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

A quadruped robot and work space technology, applied in instruments, two-dimensional position/channel control, adaptive control, etc., can solve problems such as the inability to exhaust various robot modes, and the inability to solve the problem of adaptive walking in the robot environment.

Inactive Publication Date: 2013-05-08
TONGJI UNIV
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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

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

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Embodiment

[0034] The invention changes the traditional control idea, considers the use of bio-stimulation control mechanism from the end trajectory of the robot, proposes a new method of robot walking control based on CPG, and applies it to AIBO, a special robot for the Robocup standard platform group competition. This method is based on the CPG network, and the robot workspace trajectory with certain adaptability is generated online through the mapping function, and the joint control signal with certain environment adaptability can be obtained through the motion engine mapping from the workspace to the joint space of the robot, thus realizing the robot Adaptive walking to the environment.

[0035] The steps of the present invention to generate the control signal of environmental adaptive walking on-line are as follows:

[0036] First, the CPG network corresponding to the four feet of the robot is designed, and the influence of network parameters on the amplitude, frequency and phase of...

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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...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05B13/04
Inventor 陈启军刘成菊蔡志强
Owner TONGJI UNIV
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