Combined type bionic quadruped robot controller

Abstract

The invention relates to a combined type bionic quadruped robot controller, which is in a structure similar to a vertebrate nervous system, wherein the controller is divided into a decision layer, a planning layer and an execution layer which respectively correspond to a higher nervous center, a lower nervous center and a motor nerve of an animal. The decision layer for realizing that the robot senses the working environment and generates corresponding motion decision instructions consists of an ARM9 (advanced RISC (reduced instruction-set computer) machine 9) and an environmental information acquisition system, and a real-time operating system is embedded in the ARM9. The core of the planning layer is a walking pattern generator, and is used for planning and solving the motion parameters of each joint according to the decision instructions from the upper layer. The execution layer for controlling the current, the position and the speed of a driving motor in three closed loops consists of a motor controller using a digital signal processor as the core. Data can be effectively transmitted among the three layers in real time through a dual-port RAM (random-access memory) and a CAN (controller area network) bus network. The combined type bionic quadruped robot controller disclosed by the invention has the characteristics of high reliability, high flexibility, extension easiness and maintenance easiness, and has a broad application prospect in the technical field of bionic legged robots.

Description

technical field [0001] The invention relates to a composite bionic quadruped robot controller, which belongs to the technical field of robot motion control. Background technique [0002] Legged robots that can adapt to complex terrain environments are one of the most cutting-edge topics in the field of mobile robot research today. In general, legged robots can be divided into biped, quadruped and hexapod robots. Compared with biped robots, quadruped robots have better stability; and compared with hexapod robots, quadruped robots have simpler mechanism complexity. [0003] The model establishment of existing bionic quadruped robots is mainly based on the bionic research on quadrupeds in nature, but the actual robot movement effect is far behind that of quadrupeds in nature. For example, the quadruped bionic robot (Patent No. 03157386.X) developed by the team of Zheng Haojun of Tsinghua University to realize the rhythmic movement of animals, although the structure design of ...

AI Technical Summary

Problems solved by technology

The quadruped bionic robot (Patent No. 200710300719.7) developed by Northwestern Polytechnical University Wang Runxiao and others has improved the sensor system of the quadruped robot, but the controller is composed of dual PC104, and the control functions are highly concentrated, which will inevitably have a relatively large impact on the main control chip. Large loads cannot guarantee the real-time requirements of the control system, and it is easy to cause the overall failure of the robot caused by partial failures

[0004] Early robot controllers mostly used time-sharing operating systems such as Windows and DOS. This type of operating system has the advantages of a friendly user interface and a mature system; however, the time-sharing operating system is automatically calculated by the scheduler instead of being controlled by the user. The priority of the process, which makes it impossible to complete the real-time coordinated control of multiple motors

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