Compliant control method of wheel foot type robot

A compliant control and robot technology, applied in the field of robot control, can solve problems affecting the controllability of the robot body pose, the expansion of the dimension of the control target vector, etc.

Active Publication Date: 2014-10-22
NAT UNIV OF DEFENSE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The foot contact force control strategy can realize the soft contact between the robot foot and the ground, but it will lead to the expansion of the control target vector dimension, which will affect the controllability of the robot body pose

Method used

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  • Compliant control method of wheel foot type robot
  • Compliant control method of wheel foot type robot
  • Compliant control method of wheel foot type robot

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Embodiment Construction

[0059] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0060] The present invention is mainly applied to the wheel-foot robot system, and the main object is that the wheel-type mechanism and the foot-type mechanism are independent of each other in the installation mode, and the wheel-foot robot does not have a driving device for the wheel mechanism, that is, the wheels are driven wheels. The robot relies on active joint motion of the legs. Such as figure 1 As shown, the wheel-footed robot system consists of two legs and two driven wheels, each leg contains four active joints (ankle joint, knee joint, hip joint, hip lateral joint), each active joint Driven by a hydraulic actuator, the foot end is in point contact with the ground. Each active joint is equipped with a displacement sensor and a force sensor, which are used to detect the length information of the actuator and the joint force...

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PUM

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Abstract

The invention discloses a compliant control method of a wheel foot type robot. The method includes outer loop control, middle loop control and inner loop control, wherein the outer loop control is control of the pose of a robot body and aims to make the pose of the robot body accurately trace an expected pose track; the middle loop control is foot end contact force control and aims to make the pose of the robot body accurately trace an expected pose track; the inner loop control is active joint driving moment control and aims to make supporting leg foot end contact force trace expected force obtained through outer loop calculation. Due to the three kinds of control, while the pose of the robot body is accurately controlled, the supporting leg foot end contact force is controlled. The method has the advantages of being simple in principle, high in control accuracy and capable of improving the adaptive capacity of the robot.

Description

technical field [0001] The invention mainly relates to the technical field of robot control, in particular to a compliance control method suitable for a wheel-foot robot. Background technique [0002] The wheeled robot is a mobile robot supported and driven by a wheeled mechanism. Its main advantages are fast speed and low energy consumption. The disadvantages are obstacle surmounting ability, poor adaptability to unstructured terrain, and large turning radius. Footed robots move by walking, running and jumping. Their main advantages are light weight, small turning radius and strong terrain adaptability. The disadvantages are slower speed and complex structure compared with wheeled robots. Wheel-footed robots combine the configuration advantages of wheeled robots and footed robots. They not only inherit the adaptability of footed robots to unstructured terrain, but also avoid the disadvantages of complex structures. [0003] Wheel-footed robots are generally divided into th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
Inventor 王剑马宏绪郎琳韦庆王建文陈阳祯安宏雷侯文琦朱开盈饶锦辉
Owner NAT UNIV OF DEFENSE TECH
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