Modularized sub-action multi-legged robot motion controller and control method thereof

Abstract

The invention discloses a modularized sub-action multi-legged robot motion controller and a control method thereof. The modularized sub-action multi-legged robot motion controller comprises an upper computer module, a sub-action multi-legged robot master control node module and a sub-action multi-legged robot lower computer node module, wherein the upper computer module is connected with the sub-action multi-legged robot master control node module through a converter and a shielded twisted pair; the multi-legged robot master control node module is connected with the sub-action multi-legged robot lower computer node module through a shielded twisted pair. The control method comprises the following steps: transmitting motion commands according to the selected mode and the environment video information, processing the motion commands into special motion parameters of motors corresponding to lower computer sub-modules, executing the motion commands by lower computer sub-modules, and transmitting the video information. The gait planning is simple, the control is simple and convenient, a backup control scheme is provided, the lower computer nodes adopt the modularized design of being independent in hardware and self-adaptive in software, the extension is convenient, and the safety and the reliability are realized.

Description

technical field [0001] The invention belongs to the field of robot control, in particular to a modularized split-action multi-legged robot motion controller and a control method thereof. Background technique [0002] Since American George DeVore created the world's first programmable robot in 1954, after more than half a century of development, robots have gradually been used in industrial production, sea and air exploration, military reconnaissance, medical rehabilitation, emergency rescue, etc. It has been applied in many fields and is playing an increasingly important role. [0003] The field of contemporary robot research has moved away from fixed-point operations in structured environments. Advanced robot technology and its application research based on unstructured environments and extreme environments has become the focus of research and development of intelligent robot technology. Wheeled robots are fast, can bear heavy loads, are easy to move and control, and are w...

AI Technical Summary

Problems solved by technology

Most of the existing practical robots are special-purpose systems, such as industrial manipulators, handling robots, etc. Once the structure of the robot changes, its controller must be redesigned, which limits the ability of the robot to change and expand according to task needs

Moreover, the gait planning of existing robots is complicated, the control algorithm is complex, and there is no backup control system solution

Images