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

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, ...

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