Self-adaptive control method for diagonal gait of four-footed robot

Abstract

The invention discloses a self-adaptive control method for diagonal gait of a four-footed robot, which is used for self-adaptively controlling the walking of the four-footed robot in the nonstructural terrain with the diagonal gait. The self-adaptive control method bases on a fuzzy reasoning learning method and a foot trajectory real-time correction method and takes the diagonal gait as the motion mode so as to comprehensively control a robot body to adapt for the nonstructural environment. The gait planning is carried out on the environmental information collected by the sensor through the fuzzy reasoning learning method; the stability judgment is carried out on the gait planning information; if the planned four-footed robot has stable diagonal gait, the joint corner information is sent to a control system; if not, the supporting time of the diagonal feet is corrected by the foot trajectory real-time correction method so that the four-footed robot has better stability when walking under the changed gait in the nonstructural terrain. The self-adaptive control method is used for correcting foot trajectory planning and walking stability under changed gait when the four-footed robot walks diagonally in a dynamic way, thus realizing the self-perception, self-correction and self-adjustment of the four-footed robot.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method for controlling the diagonal gait of a quadruped robot. Background technique [0002] Because of its simple and flexible mechanism, strong carrying capacity and good stability, quadruped robots have good application prospects in many aspects such as emergency rescue and disaster relief, military affairs, etc., and are valued by researchers of quadruped robots in various countries. Quadruped robot is a multivariable and strongly coupled dynamic model. Its self-adaptation of unstructured terrain under variable gait and stability adjustment of variable gait are of great significance to the research of control theory and the design of real-time control system. Very challenging. [0003] Researchers first conducted research on static walking and achieved certain results. However, from the perspective of improving walking speed, dynamic walking has certain advantages, but the te...

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Problems solved by technology

[0006] In order to overcome the shortcomings in the prior art that do not consider the gait planning problem in the complex terrain environment when the quadruped robot walks with a diagonal gait, the present invention proposes an adaptive control of the quadruped robot's diagonal gait method

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