Double-feet passive walking state control method with knee bending behavior

A technology for gait control and behavior, applied in motor vehicles, transportation and packaging, etc., can solve the problems of high energy consumption, low control efficiency, poor inherent stability of robots, etc., and achieve improved slope range, good stability, and improved slope surface. The effect of walking ability

Active Publication Date: 2013-02-06
TONGJI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for traditional passive dynamic robots, improving the stability of walking on slopes is usually achieved by using control algorithms, so the inherent stability of the robot is relatively poor,

Method used

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  • Double-feet passive walking state control method with knee bending behavior
  • Double-feet passive walking state control method with knee bending behavior
  • Double-feet passive walking state control method with knee bending behavior

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0026] A biped passive walking gait control method with knee-bending behavior, the method passes such as image 3 The five-mass-point four-rod walking model shown is realized. The five mass points are the centers of mass of the hip joint, two thighs and two calves, which characterize the mass distribution of the model. The four rods are two thighs and two calves, and the thighs are The hip joint is connected, and the lower leg is connected to the thigh through the knee joint to form a swing leg and a supporting leg. The state of the walking model can be expressed as: In the formula, q 0 ,q 1 ,q 2 ,q 3 are the included angles of the supporting leg calf, supporting leg thigh, swinging leg thigh, and swinging leg calf relative to the normal of the walking slope.

[0027] The entire control process is as figure 1 and figure 2 As shown, it specifically includes the following steps:

[0028] The first step, the initial state, such as figure 1 (a): The moment when the swin...

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Abstract

The invention relates to a double-feet passive walking state control method with knee bending behavior. The control method comprises the following steps of: 1) using the moment of converting a swinging leg into a supporting leg after touching the ground as the starting moment of a period walking state, and converting the original supporting leg into the swinging leg; 2) freely swinging the swinging leg forwards until the knee joint of the swinging leg is collided, and locking the knee joint of the swinging leg; 3) freely swinging the swinging leg forwards, simultaneously rotating the supporting leg for certain angle with a fulcrum as a shaft, and unlocking the knee joint of the swinging leg; and 4) converting the swinging leg into the supporting leg when the swinging leg freely swings to collide the ground, converting the original supporting leg into the swinging leg, and beginning a new period. Compared with the prior art, the double-feet passive walking state control method provided by the invention is used for improving the slope walking capability of a double-feet robot, reinforcing the inherent walking stability of the double-feet robot, guaranteeing good stability of double-feet passive walking state on a large slope and greatly widening the stable working slope range.

Description

technical field [0001] The invention relates to a biped passive walking gait control method, in particular to a biped passive walking gait control method with knee bending behavior. Background technique [0002] The problem of robot bipedal walking based on passive dynamics is a hot issue in this field in recent years. At the end of the 1980s, McGeer designed a passive walking device that could stably walk down the slope only by gravity and its own dynamic characteristics, which laid the foundation for passive walking dynamics. Subsequently, many excellent passive dynamics-based The biped walking robot is designed. Compared with the traditional biped walking robot, the biped robot based on passive dynamics does not need to control and track the joints constantly, so on the one hand, it has inherent stability and can complete periodic walking without any control; The energy consumption of walking is very small. [0003] However, until now, traditional passive dynamic robot...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 安康陈启军
Owner TONGJI UNIV
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