Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Control system of four-foot robot

A quadruped robot and control system technology, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems of high software and hardware development requirements, inconvenient modularization, and inconvenient development and collaboration of engineers

Active Publication Date: 2017-11-03
SIASUN CO LTD
View PDF14 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of this implementation method is that the processing capability of the single-chip DSP is limited, and it is difficult to process and complete the sensing information required by the footed robot in the process of movement in time.
Moreover, this implementation method will lead to the complexity of the control system, high requirements for software and hardware development, inconvenient modularization, and inconvenient development collaboration among engineers

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Control system of four-foot robot
  • Control system of four-foot robot

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0016] This embodiment provides a technical solution for a control system of a quadruped robot. In this technical solution, the control system of the quadruped robot includes: a main controller 11 , a signal processing module 12 , and a servo control module 13 .

[0017] see figure 1 , the control system of the quadruped robot includes: a main controller 11 , a signal processing module 12 , and a servo control module 13 .

[0018] The main controller 11 is the control core of the whole control system. It is respectively connected with the signal processing module 12 and the servo control module 13 through the Ethercat bus. Through the Ethercat bus, the main controller 11 obtains various sensing signals and control signals from the signal processing module 12, processes the acquired sensing signals and control signals, generates servo control signals for controlling the servo motor, and sends the servo The control signal is transmitted to the servo control module 13 to compl...

no. 2 example

[0024] This embodiment provides another technical solution of the control system of the quadruped robot. In this technical solution, the control system of the quadruped robot includes: a main controller 21, a signal processing module 22, a servo control module 23, a navigation module 24, an encoder 25, an attitude detection module 26, a wireless module 27, and a pressure detection module 28.

[0025] The servo control module 23 is connected with the servo motor, and the servo control module 23 is used to realize the speed control, position control and torque control of the servo motor.

[0026] Wherein, the signal processing module 22 adopts ARM or DSP or MCU or FPGA as the main control chip, the signal processing module 22 can process the encoder signal of SSI or BISS protocol, and the output pin of the main control chip can output the Clock with adjustable baud rate. clock signal. The Clock clock signal is input to the encoder 25, and the encoder 25 returns a DATA signal. ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The embodiment of the invention discloses a control system of a four-foot robot. The control system comprises a signal processing module, a main controller and a servo control module, wherein the signal processing module is connected with various sensing and controlling modules, by means of connection with the sensing and controlling modules, the signal processing module acquires sensing signals and controlling signals and processes the acquired sensing signals and the controlling signals; the main controller is connected with the signal processing module and generates servo control signals which are used for controlling servo motors on joints according to the sensing signals and the controlling signals all of which are acquired by the signal processing module; and the servo control module carries out servo control over the servo motors according to the servo control signals which are acquired by the main controller. According to the control system of the four-foot robot, the modular and distribution type control of the robot control system is achieved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of robots, and in particular to a control system for a quadruped robot. Background technique [0002] At present, ground mobile robots can be divided into wheeled robots, crawler robots and footed robots according to different movement modes. Wheeled robots have the advantages of fast speed, high efficiency, and low motion noise when moving on relatively flat hard roads, but they have certain shortcomings in the ability to traverse complex terrain and the flexibility of motion. Tracked robots can walk on terrain with a certain degree of roughness, and have strong field operation capabilities, which improves the adaptability of wheeled robots to soft and uneven ground, but their movement speed and transmission efficiency are relatively low, and Disadvantages such as high movement noise. [0003] The footed robot has the incomparable advantages of wheeled and tracked robots. It can use ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 杨跞李庚益
Owner SIASUN CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com