment data. An upper layer control layer determines the orientation adjustment and conversion of the robot; a lower layer control layer utilizes a dynamic neural network algorithm to be integrated with the data of the sensors, and simultaneously transmits joint control signals to a motor controller so as to drive the servo motor. As the present invention establishes a four-foot type bionic robot control device capable of realizing self-perception, self-adaptation and self-regulation actions, the robot can have abundant information sources and intelligently regulate poses so as to adapt to complex environment.

Description

technical field [0001] The invention relates to a quadruped bionic robot control device moving under the control of a dynamic neuron network mode, belonging to the technical field of robot motion control. Background technique [0002] At present, all countries in the world are developing quadruped bionic robots, but conventional control methods can only ensure that the robot moves under a preset model, and environmental changes have a greater impact on its movement. Therefore, the four-legged bionic robot that can self-perceive the environment, self-adjust the pose, and be minimally constrained by the environment is at the forefront of this technology field. [0003] The quadruped robot developed by the Brooks research team of MIT in the United States uses some local conditioned reflex units in the basic biological behavior as the main basis for its robot motion control. This method focuses on the local control of the lower layer of the robot, without the dynamics of the upp...

Claims

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Application Information

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IPC IPC(8): G05D1/03G05D1/08G05D1/00G05B19/414B25J13/00
Inventor 王润孝秦现生徐娅萍冯华山丁良宏赵国斌姬昌睿路新亮
Owner NORTHWESTERN POLYTECHNICAL UNIV
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