Quadruped robot biped support phase force hybrid force control method

Abstract

The invention provides a quadruped robot biped support phase force hybrid force control method. The method comprises the steps of (S1) projecting the overall movement of a robot to a radial plane and a normal plane, (S2) establishing a control model, simplifying the movement of the robot along the radial plane as a plane seven-connection-rod model, and simplifying the movement along the normal plane as a linear inverted pendulum model, and simplifying the plane seven-connection-rod model as a plane virtual telescoping leg model, wherein the control target of the plane virtual telescoping leg model is a mass center height, a body pitch angle and a horizontal displacement, (S3) carrying out hybrid controlling according to a control model, establishing the kinetic equation of the plane virtual telescoping leg model and establishing the kinetic equation through a Newton-Euler method, controlling the mass center height and the body pitch angle through a position servo method, and using the double-ring control method of outer ring position and inner ring foot end force for the horizontal displacement of a virtual telescoping leg plane model. The method has the advantages of good control effect and the improvement of robot adaptability.

Description

technical field [0001] The invention mainly relates to the technical field of robot motion control, in particular to a biped support phase force-position mixed control method suitable for a quadruped robot. Background technique [0002] Mobile robots can reach places that humans cannot reach or are not suitable for due to environmental hazards. Quadruped bionic robots are a type of legged robots that imitate the movement patterns of quadruped mammals. Its adaptability can carry out tasks such as material transportation and patrolling in unstructured environments, and it can replace humans in dangerous operations, so it has great research value. [0003] A quadruped robot generally consists of four bionic legs and a body, each leg contains a lateral joint and at least two forward joints. By imitating the movement of quadruped robots in nature, there are currently three main gaits for quadruped robots: TROT (diagonal trotting), BOUND (running), and WALK (crawling). gait). ...

AI Technical Summary

Problems solved by technology

However, its disadvantage is that an internal force may be generated between the two supporting legs. When the supporting leg is switched to the swing leg mode, the internal force is released instantaneously, causing an unexpected impact on the posture of the swing leg and the body, and the stiffness of the driver is affected by the overall mass. The effect is larger than that of position control

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