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Planning method for opposite angle trotting gait of large quadruped robot

A quadruped robot, gait technology, applied in two-dimensional position/lane control and other directions

Inactive Publication Date: 2014-07-30
BEIJING ZHITOUJIA INTPROP OPERATION CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, these gait plans have certain limitations when applied to large quadruped robots

Method used

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  • Planning method for opposite angle trotting gait of large quadruped robot
  • Planning method for opposite angle trotting gait of large quadruped robot
  • Planning method for opposite angle trotting gait of large quadruped robot

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Embodiment Construction

[0065] The present invention will be described in detail below in conjunction with specific embodiments and accompanying drawings. For the convenience of those skilled in the art to understand better, at first some terminology among the present invention is introduced as follows:

[0066] Gait: A walking pattern regarding the sequence of leg swings and their timing, etc.

[0067] Gait cycle T (Gait Period): The time required for a leg to move for a complete cycle in a cyclic gait.

[0068] Stride Length λ (Stride Length): In a gait cycle, the displacement of the center of gravity of the walking robot relative to the ground.

[0069] Support Phase: The state in which the leg is on the ground.

[0070] Transfer Phase: The state in which the leg is lifted off the ground and the leg is in the air.

[0071] According to the method provided by the present invention, a complete diagonal trotting gait cycle includes five key postures in total, which are the initial phase posture of...

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Abstract

The invention discloses a planning method for an opposite angle trotting gait of a large quadruped robot. An integrated opposite angle trotting gait period T comprises five key postures of an initial phase, a T / 4 phase, a T / 2 phase, a 3T / 4 phase and a finished phase. An elbow joint type leg hip joint angle is changed to the maximum value (alpha + Ah) from the minimum value (alpha - Ah) when being at a support phase, and is changed to the minimum value (alpha - Ah) from the maximum value (alpha + Ah) when being at a swing phase. A knee joint angle remains unchanged when being at the support phase, is firstly changed to the minimum value pi - (alpha + beta) - Ak from the maximum value pi - (alpha + beta) and then recovers to the maximum value pi - (alpha + beta) from the minimum value pi - (alpha + beta) - Ak when being at the swing phase. A knee joint type leg hip joint angle is changed to the minimum value (alpha - Ah) from the maximum value (alpha + Ah) when being at the support phase, and is changed to the maximum value (alpha + Ah) from the minimum value (alpha - Ah) when being at the swing phase. The knee joint angle is unchanged when being at the support phase, is firstly changed to the minimum value pi - (alpha + beta) - Ak from the maximum value pi - (alpha + beta) and then recovers to the maximum value pi - (alpha + beta) from the minimum value pi - (alpha + beta) - Ak when being at the swing phase. By means of planning the opposite angle trotting gait of the large quadruped robot, the large quadruped robot is more reasonable in operation, and stability is improved.

Description

technical field [0001] The invention relates to a quadruped robot, in particular to a planning method for a large-scale quadruped robot's diagonal trotting posture. Background technique [0002] Quadruped robot is the most widely used type of legged robot. Compared with biped robot, it has stronger carrying capacity and better stability; compared with hexapod and eight-legged robot, it has simple structure, flexible movement, Higher energy efficiency. [0003] The walking of quadruped robots basically imitates the movement form of quadruped animals. In quadruped robots, "gait" is usually used to describe its walking movement form. Gait is a way of moving legs when the robot walks. Summarized as: Gait (Gait) refers to the movement sequence of each leg of a quadruped robot during walking. The normative definition is: Gait refers to a coordinated relationship between the limbs of a quadruped robot in time and space during the movement process, and it is a regular repetitive s...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 韩晓建常楷孙宇刘溢
Owner BEIJING ZHITOUJIA INTPROP OPERATION CO LTD
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