Quadruped robot motion planning method oriented to unknown rough terrain

Abstract

The invention discloses a quadruped robot motion planning method oriented to an unknown rough terrain. A quadruped robot uses a crawling gait in a rough terrain. In a single-legged swing phase, a swinging leg swings along a planned foot trajectory and the center of gravity of the robot moves forwards along the planned path by means of the motion of supporting legs. In a four-foot stance phase, the center of gravity of the robot laterally moves while moving forwards along the planned path. The quadruped robot motion planning method achieves robot online trajectory planning based on COG and ZMP dual-stability criteria, takes full account of the possibility of advanced landing and lagged landing of the swinging leg for the unknown terrain, and estimates the parameter of the unknown terrain by the landing planning and the sensing strategy of the swinging leg. Thus, the robot adaptively adapts to the height and the slope of the unknown terrain, and achieves continuous adaptive walking for the unknown rough terrain according to a motion planning result.

Description

technical field [0001] The invention belongs to the field of robot motion planning, and in particular relates to a quadruped robot motion planning method, which enables the robot to smoothly pass through unknown rough terrain. Background technique [0002] For a long time, wheeled and tracked robots have been the first choice for ground mobile robots due to their advantages of fast moving speed, high motion efficiency, and convenient control. However, the existing wheeled and tracked robots are mainly used in flat or nearly flat terrains, and it is difficult to adapt to various complex terrains. Humans and animals can reach anywhere on land through the movement of legs and feet, which prompts development of legged robots. [0003] As a bionic reconstruction of common quadruped mammals, quadruped robots can move on almost any ground by relying on the movement of legs and feet, and can deal with various complex terrains. Further comprehensive evaluation from the aspects of m...

AI Technical Summary

Problems solved by technology

[0005] After searching, the research on quadruped robots at home and abroad has been relatively abundant, mainly focusing on the mechanical structure design and quadruped gait research. Foot robot, but there are few studies on the motion planning method of quadruped robot facing complex and rugged terrain. The invention patent of Chinese patent application No. The visual sensor performs partial detection and accurate modeling of the motion environment of the quadruped robot. The quality of the motion planning results depends on the accuracy of the robot and the terrain model, but it is difficult to achieve accurate modeling in the actual environment; Chinese patent application number The invention patent of 201410579726.5 discloses a free gait generation method of a quadruped robot, which effectively improves the adaptability of the quadruped robot to the terrain, but this method needs to know the terrain information in advance to search for the optimal foothold, and The robot moves forward only in the quadruped phase, making the robot move slowly and discontinuously

The above studies did not consider the problem of adaptive walking of quadruped robots without prior knowledge of rough terrain.

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