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Control method of bionic snake-shaped robot

A control method and robot technology, applied in the field of bionics, can solve the problems of snake-shaped robot with many degrees of freedom, huge calculation amount of gait planning, and difficult implementation, so as to enhance real-time and controllability, and avoid dynamic calculation and construction. mode, the effect of overcoming the lack of robustness

Active Publication Date: 2016-09-21
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI +1
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Problems solved by technology

Biped and crawler robots are obviously different from snake-like robots. The former is only suitable for specific environments. Snake-like robots have more degrees of freedom and complex mechanisms. Gait planning requires a huge amount of calculations, large errors, and is difficult to implement. Traditional Control methods are difficult to implement

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  • Control method of bionic snake-shaped robot
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  • Control method of bionic snake-shaped robot

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Embodiment Construction

[0016] The technical solution of this patent will be further described in detail below in conjunction with specific embodiments.

[0017] see Figure 1-3 , a bionic snake-like robot control method, first obtain the CPG mathematical model of the bionic snake-like robot through the co-simulation of the electromechanical system, and then use the periodic oscillation signal generated by the CPG mathematical model for the robot joint gait control and gait mode switching control Its rhythmic motion behavior is controlled, and the unilateral and opposite side link weights in the CPG network are iteratively optimized through the GA genetic algorithm, and the motor direction and speed are fed back in real time through the potentiometer. The output is adjusted with feedback.

[0018] The control mathematical model of the bionic snake-like robot and the construction of the external environment are obtained through electromechanical co-simulation, which is obtained on the basis of establ...

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Abstract

The invention discloses a control method of a bionic snake-shaped robot. A CPG mathematical model of the bionic snake-shaped robot is obtained through an electromechanical system in combination with simulation firstly. For the control over the joint gait of the robot and the mode switchover of the gaits, periodic oscillation signals generated by the CPG mathematical model are used for controlling the rhythmic movement of the robot. Iterative refinement is carried out on the unilateral and bilateral link weights in a CPG network through a genetic algorithm (GA). The feedback about the direction and speed of a motor is carried out in real time through a potentiometer, and obtained signals are used for carrying out feedback adjustment on output of feedback control and CPG control. Traditional dynamics computation and modeling are avoided, errors are reduced, multiple gaits and multiple phase relationships of the robot can be realized, and gait switchover can be directly realized in computer software. Instantaneity and controllability are improved, the bionic requirements are better met, and the multiple gaits and the function of smooth switchover among the gaits of the snake-shaped robot are realized.

Description

technical field [0001] The invention relates to the technical field of bionics, in particular to a control method for a bionic snake-like robot. Background technique [0002] With the rapid development of robot technology and theory, robots have gradually changed from repetitive operations in traditional structured environments to autonomous operations in new unstructured environments. In this case, traditional wheeled and tracked walking robots are limited to specific environments due to their structure and stability issues, and are difficult to adapt to the operation requirements in complex environments. With the development of bionics, snakes have different gaits to adapt to various complex environments due to their unique body structure mechanism, and have good stability and reliability. Biped and crawler robots are obviously different from snake-like robots. The former is only suitable for specific environments. Snake-like robots have more degrees of freedom and comple...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/18
CPCB25J9/065B25J9/161B25J9/1625B25J9/163
Inventor 徐林森裴稳冯宝林徐群山王众时余杭
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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