Robot stable motion control method based on curve fitting modeling and multi-constraint foot point estimation

A curve fitting and motion control technology, applied in constraint-based CAD, program-controlled manipulators, instruments, etc., can solve problems such as failure to take into account influence, deadlock of the fuselage, etc.

Active Publication Date: 2017-06-13
杭州宇芯机器人科技有限公司
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Problems solved by technology

The disadvantage of this method is that it does not take into account the influence of the coordinates of adjacent legs on the swinging leg, and it may cause a "deadlock" of the fuselage when the swinging leg reaches the ideal foothold.

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  • Robot stable motion control method based on curve fitting modeling and multi-constraint foot point estimation
  • Robot stable motion control method based on curve fitting modeling and multi-constraint foot point estimation
  • Robot stable motion control method based on curve fitting modeling and multi-constraint foot point estimation

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Embodiment Construction

[0114] The present invention will be further described below in conjunction with the accompanying drawings.

[0115] refer to Figure 1 to Figure 9 , a robot stable motion control method based on curve fitting modeling and multi-constraint foothold evaluation, taking a hexapod robot as an example, the hexapod robot includes a hexapod robot body and six independent walking legs, so The stable operation control method of the robot comprises the following steps:

[0116] Step 1: Fit the local environment of the swinging leg and foot based on the curve fitting algorithm, mainly including sensor position distribution, environment meshing, local environment point interpolation and quadratic curve fitting.

[0117] First, complete the position distribution of the ranging sensor, which is mainly distributed at the five root joints of the hexapod robot, such as figure 2 shown. Second, mesh the local environment, using P i S [i=0,1,2,3,4] to represent the five vertical projection ...

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Abstract

The invention discloses a robot stable motion control method based on curve fitting modeling and multi-constraint foot point estimation. The method comprises the following steps: (1) a local environment of a swing leg foot end is modeled based on a curve fitting algorithm; (2) a reachable area of the swing leg foot end is fitted by combining with working space of the swing leg foot end according to the fitted local environment; (3) according to the reachable area of the swing leg foot end fitted in the step (2), a multi-constraint foot point estimation algorithm is combined to estimate and analyze a plannable foot point in the reachable area of the swing leg foot end; and (4) according to the steps (1) to (3), a multi-gesture conversion algorithm is combined to analyze a robot joint output position, and the polynomial interpolation operation is performed for a joint corner to finish the stable motion control of a robot under non-structural environment. The stable motion control method is high in terrain adaptability and high in efficiency.

Description

technical field [0001] The invention relates to the fields of local environment modeling, ideal foothold point evaluation and stable motion control in an unstructured environment of a multi-legged robot, in particular to a robot stable motion control method based on curve fitting modeling and multi-constrained foothold point evaluation. Background technique [0002] With rich drive redundancy and discrete gait points, multi-legged robots can realize complex locomotion patterns and have strong terrain adaptability. According to statistics, more than 90% of the earth's surface is rough. To make multi-legged robots work in outdoor environments, it is necessary to plan their movements in unstructured environments to achieve stability and efficiency. [0003] In an unstructured environment, the stable motion of a multi-legged robot includes three processes: (1) the center of gravity of the robot body moves to a specified point in the workspace; to the ideal foothold; (3) the swi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G06F17/50
CPCB25J9/1669B25J9/1671G06F30/20G06F2111/04
Inventor 艾青林阮惠祥简燕梅
Owner 杭州宇芯机器人科技有限公司
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