Electric-driven bionic quadruped robot with environment perception ability and control method

Abstract

The invention discloses an electric-driven bionic quadruped robot with environmental perception capability and a control method. The head is hinged with the front trunk through the neck and the head connecting rod, the head and the neck are linked, the front trunk is hinged with the rear trunk; the rear trunk is hinged. There is a tail at the rear, and the tail is also hinged with the front trunk through the tail link; the front legs are respectively arranged on both sides of the front trunk, and the rear legs are respectively arranged on both sides of the rear trunk; the length of the hind legs is longer than that of the front legs; the front trunk The widest part of the rear torso is wider than that of the rear torso; it also includes an environment sensing sensor group and a camera, the environment sensing sensor group and the camera are connected to the central processing unit, the output end of the central processing unit is connected to the electric drive execution system, and the power management module is The environment perception sensor group, the central processing unit and the electric drive execution system are powered. The electric drive control method is used to realize the dynamic perception of the environment, autonomous navigation, real-time follow-up of the bionic quadruped robot, and the bionic gait motion planning to adapt to terrain changes and random disturbances.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to an electrically driven bionic quadruped robot with environment perception capability and a control method. Background technique [0002] From the perspective of robot movement, robots can be roughly divided into three categories: wheeled robots, tracked robots, and legged robots. Compared with wheeled or tracked robots, legged motion has superior characteristics that wheeled or tracked robots do not have: [0003] (1) The footholds of leg-foot movement are discrete, and the optimal support point can be selected within the reachable space of the foot, which can cross obstacles and improve the adaptability to rough ground. [0004] (2) The leg-foot movement can realize all-round movement, and the movement is more flexible. [0005] (3) Leg-foot movement can be actively isolated from vibration, that is, the trajectory of the center of mass of the torso is decoupled from the ...

AI Technical Summary

Problems solved by technology

[0010] Hydraulically driven quadruped robots have advantages in terms of high dynamics and high load capacity, but there are problems such as high power consumption and high noise

[0011] The degree of freedom of electric-driven quadruped robots is relatively small, and the movement is not flexible enough; the ability to perceive the environment is poor, and it is difficult to adapt to complex ground movements

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