Real-time interactive quadruped robot multi-gait dynamic modeling method and system

A quadruped robot and dynamics modeling technology, applied in instruments, special data processing applications, electrical digital data processing, etc., can solve problems such as difficult real-time performance, poor scalability, inconvenient secondary development, etc.

Active Publication Date: 2017-10-17
CHINA NORTH VEHICLE RES INST
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Problems solved by technology

[0002] The robot dynamics modeling method is manual derivation and calculation and dynamic software solution. The former is feasible for simple robot systems, but for complex robot systems, the dynamic equations constructed are very complicated and it is difficult to obtain correct analytical solutions; Learning software modeling is relatively easy
At present, the dynamics modeling of quadruped robots mainly adopts dynamics software modeling such as ADAMS and RECURDYN, and some open source dynamics

Method used

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  • Real-time interactive quadruped robot multi-gait dynamic modeling method and system
  • Real-time interactive quadruped robot multi-gait dynamic modeling method and system
  • Real-time interactive quadruped robot multi-gait dynamic modeling method and system

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Embodiment 1

[0097] The invention provides an object-oriented real-time interactive quadruped robot multi-gait dynamics modeling method, including the construction of the dynamic system, the embedding of the multi-gait model, the execution of the multi-gait expected dynamic behavior, and the dynamic behavior The multi-gait control model produces the desired walking action. Based on the single-leg model, the real-time dynamic calculation and iteration of the built-in collision detection module of Vortex is used to obtain the joint angle and force. On this basis, the joint controller drive is constructed to realize The expected dynamic behavior of the quadruped robot will be reproduced in the graphical model, and it can be called a virtual prototype of the quadruped robot with dynamic behavior.

[0098] S1, build the multi-gait dynamic system of quadruped robot, the graphic visualization model of quadruped robot and terrain; Described step S1 further comprises:

[0099] Step 1, build a quadr...

Embodiment 2

[0142] Based on the same inventive concept, the present invention also provides a real-time interactive quadruped robot multi-gait dynamics modeling system, its structure diagram is as follows Figure 5 shown, including:

[0143] Building blocks for constructing multi-gait dynamic systems for quadruped robots, graphical visualization models of quadruped robots and terrain;

[0144] The information transmission module is used for information transmission between the multi-gait dynamic system and the quadruped robot and the graphical visualization model of the terrain by using multi-thread communication.

[0145] Further, the building blocks include:

[0146] The first construction sub-module is used to construct the multi-gait dynamic system of the quadruped robot;

[0147] The second construction sub-module is used to construct the graphic visualization model of the quadruped robot and terrain;

[0148] Preferably, the first construction submodule further includes:

[0149...

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Abstract

The invention relates to a real-time interactive quadruped robot multi-gait dynamic modeling method and system. The method comprises the following steps that: constructing the multi-gait dynamic system of a quadruped robot and a quadruped robot and terrain graph visualization model, wherein the multi-gait dynamic system of the quadruped robot and the quadruped robot and terrain graph visualization model adopt multi-thread communication to carry out information transmission. On the basis of a Vortex dynamic engine, dynamic real-time resolving is carried out, the state information of the robot is transmitted to a graphics engine task in real time through a client side-service side communication way on the basis of a UDP (User Datagram Protocol), and the visualized analysis of a platform is carried out to finish the multi-gait model embedded dynamic system modeling.

Description

technical field [0001] The invention relates to the technical field of robot dynamic modeling, in particular to a real-time interactive quadruped robot multi-gait dynamic modeling method and system. Background technique [0002] The robot dynamics modeling method is manual derivation and calculation and dynamic software solution. The former is feasible for simple robot systems, but for complex robot systems, the dynamic equations constructed are very complicated and it is difficult to obtain correct analytical solutions; Learning software modeling is relatively easy. At present, the dynamics modeling of quadruped robots mainly adopts dynamics software modeling such as ADAMS and RECURDYN, and some open source dynamics engines such as ODE. Although the former modeling method has high precision, the calculation is very complicated, and it is difficult to ensure real-time control. Therefore, it is difficult to match the control parameter correction requirements of the actual pr...

Claims

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Application Information

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IPC IPC(8): G06F17/50
CPCG06F30/17
Inventor 许鹏苏波江磊姚其昌党睿娜许威蒋云峰慕林栋降晨星邓秦丹康祖铭杨超宁
Owner CHINA NORTH VEHICLE RES INST
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