Gait planning method for improving crawling stability of dinosaur as biosimulation machine

A technology of gait planning and bionic machinery, applied in the direction of using feedback control, etc., to achieve the effect of improving walking stability

Inactive Publication Date: 2012-12-19
大连楚云天科技开发有限公司
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  • 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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  • Gait planning method for improving crawling stability of dinosaur as biosimulation machine
  • Gait planning method for improving crawling stability of dinosaur as biosimulation machine
  • Gait planning method for improving crawling stability of dinosaur as biosimulation machine

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Embodiment Construction

[0063] The gait planning method for improving the crawling stability of bionic mechanical dinosaurs provided by the present invention fully considers the large size, heavy mass and relatively discrete distribution of large quadruped bionic mechanical dinosaurs, and the relatively large mass of legs, head and tail. It provides a basis for improving the walking stability of large quadruped bionic mechanical dinosaurs. The present invention will be described in detail below in conjunction with the accompanying drawings and a specific embodiment.

[0064] In the specific embodiment described, the length of the large-scale quadruped bionic mechanical dinosaur is about 3.5 meters, the height is about 2 meters, the width is about 1.5 meters, the total weight is about 400 kg, and there are 17 degrees of freedom of joints. Mouth M, horizontal neck BZ, vertical neck BS, left front thigh QZD, left front calf QZX, left front hip QZK, left rear thigh HZD, left rear calf HZX, left rear hip ...

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Abstract

The invention discloses a gait planning method for improving the crawling stability of dinosaur as a biosimulation machine. The gait planning method for an advance crawling gait period comprises the following steps of: squatting; leaning a body rightwards and swaying the tail rightwards; moving a left front leg; moving a left rear leg; leaning a body leftwards and swaying the tail leftwards; moving a right rear leg; moving a right front leg; and leaning the body rightwards, wherein the whole gravity center is positioned in a quadrilateral area formed by corresponding footholds. According to the gait planning method disclosed by the invention, the crawling gait is re-planned by fully considering the factors of large size, heavy weight, more dispersion in distribution and heavier weights of legs, a head and a tail in a large-size quadruped biosimulation machine, namely the dinosaur, so that the foundation is provided for improving the walking stability of the large-size quadruped biosimulation machine, namely the dinosaur.

Description

technical field [0001] The invention relates to a quadruped robot, in particular to a gait planning method for improving 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, walking stability is the key technology of quadruped walking robot, and the basis of controlling the walking stability of quadruped walking robot is gait planning. For this reason, many research institutions have carried out research on the ga...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/12
Inventor 韩晓建周春孙宇方书明
Owner 大连楚云天科技开发有限公司
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