Force/position switching control method of joints of single leg of hydraulic four-leg robot
A technology of quadruped robot and control method, which is applied in the field of single-leg joint force/position switching control of hydraulic quadruped robot, to achieve stable force control, weaken jitter, and ensure smooth transition of switching
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[0038] The present invention will be further described in detail below in combination with specific embodiments.
[0039] The present invention is a single-leg joint force / position switching control method of a hydraulic quadruped robot, such as figure 1 Shown, including the multi-model control module (dotted box) and the fuzzy control module (solid box).
[0040] The multi-model control module such as figure 2 shown, including multi-model sets, multi-controller sets, and switching principles.
[0041] Described fuzzy control module comprises three links of fuzzification, fuzzy reasoning and defuzzification; corresponding fuzzy switching control module is as image 3 As shown, it has one input and two outputs, the input is the force Li detected by the robot joint force sensor, and the output is the control weight , .
[0042] In order to achieve the purpose of precise positioning, when the foot of the robot is not in contact with the ground, the joint position control ...
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