Four-foot robot working space track generating method based on certified program generator (CPG) mechanism

Abstract

The invention relates to a four-foot robot working space track generating method based on the certified program generator (CPG) mechanism. The method comprises the following steps: four CPG units distributed at four foot ends of a robot being utilized to be mutually coupled to constitute a CPG network capable of generating periodical output wave-shaped signals; obtaining a working space track of the robot after conducting dimension expansion and functional transformation on the periodical output signals by utilization of a designed mapping function; benefiting from rich dynamic characteristics of the CPG network so that the on-line generated working space track can be modulated based on CPG parameters and has certain adaptability; and designing a motion engine system to map the working space track to a joint space of the robot so as to control freedom degree of all joints of the robot and realize control of walking with certain adaptability. According to the method, bionic mechanism simulation is conducted based on the tail end rail of the robot. Compared with the prior art, the method has the advantages of improving environment adaptability and robustness of robot walking, and the like.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a research on a bionic abstraction method of a quadruped robot workspace trajectory based on a CPG (CPG, Central pattern generator) mechanism. Background technique [0002] The walking control of robots has gradually become a hot topic in the field of robotics, and the effectiveness of its walking control is directly related to the degree to which robots serve humans. At present, the walking control of robots mainly adopts the design method based on joint motion trajectory. This method adopts the gait parameter control method, and artificially sets the motion trajectory of some leg joints when the robot walks, so as to maintain the body balance and realize the purpose of action coordination. In the process of walking, it runs completely according to the pre-designed trajectory parameters, and the state of other leg joints is calculated according to the inverse kinematics method. Th...

AI Technical Summary

Problems solved by technology

This method has some improvements, but it cannot exhaust the various modes that the robot can encounter in an unknown environment. It is still a traditional programming working mechanism and cannot solve the fundamental problem of the robot's environment-adaptive walking.

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