Foot force distribution method of legged robot based on optimal support ratio
A technology of foot end force and support ratio, which is applied in the field of robot foot force distribution optimization, can solve problems such as low efficiency, inability to obtain optimal solutions, complex calculations, etc., and achieve the effect of ensuring optimal results
Active Publication Date: 2019-03-08
CHINA NORTH VEHICLE RES INST
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The disadvantage of the first method is that the optimal solution cannot be obtained; the disadvantage of the second method is that there are many factors to be considered, so the calculation is complicated and inefficient
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[0015] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0016] The present invention proposes a foot-end force distribution method based on an optimized support ratio, using a single-leg virtual leg model, and obtaining the expected zero moment point of the virtual leg according to the virtual servo force of the fuselage; according to the position of the foot end, a nonlinear optimization algorithm is used Obtain the minimum support ratio; optimize the force direction of the foot end according to the virtual servo force of the fuselage, the minimum support ratio, and the foot end position. Specifically include the following steps:
[0017] Such as figure 1 As shown, in step S1, taking the body coordinate system as the reference coordinate system, assuming that the left rea...
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The present invention relates to a method for distributing foot end force of a foot robot based on an optimized support ratio, and belongs to the technical field of foot force distribution optimization of robots. The method disclosed by the present invention comprises that: (1) when analyzing a vertical load, optimization distribution on the support ratio is directly carried out, and since one of important objectives of foot end force distribution of a multi-legged robot is stability of walking, so that the method disclosed by the present invention firstly carries out optimization on the support ratio to firstly ensure the stability of walking; (2) in the case of ensuring the stability of walking, force in a horizontal direction is continuously analyzed, optimization on the force direction is directly carried out, and since an optimization objective in a conventional method is a minimum total moment or minimum power consumption, and the optimization objective cannot ensure optimal foot end force, so that the method directs at optimization of the foot end force and the direction thereof to ensure an optimal result from a higher level; and (3) when carrying out force distribution, a foot end position in each step is taken into account, so that features of force and moment balance are made full use to further ensure the optimization result.
Description
technical field [0001] The invention relates to the technical field of robot foot force distribution optimization, in particular to a foot end force distribution method of a legged robot based on an optimized support ratio. Background technique [0002] For a multi-legged robot, at least three legs are in a supporting state to keep the body stable. Since there are three directions of force at each foot end, there are 9 unknowns, and the mobile robot can only list 6 balance equations, so there are many solutions for the force distribution of the multi-legged robot feet, and different solutions will lead to different Foot force distribution results. There are two main categories of foot force distribution solutions. The first is the pseudo-inverse method, which uses the spiral theory to list the balance equation of the multi-limb system and the friction constraint equation of the foot end. The control torque of the joint is optimal. The second is the optimization method, w...
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IPC IPC(8): G06F17/50
CPCG06F30/17
Inventor 苏波党睿娜姚其昌许鹏田源木冯石柱赵洪雷许威蒋云峰慕林栋杨建雄杨天夫王宏明谢强
Owner CHINA NORTH VEHICLE RES INST