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Method for constructing central pattern generator (CPG) control network topology structure of biped robot

A biped robot and control network technology, which is applied in the field of biped robot CPG control network topology construction, can solve problems such as complex optimization, difficulty in obtaining good results, and long optimization time, so as to reduce complexity and control network structure reasonable effect

Active Publication Date: 2013-07-17
TONGJI UNIV
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Problems solved by technology

How to determine the reasonable topological connection and model parameters between CPG units is a complex optimization problem
It is generally necessary to use evolutionary algorithms to optimize the control system, but because it involves both topology optimization and model parameter optimization, it is difficult to obtain good results using traditional optimization algorithms
At the same time, this method takes a long time to optimize, and it is difficult to implement it on the robot entity.

Method used

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  • Method for constructing central pattern generator (CPG) control network topology structure of biped robot
  • Method for constructing central pattern generator (CPG) control network topology structure of biped robot
  • Method for constructing central pattern generator (CPG) control network topology structure of biped robot

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Embodiment

[0032] A method for constructing a biped robot CPG control network topology, comprising the following steps:

[0033] step 1: figure 2 Shown is a schematic diagram of the degree of freedom distribution of the legs of the most commonly researched and applied biped humanoid robot. For the walking control of this type of biped robot, the degree of freedom of the hip joint is most important for the phase control of the left and right legs. Therefore, in this design, the CPG control network is divided into the body control network (body network) part for controlling the hip joint and the leg control network (leg network) part for controlling the leg joints, so as to realize the control signal of the left and right legs of the biped robot. Symmetry and phase relationship of the left and right legs of the robot during walking. Take the body network part as an example, such as image 3 As shown, the bidirectional coupling connection of four neuron units constitutes a body control ...

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Abstract

The invention relates to a method for constructing central pattern generator (CPG) control network topology structure of biped robot. The method comprises the steps of separating a CPG control network into a body network portion for controlling hip joints and a leg network portion for controlling leg joints to achieve symmetry of control signals for left and right leg joints and control over reasonable phase relations of left and right legs; optimizing coupling connection modes among neuron units in the CPG control network to reduce the complexity of the CPG control network; and performing parameters setting on the CPG control network to construct an optimal network topology structure. Compared with the prior art, the method has the advantages of being low in complexity, reasonable in control network structure and the like.

Description

technical field [0001] The invention relates to an information processing method of a network topology structure, in particular to a method for constructing a biped robot CPG control network topology structure. Background technique [0002] Walking control is a key technology in the research and application fields of biped and humanoid robots. The traditional method is to use model-based manual planning to make the robot move according to the preset trajectory. As robots are gradually applied to unstructured environments, traditional methods based on robot models and walking environment modeling hinder the practical application of robots. With the in-depth research on the nature of biped walking and the continuous development of neuroscience, control methods based on neuroscience are gradually being applied to the walking control of biped robots. The control idea based on central pattern generator (CPG, central pattern generator) is a typical representative of this directi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 陈启军刘成菊
Owner TONGJI UNIV
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