Hydraulically-driven type bionic single-leg double-loop control method

A dual-loop control, driving technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as damage to the joint transmission/drive components of the foot mechanism, and adverse effects on the walking stability of the robot.

Active Publication Date: 2014-07-23
NAT UNIV OF DEFENSE TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the quadruped bionic robot walks on the unknown uneven ground, if the traditional position control method is still used, it may cause excessive contact force due to the accidental collision between the foot end and the ground, which will a

Method used

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  • Hydraulically-driven type bionic single-leg double-loop control method

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Embodiment Construction

[0045] Such as figure 1 As shown, the implementation steps of the hydraulically driven bionic single-leg double-loop control method in this embodiment are as follows:

[0046] 1) Receive the original expected foot position trajectory X of external input d :(x d ,y d ,z d );

[0047] 2) Trajectory correction based on contact force information: collect the foot force information of the bionic single leg (F x , F y , F z ), when the foot force information (F x , F y , F z ) shows that when the foot is fully in contact with the ground, obtain the joint position information of each joint of the bionic single leg (l 1 , l 2 , l 3 , l 4 ), according to the joint position information (l 1 , l 2 , l 3 , l 4 ) to obtain the actual position of the foot end X: (x, y, z) by means of forward kinematics calculation. d :(x d ,y d ,z d ) for re-planning to obtain the desired foot-end position trajectory X after re-planning rd :(x rd ,y rd ,z rd );

[0048] 3) Active d...

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Abstract

The invention discloses a hydraulically-driven type bionic single-leg double-loop control method. The hydraulically-driven type bionic single-leg double-loop control method is composed of two links including the outer loop force/position control link and the inner loop single-joint force control link. In the outer loop force/position control link, an externally-input original expected foot end position track is received, and replanning, active-disturbance-rejection controlling and redundant optimizing based on the expansion Jacobian are sequentially carried out on the original expected foot end position track to obtain original joint space control amount of joints of a bionic single leg; in the inner loop single-joint force control link, output force information of the joints of the bionic single leg is collected, the original joint space control amount of the joints of the bionic single leg is amended based on the output force information to obtain amended joint space control amount, and motions of hydraulically-driven motion controllers of the joints of the bionic single leg are respectively controlled according to the joint space control amount of the joints of the bionic single leg. The hydraulically-driven type bionic single-leg double-loop control method has the advantages of being good in terrain adaptive capacity, good in supple capacity, high in universality, high in robustness and wide in application scope.

Description

technical field [0001] The invention relates to the technical field of unstructured terrain adaptive control of footed bionic robots, in particular to a hydraulically driven type for solving the problem of precise trajectory tracking and compliant contact control of the swinging legs in the unstructured terrain adaptive control of footed robots Bionic single-leg double-loop control method. Background technique [0002] The quadruped bionic robot is a robot platform based on walking, running and jumping. Its main features are large load, light weight, good flexibility and good terrain adaptability. Under unstructured terrain conditions, such as jungles, hills and mountains, general mechanized transportation tools are not up to the task of transportation, and quadruped bionic robots have high passing capabilities under various terrains, so they have important research significance; in addition , in addition to undertaking auxiliary transportation tasks, quadruped robots can a...

Claims

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Application Information

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IPC IPC(8): G05B13/00
Inventor 王剑马宏绪陈阳祯韦庆王建文郎琳安宏雷侯文琦朱开盈蔡润斌
Owner NAT UNIV OF DEFENSE TECH
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