Distributed type control system of hydraulic quadruped robot and control method

Abstract

The invention discloses a distributed type control system of a hydraulic quadruped robot and a control method. The distributed type control system of the hydraulic quadruped robot comprises a brain system, the brain system is connected with an environment sensing system, a navigation information system and a voice interaction system to obtain data, the brain system transmits the obtained data to a cerebellar system, the cerebellar system controls a leg control system through a first CAN bus, and the cerebellar system is further communicated with an energy and power control system and an interpersonal interaction panel through a second CAN bus. According to the distributed type control system of the hydraulic quadruped robot, the previous integral control idea of the quadruped robot is changed, and the control method of the quadruped robot is divided into intelligent control, body motion control and leg motion control. The control method forms an organic whole by adopting a distributed type structure, the processor of each part works under reasonable calculation, the power consumption of the system is reduced, and the real-time performance and the reliability of the control system are greatly improved.

Description

technical field [0001] The invention relates to a quadruped robot control system, in particular to a distributed hydraulic quadruped robot control system and a control method. Background technique [0002] The research on leg-footed robots stems from the fact that the movement of animals is different from that of wheels and tracks. They can move on almost all types of land through legs and feet, without the need for auxiliary facilities such as roads and rails. With the birth of the Boston Dynamics BigDog robot, people have seen the advantages of a heavy-duty, high-dynamic artificial leg-footed robot platform in complex and rugged terrain. Subsequently, a series of large-scale hydraulically driven high-dynamic bionic quadruped robots were born successively, such as LS3 of Boston Dynamics, HyQ of Italian Institute of Technology, and SCalf robot of Shandong University. [0003] The common characteristics of these robots are 12-16 hydraulically driven active joints, relatively...

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Problems solved by technology

[0008] Both of the above two inventions take the quadruped robot as the control object, and the control target is a DC motor. Due to the difference in the control object and the control method, it is difficult to apply it to the hydraulically driven biped, quadruped or multi-legged robot. In the content of the above invention, the robot system is still quite imperfect, and there are no coping strategies and energy control issues for hybrid, high dynamic, high load systems, so it cannot be applied to the above-mentioned large-scale hydraulic four-wheel drive system. foot robot

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