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Control method for bionic dual-feet robot walking on water

A water walking and control method technology, applied in the field of bionics, can solve the problems of low effectiveness of gait planning, high water surface interference intensity, inapplicability, etc., to avoid dynamic modeling, enhance real-time performance, and overcome large-scale problems. perturbation effect

Inactive Publication Date: 2012-10-31
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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AI Technical Summary

Problems solved by technology

When biped robots walk on water, the external environment is difficult to model, the effectiveness of gait planning is low, and the water surface interference is very strong. The traditional model-based accurate kinematics solution method cannot be applied.

Method used

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  • Control method for bionic dual-feet robot walking on water
  • Control method for bionic dual-feet robot walking on water
  • Control method for bionic dual-feet robot walking on water

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Embodiment Construction

[0016] In order to make the object, technical solution and advantages of the present invention clearer, the control method of the bionic biped water walking robot of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0017] 1. CPG-fuzzy joint control system of bionic biped water walking robot

[0018] figure 1 A schematic diagram of the control structure of the bionic biped water walking robot according to the method of the present invention is given, including the mechanical structure of the biped water walking robot, the robot mathematical model, the CPG model parameter initialization, the CPG model, the fuzzy control parameter initialization, the fuzzy control module and the inclination angle detection feedback module. The mathematical model of the biped water walking robot is a nonlinear model obtained by co-simulation of the electromechanical system. The joints of the two legs of the water walking robot are controlle...

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Abstract

The invention relates to a control method for a bionic dual-feet robot walking on the water and provides a CPG (Central Pattern Generator)-fuzzy combination control carried on a robot. The CPG generates an oscillation signal for realizing the control over rhythmic exercises of robot dual feet. The fuzzy control is used for compensating dynamic balance of the dual-feet robot walking on the water in the left and right direction; and a feedback signal output by an angle measuring module can be used for carrying out feedback control on a CPG module and a fuzzy control module. The CPG-fuzzy combination control provided by the invention can provide reference for the control theory of walking on the water of the dual-feet robot and achieve the function of walking on the water.

Description

technical field [0001] The invention belongs to the technical field of bionics, and relates to a control method for a bionic biped robot to realize the function of walking on water. Background technique [0002] Aquatic robots can work on dangerous water surfaces or swamps, and have a wide range of uses in environmental detection, military investigation, detection of pollutants and toxic elements in water, and wetland detection. At present, the floating mechanism of aquatic robots has the following three support methods: surface tension support; buoyancy support; support generated by flapping liquid to generate air pockets. Surface tension support requires the robot to be lightweight, small in size and waterproof in materials. The buoyancy support is to use the buoyancy of the liquid to make the robot. The buoyancy is large and suitable for large robots. Both methods have the disadvantages of slow travel speed and low payload. Inspired by the South American basilisk lizard...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 魏鲜明徐林森赵江海曹凯孔令成
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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