Balance control method of multi-leg robot

A multi-legged robot, balance control technology, applied in two-dimensional position/channel control and other directions, can solve problems such as rare multi-legged robots

Active Publication Date: 2012-10-24
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

Searching relevant literature, the research on the balance of multi-legged robots mainly focuses on how to determine the stability of the robot and plan the gait of

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  • Balance control method of multi-leg robot
  • Balance control method of multi-leg robot

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Embodiment Construction

[0026] The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto. This specific embodiment selects the hexapod robot in the multi-legged robot (such as figure 1 shown) as the action object, but the implementation object is not limited to this, it can also act on quadruped robots (such as figure 2 shown), eight-legged robots and other multi-legged robots.

[0027] figure 1 It is the schematic diagram of the structure of the hexapod robot and the definition of each coordinate system. The robot is composed of a fuselage 101 and six legs, and the six legs are respectively numbered 1, 2, 3, 4, 5, 6 in the counterclockwise direction. Each leg consists of a base section 103 , a thigh 105 and a lower leg 107 . The fuselage 101 and the base section 103 are connected through the hip joint 102, the base section 103 and the thigh 105 are connec...

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Abstract

The invention discloses a balance control method of a multi-leg robot, applied for balance control of the multi-leg robot during movement under the condition of non-structured terrain, wherein the control flow is simple and clear. The balance control method of the multi-leg robot comprises the following specific steps of: if finding out unstability of the robot, quickly calculating the landing positions of the tail ends of the legs in next movement period, and after executing a control policy, quickly switching the unstable state of the robot to a static stable state. A constraint condition that the landing positions of the ends of the legs should satisfy and the landing positions of the ends of the legs both are given by an analytic expression; the calculation efficiency is high; and the method is suitable for online real-time calculation and real-time control. The whole set of control method performs position control on the movement of each leg of the robot by means of the angle information of each joint of the robot, the gesture information of the body and the leg strength information at the ends of the legs; and the control method is suitable for balance control of the multi-leg robot in non-structured environment.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a balance control method for a multi-legged robot, which performs balance recovery control on the movement instability of the multi-legged robot in a complex external environment. Background technique [0002] A multi-legged robot is a robot with redundant drives and multi-branched chains. It has the characteristics of flexible movement, strong load capacity, good stability, and a variety of gaits. It has a certain ability to overcome obstacles, climb steep slopes, and adapt to the environment. , has good application prospects in the fields of scientific exploration, mountain transportation, agricultural and forestry development, geological exploration, emergency rescue and disaster relief, and even military operations, and has received extensive attention and attention from robotics researchers all over the world. [0003] Multi-legged robots can generally be divided into four-legge...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 陈学东韩斌罗欣钟建锋刘志江陈思宇李栓柱严可涵
Owner HUAZHONG UNIV OF SCI & TECH
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