Quadruped robot motion planning method for facing complex terrain

Abstract

The invention provides a quadruped robot motion planning method for facing complex terrain. According to moving object of a quadruped robot, and local environment information and terrain information which are detected by a sensor, movement direction at the current moment of the quadruped robot is confirmed and generate local moving object of the quadruped robot in Cartesian space. According to the local moving object of the quadruped robot in the Cartesian space and the terrain information detected by the sensor, a motion path sequence is generated in quadruped robot configuration space through a rapid random tree algorithm, and the quadruped robot moves according to the motion path sequence until reaches the local moving object. Above steps are repeated until the quadruped robot reaches a set target. Due to the fact that a body motion planning in the Cartesian space and each joint configuration planning in the configuration space are combined, and a motion path sequence of each joint of the quadruped robot is generated according to present environment of the quadruped robot, safe and stable voluntary movement of the quadruped robot in the complex terrain is ensured.

Description

technical field [0001] The invention relates to the field of robot motion planning, in particular to a complex terrain-oriented quadruped robot motion planning method. Background technique [0002] As a mechatronic system, robots have attracted more and more researchers' attention. The mobile mode of the robot is mainly divided into two types: wheeled movement and legged movement. Wheeled mobile robots are relatively simple in control, and are mainly used in flat or near-flat terrains. Legged mobile robots are relatively complex in control, but have excellent obstacle-surmounting performance and can cope with complex terrains, such as jungle or hilly environments. [0003] Legged mobile robots can be divided into bipedal, quadruped, hexapod, and eight-legged robots according to the number of mechanical legs. Among them, the quadruped robot, as a bionic of common mammals, has a good load-bearing capacity on the one hand, and on the other hand, is simpler and more compact t...

AI Technical Summary

Problems solved by technology

However, the existing technology is generally aimed at the mechanical structure of quadruped robots. In terms of motion planning, there is no motion planning method for quadruped robots, especially for non-flat and complex terrain.

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