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Jumping robot and motion optimization method adopting inertia matching

An optimization method, robot technology, applied in the direction of motor vehicles, automatic toys, transportation and packaging, etc., can solve the problems of poor adaptability to non-structural environments

Inactive Publication Date: 2009-09-09
王慧娟
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Therefore, without the intervention of inertial matching technology, the adaptability to unstructured environments is very poor

Method used

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  • Jumping robot and motion optimization method adopting inertia matching
  • Jumping robot and motion optimization method adopting inertia matching
  • Jumping robot and motion optimization method adopting inertia matching

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Embodiment Construction

[0024] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0025] The overall structure and principle diagram of the robot are as follows: figure 1 shown.

[0026] This jumping robot takes the matrix operation controller as the hardware core, and the multi-rigid body joint configuration of the robot is described as follows figure 1 The inertia matching of the jumping robot is shown, the jumping robot is regarded as a redundant mechanical arm holding the terminal load, and the force analysis of the terminal load is carried out, where: the robot load acceleration matrix is ​​the robot gravity matrix, m l for load matching. The robot load matching index is M load , which reflects the mass distribution of the robot and the ability to carry loads. If the end load is unknown, when the robot is subjected to an external force (moment), the pseudo-inverse matrix of the Jacobian matrix of the robot is derived according to the dynam...

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Abstract

The invention discloses a jumping robot and a motion optimization method adopting inertia matching. The jumping robot consists of a matrix operation controller, an aluminum plate body, a joint drive motor and a motion control algorithm with inertia matching. The system uses the jumping robot as a research object; the jumping motion is divided into three phases of a standing phase, a soaring phase and a falling collision phase; on the basis of variable constraint dynamics, the system establishes a standing phase dynamics equation by using a space floating base, performs optimization research on jumping gesture and load matching by using the inertia matching and direction manipulability and uses five polynomial to plan jumping motions. The simulation and experiment show that when the inertia matching of the jumping robot is maximal, the reaction impulse of the ground is maximal, and the jumping performance is optimal; the jumping height and the inertia matching are in direct proportion; and when the inertia matching is maximal, the jumping gesture of the robot and the load matching are optimal. The inertia matching is an effective jumping motion optimization method.

Description

technical field [0001] The invention relates to the field of robot motion control, and more specifically relates to a jumping robot and a motion optimization method using inertial matching. The present invention is advantageous for the adaptability of two-legged robots in unstructured environments. Background technique [0002] Nowadays, in the field of robotics, two-legged robots mostly use one leg to run passively. This kind of robot has elastic legs and flexible hip joints. The biggest advantage of this motion control over previously proposed ones is that it does not require pre-planned trajectories and target dynamics. It utilizes precise nonlinear dynamics. The results are summarized below. First, an energy-conserving control strategy is proposed that generates energy-efficient, autonomous gaits. The strategy was successfully run as a new flight phase touchdown controller. Simulation results show that the robot is able to jump under a range of initial conditions. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032A63H11/06
Inventor 王慧娟
Owner 王慧娟
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