Balanced and stable control method for quadruped robot based on gait adjustment in three-dimensional space

Abstract

The invention relates to a balanced and stable control method for a quadruped robot based on gait adjustment in three-dimensional space. A trunk-based mobile coordinate system and a hip-joint-based local coordinate system are established for a quadruped robot and a trunk pitch angle a pitch angular speed, a horizontal rolling angle, and a rolling angular speed of the quadruped robot are collectedto obtain a current trunk posture of the quadruped robot; and the current trunk posture of the quadruped robot is compared with a given trunk posture and calculation is carried out by using a spring-loaded inverse pendulum model, a landing point gait of the quadruped robot is converted, and a landing point of the quadruped robot under a coordinate system is adjusted, so that stability of the horizontal rolling angle and the pitch angle of the trunk of the quadruped robot is kept. With the method provided by the invention, the quadruped robot is able to make adjustment actively based on an external lateral impact and a rugged terrain to keep stable walking while the normal motion target is kept; and the gait of the robot is adjusted automatically while the motion target is kept, so that anti-disturbance suppression under stable motion is realized and the toppling and turning on one side are prevented.

Description

technical field [0001] The invention relates to a control method for maintaining the balance and stability of the trunk of a quadruped robot for maintaining the stability of the pitch angle and roll angle of the trunk, and belongs to the technical field of quadruped robot stability control. Background technique [0002] The application of existing vehicles in environments with high ruggedness or complex and changeable terrain is greatly restricted. For example, intermittent gullies on the ground or sandy and muddy grounds may cause obstacles to vehicle traffic. In this regard, the movement of legged animals requires only point contact without continuous ground, and the multi-degree-of-freedom legs and feet have greater flexibility and stronger adaptability to complex terrain, so the combination of legs and feet The characteristic footed vehicle has broad application prospects. [0003] At present, footed vehicles are only limited to the movement of planned actions under hum...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problem of balance and stability of existing footed vehicles, the present invention provides a method for controlling the balance and stability of a quadruped robot based on gait adjustment in three-dimensional space, which realizes the balance control of the quadruped robot and prevents situations such as tipping and rollover.

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