Method for generating free gaits for four-footed bionic robot

Abstract

The invention relates to a method for generating free gaits for a four-footed bionic robot. All of the free gaits of the four-footed robot are programmed according to moving periods, and each moving period comprises a four-footed supporting stage and a stepping stage; at the four-footed supporting stages, four feet of the robot are all positioned at supporting phases, the center of gravity of the robot moves in the advancing direction and the side directions of the advancing direction, in the advancing direction, the robot moves the largest advancing distance allowed by a current state, and in the side directions, the moving distance of the robot is determined taking account of the stability and the energy consumption of the robot at the same time; at the stepping stages, one foot of the robot is positioned at a swinging phase, and the other three feet of the robot are positioned at the supporting phases; when the swing foot of the robot for a certain moving period comes in contact with the ground, the movement of the robot for the next moving period is programmed. Through the adoption of the method, the adaptability of the four-footed robot to terrain is effectively improved, the stability of the robot can be improved, the continuity of the movement of the robot is ensured, the energy consumption is reduced, and the mean movement speed is accelerated.

Description

technical field [0001] The invention relates to a method for generating a free gait of a quadruped bionic robot, which enables the quadruped bionic robot to pass through terrain with high ruggedness, and belongs to the technical field of robot control. Background technique [0002] The quadruped bionic robot has the ability to walk on rough terrain, and gait planning is the basis for the quadruped bionic robot to pass through the complex terrain smoothly. Quadruped robots generally use free gait to walk on rough terrain with high complexity. Reasonable planning of free gait can make quadruped bionic robot pass through a variety of terrains with different roughness. [0003] When walking with a free gait, the quadruped robot does not move in a preset mode, but performs real-time gait planning according to the robot's own state and terrain information. The terrain with high ruggedness contains a limited number of areas suitable for the robot to land on. How to reasonably plan...

AI Technical Summary

Problems solved by technology

[0004] At present, there are few domestic studies on the free gait generation of quadruped robots. Foreign researchers have proposed some free gait generation methods in order to improve the ability of quadruped robots to pass through complex terrain.

However, these free gait generation methods generally have problems such as insufficient consideration of the stability of the robot, continuity of motion, rapidity and flexibility in practical applications.

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