Motion planning method of quadruped robot on complex terrain

Abstract

The invention provides a motion planning method of a quadruped robot on a complex terrain. The method comprises the steps that position sensors at the foot ends of the quadruped robot sense that a swing leg to fall to the ground; parameters of the current terrain where the foot ends of current support legs are located are calculated according to the foot falling point, generated by the swing leg falling to the ground, relative to the foot falling points of the other three support legs; the posture of a quadruped robot body is adjusted to adapt to the current terrain according to the obtained parameters of the terrain; and the leg swinging next time is determined according to the adjusted posture of the quadruped robot, and the steps are repeated until the quadruped robot arrives as a set target point. By means of the method, the parameters of the terrain are determined through the position sensors on the body and the positions of the four foot ends, so that the body posture suitable for the current terrain is adjusted, motion path sequences of all joints of the quadruped robot are generated, and it is guaranteed that the quadruped robot automatically, safely and stably moves on thecomplex terrain.

Description

technical field [0001] The invention relates to the field of robot motion planning, in particular to a complex terrain-oriented quadruped robot motion planning method. Background technique [0002] As one of the main forms of legged robots, quadruped robots rely on leg and foot movements to cope with unstructured environments and have significant advantages in adaptability to complex terrain. Due to the diversity and complexity of the terrain environment, realizing adaptive and stable walking in complex terrain has always been a difficult point in the research of quadruped robots, especially when the quadruped robot faces a completely unknown complex terrain and cannot perceive the terrain environment. Motion planning of legged robots is of great value. [0003] Legged mobile robots can be divided into bipedal, quadruped, hexapod, and eight-legged robots according to the number of mechanical legs. Among them, quadruped robots, as bionics of common mammals, have good load-b...

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Problems solved by technology

[0004] After searching, the invention patent of Chinese patent application number 201310014887.5 discloses a quadruped robot motion planning method for complex terrain. This method uses laser, stereo vision and other sensors to perform local detection and accurate modeling of the terrain environment to obtain terrain parameters. , based on these terrain information, the foothold sequence is planned to realize the stable passage of the quadruped robot on the complex terrain, but it is difficult to accurately model the terrain in the actual environment

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