Legged robot stability control method and system with environmental adaptation

A stability control and environmental adaptability technology, applied in the field of robotics, can solve the problems of low initial condition requirements and unsatisfactory real-time control, and achieve the effects of simplifying the control algorithm, improving terrain adaptability, and reducing the equivalent error of the model

Active Publication Date: 2012-10-17
HUAZHONG UNIV OF SCI & TECH
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  • Description
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Problems solved by technology

[0009] The purpose of the present invention is to provide a footed robot stability control method and system that can overcome the above-mentioned defects. Taking the SLIP equivalent model as the research object, it not only considers the damping loss in the movement process of the footed robot, but also makes the controlled SL...

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  • Legged robot stability control method and system with environmental adaptation
  • Legged robot stability control method and system with environmental adaptation
  • Legged robot stability control method and system with environmental adaptation

Examples

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specific example

[0099] The following is a concrete example simulation to illustrate the control effect, and the basic parameters are set as follows:

[0100] SLIP model equivalent mass m=0.54kg, equivalent spring stiffness k=6N / mm, equivalent damping c=0.00035N s / mm, initial equivalent leg length r 0 =120mm, initial vertical height H 0 =170mm.

[0101] The input of PID control is the current swing angle, and the output is joint torque. The rules used in this example are as follows:

[0102] F = k P ( θ - θ TD ) + k d ( θ · - θ · TD ) + ∫ ( θ - θ ...

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Abstract

The invention discloses a legged robot stability control method and system with the environmental adaptation. The control method comprises the following steps of: comparing the relevant parameter information of a previous earth contact process with a control target expected to reach; carrying out feedback control to the horizontal kinematic velocity of a flight phase and total system energy; predicting and controlling the earth contact angle, and carrying out system energy compensation control; and finally, realizing the expected stable periodic motion of a legged robot serial line internet protocol (SLIP) equivalent model under different ground environments. The system comprises a system status detection module and a stable control module. According to the legged robot stability control method and system with the environmental adaptation, a specific robot dynamics model does not need to be built, an accurate fixed-point earth contact angle does not need to be calculated, and dominated convergence is realized by feedback control. The control method is simple and is quick in calculating, and the problems of insufficient control instantaneity, insufficient adaptability and the like in the traditional method can be better solved. In addition, the control system has a better unknown environment adaptability, and a better solution is provided for the legged robot stability control.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method and system for controlling the stability of a legged robot with environmental adaptability. Background technique [0002] More than 50% of the earth's land surface is complex terrain such as hills or swamps. Compared with wheeled robots and crawler robots, legged robots have better adaptability and motion performance on these complex terrains. It is hoped that legged robots can move stably and quickly on complex land terrain like various legged animals in nature, so as to assist humans to complete various tasks. Therefore, more and more researchers have introduced bionics methods into robot research, and copied and recreated the structure, function and control mechanism of organisms through bionics methods of research, learning, and imitation. [0003] Biology in nature is often a complex highly nonlinear system with multiple legs, multiple joints, and severe...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 陈学东韩斌罗欣刘清宇姜伟陈霈程品周博
Owner HUAZHONG UNIV OF SCI & TECH
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