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Stability control method for rbiomimetic obosaur crawling

A technology of stability control and bionic machinery, applied in the direction of adaptive control, general control system, control/regulation system, etc.

Inactive Publication Date: 2012-11-28
大连楚云天科技开发有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The technical problem to be solved by the present invention is to solve the problem of how to improve the walking stability of a large quadruped bionic mechanical dinosaur

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  • Stability control method for rbiomimetic obosaur crawling
  • Stability control method for rbiomimetic obosaur crawling
  • Stability control method for rbiomimetic obosaur crawling

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Embodiment Construction

[0073] The crawling stability control method of the bionic mechanical dinosaur provided by the present invention fully considers that the large-scale quadruped bionic mechanical dinosaur is large in size, heavy in weight and relatively discrete in distribution, and the factors of the relatively large mass of the legs, head and tail are taken into consideration, and the bionic mechanical dinosaur The components of the limbs are simplified into a mass point system combined according to certain assembly and constraint relations, and then the D-H coordinate system is established. According to the motion functions of the thigh joint, calf joint and hip joint, the relationship between the body coordinate system B and the ground coordinate system G is used. Transformation matrix between Calculate the center of gravity of each limb component in real time, and obtain the overall center of mass position of the bionic mechanical dinosaur. The left and right tail swings adjust the overal...

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Abstract

The invention discloses a stability control method for rbiomimetic obosaur crawling, comprising the following steps of: simplifying limbs into a system of mass points; establishing a D-H coordinate system for each rigid body connecting rod; then sequentially transforming to obtain a position pose of a sole relative to an organism coordinate system, and planning advancing gaits as crouching, inclining a body toward the right side and swinging the tail toward the right side, stepping a front left leg forward, stepping a rear left leg forward, inclining the body toward the left side and swinging the tail toward the left side, stepping a rear right leg forward, stepping a front right leg forward, and inclining the body toward the right by a transformation matrix between the organism coordinate system and a ground coordinate system; and calculating the gravity center of each limb constituent part and the overall mass center of an obosaur in real time by using the transformation matrix according to a driving function of thighs, shanks and hip joints to ensure that a vertical projection falls on a polygonal region formed by footing points. A function relation between a total mass center and joints is obtained through transformation between the organism coordinate system and a fixed coordinate system, and thus each joint variable is regulated, and the walking stability of a rbiomimetic obosaur is improved.

Description

technical field [0001] The invention relates to a quadruped robot, in particular to a method for controlling the crawling stability of a bionic mechanical dinosaur. Background technique [0002] Robot technology is a high-tech that has developed rapidly in recent decades. It integrates the latest research results of multiple disciplines such as machinery, microelectronics and computers, automatic control, sensors and information processing, and artificial intelligence. It is the foundation of mechatronics technology. Typical carrier. Large quadruped bionic mechanical dinosaur is an important application of quadruped walking robot, widely used in entertainment, film and television and other fields. [0003] As we all know, the stability of walking is the key technology of quadruped walking robots. For this reason, many research institutions have carried out research on the gait planning of quadruped walking robots. However, the research objects of these research topics are s...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05B13/04
Inventor 韩晓建丁相方孙宇方书明
Owner 大连楚云天科技开发有限公司
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