Method for planning quadruped robot foot end swinging track

A quadruped robot, foot-end technology, applied in the direction of instruments, non-electric variable control, attitude control, etc., can solve the problems of obstacle avoidance and obstacle-surmounting ability, so as to achieve obstacle-surmounting function, improve passing ability, and realize avoidance. the effect of dysfunction

Pending Publication Date: 2017-08-18
CHINA NORTH VEHICLE RES INST
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

The current trajectory design methods include straight up and down rectangular trajectory, sinusoidal trajectory and polynomial derivation, etc. The design idea mainly realizes the effective span of the forward movement of the foot, but it fails to consider the obstacle avoidance and obstacle crossing capabilities.

Method used

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  • Method for planning quadruped robot foot end swinging track
  • Method for planning quadruped robot foot end swinging track
  • Method for planning quadruped robot foot end swinging track

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Embodiment Construction

[0027] In order to better understand the present invention, the content of the present invention will be further described below in conjunction with the accompanying drawings and examples.

[0028] Step 1: Determine the swing span of the foot end and the duration of the swing phase

[0029] The swing span D of the foot end in the X, Y, Z three-dimensional directions is determined x ,D y ,D z , and the duration of the entire swing phase T sw .

[0030] Step 2: Design the state parameters of the curve endpoints during the foot swing process

[0031] Such as figure 1 As shown, the swinging process of the foot end is divided into three stages: raising the leg, stepping the leg and dropping the leg, and designing the state parameters of the curve endpoints in the three stages, including:

[0032] Step 21, divide the swinging process of the foot end into three stages: leg raising, leg stepping and leg dropping.

[0033] Step 22: P 1 P 2 In the stage of leg lifting, the foot...

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Abstract

The invention relates to a method for planning the quadruped robot foot end swinging track. The method includes designing the curve end point state parameter in the foot end swinging process according to the swinging span and the swinging phase duration of the foot ends; and fitting the foot end swinging track. The method for planning the foot end swinging track achieves the barrier avoidance function when the leg lifting sage has the backward and upward motion trend; can better realize the barrier avoidance function when the walking direction has the backward and upward motion trend; and moreover, the foot end swinging track parameter can be adjusted in real time to be flexibly adapted to the landform, so that the passing capability of the quadruped robot on the complex rough landform is improved.

Description

technical field [0001] The invention relates to the field of robot motion planning, in particular to a method for planning the swing trajectory of the foot end of a quadruped robot. Background technique [0002] At present, the walking methods of ground robots are mainly divided into wheeled, crawler and footed. The research on wheeled robots is relatively mature, but their ability to pass through complex and rugged terrain is poor. Footed robots use bionic principles to simulate nature. The legged animals have good passability in narrow and rough terrain, which effectively makes up for the shortcomings of wheel-tracked robots. Among the legged robots, the quadruped robot is simpler than the biped robot, and has higher walking efficiency than the multi-legged robot, so it has higher research value. The swing trajectory of the foot has a great influence on the passability of the quadruped robot on rough terrain. [0003] Reasonable foot trajectory helps to reduce the impact...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 党睿娜姚其昌许鹏许威慕林栋江磊蒋云峰邓秦丹降晨星康祖铭杨超宁
Owner CHINA NORTH VEHICLE RES INST
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