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Quadruped robot control method and control device on the basis of sine opposite angle gait and quick table look-up method

A quadruped robot and robot movement technology, applied in the direction of program-controlled manipulators, instruments, manipulators, etc., can solve the problems of easy disturbance caused by foot end sliding, high calculation cost, poor anti-interference ability, etc., and achieve wide application value and research significance Effect

Active Publication Date: 2017-08-15
QILU UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this patent has the following defects: high calculation cost, easy to cause disturbance due to foot sliding, and poor anti-interference ability

Method used

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  • Quadruped robot control method and control device on the basis of sine opposite angle gait and quick table look-up method
  • Quadruped robot control method and control device on the basis of sine opposite angle gait and quick table look-up method
  • Quadruped robot control method and control device on the basis of sine opposite angle gait and quick table look-up method

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Embodiment 1

[0094] A motion control method for a quadruped robot based on sinusoidal diagonal gait and fast look-up table method. The quadruped robot includes a torso and four legs connected to the torso. The two legs on the line swing in the same motion, the two legs that support the trunk and push the trunk forward are called the support phase, and the two legs on the other diagonal that swing according to the preset trajectory are called the swing phase , including the following steps:

[0095] (1) By analyzing the leg structure of the quadruped robot, construct the mathematical model of the leg motion of the quadruped robot, including the position model of the foot end of the quadruped robot:

[0096]Each leg includes a thigh and a lower leg; a step cycle of a quadruped robot includes a support phase and a swing phase. In the torso coordinate system, the x-axis represents the displacement of the foot in the horizontal direction, the y-axis represents the height of the foot, and the or...

Embodiment 2

[0162] A quadruped robot motion control device based on sinusoidal diagonal gait and fast look-up table method, including a foot trajectory control unit and a steering control unit; Figure 4 It is the control schematic diagram of the foot track control unit;

[0163] The foot track control unit is used to complete the following operations:

[0164] The foot track control unit receives the movement distance U_r_1 of the last cycle of the robot and the guided movement distance dr of this cycle. When the movement starts, the quadruped robot will adjust its posture to a ready posture. At this time, the corresponding S_1 is 0.4m, and the corresponding S_1 is 0.4m. S and S_1 can be obtained by iterative operation of formula (XVI):

[0165]

[0166] In formula (XVI), S_2 is the step size of the penultimate cycle;

[0167] According to the obtained S_1 and S, perform a quick table lookup, and obtain the support phase control matrix with the support phase joint control rate and t...

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Abstract

The invention relates to a quadruped robot control method and control device on the basis of a sine opposite angle gait and a quick table look-up method. The method comprises the following steps that: (1) combining with the opposite angle gait to analyze the leg structure of a quadruped robot, establishing the leg movement mathematical model of the quadruped robot, and adopting a novel sine gait; (2) solving a nonlinear equation set to obtain the control rate of each joint of four limbs, establishing a database which specially faces robot movement control, obtaining an accurate joint opening and closing angle through the quick table look-up method, and quickly and accurately realizing foot end trajectory control; and (3) designing a foot end trajectory control unit and a steering control unit so as to bring convenience to the access of other control systems. On an aspect of trafficability characteristics, the novel sine gait is designed and adopted, and therefore, and the robot owns high trafficability when the robot faces a complex terrain. On the aspect of operation stability, when a step taking period stops, the horizontal speed of a swing phase is zero, and therefore, the method is high in stability. The table look-up method is adopted to quickly, accurately and stably carry out the foot end trajectory control.

Description

technical field [0001] The invention relates to a robot motion control method, in particular to a quadruped robot motion control method and a control device based on a sinusoidal diagonal gait and a fast look-up table method. Background technique [0002] With the rapid development of science and technology, robot technology has been developed by leaps and bounds. Robots can quickly and accurately complete high-precision work while being far away from humans. It can be widely used in environments that are not suitable for human survival, such as emergency rescue and disaster relief, planetary detection, and military demining. Compared with wheeled or tracked robots, legged robots have certain advantages in moving in unstructured environments. Among the multi-legged walking robots, the quadruped robot has a simple structure and stable motion, and has the most extensive research and application in the legged robot. But the motion process of quadruped robot is a multi-link, ...

Claims

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Application Information

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IPC IPC(8): G06F17/30B25J9/16
CPCB25J9/1602G06F16/24
Inventor 孙涛靳欣李凡冰
Owner QILU UNIV OF TECH
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