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A control method for a bionic snake-like 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: 2018-06-19
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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  • A control method for a bionic snake-like robot
  • A control method for a bionic snake-like robot
  • A control method for a bionic snake-like robot

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Embodiment Construction

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

[0017] See Figure 1-3 , A control method of a bionic snake-like robot. First, the CPG mathematical model of the bionic snake-like robot is obtained through the electromechanical system co-simulation, and then the periodic oscillation signal pair generated by the CPG mathematical model is used for the robot joint gait control and gait mode switching control Its rhythmic movement behavior is controlled. The unilateral and contralateral link weights in the CPG network are iteratively optimized through the GA genetic algorithm, and the motor direction and speed feedback is performed in real time through the potentiometer. The obtained signal is effective for feedback control and CPG control. The output is adjusted for feedback.

[0018] The construction of the control mathematical model and the external environment of the bionic snake-like robot is obtaine...

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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 of a bionic snake-shaped robot. Background technique [0002] With the rapid development of robotics technology and theory, robots have gradually changed from repetitive tasks in the traditional structured environment to autonomous operations in a new type of unstructured environment. In this situation, traditional wheeled and crawler walking robots are limited to specific environments due to their structure and stability problems, and are difficult to adapt to the requirements of operations in complex environments. With the development of bionics, snakes have different patterns of gait to adapt to various complex environments due to their unique body structure mechanism, and they have good stability and reliability. Biped and crawler robots are obviously different from snake robots. The former are only suitable for specific environments. The snake robots have more d...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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