Balance and stability control method for quadruped robot based on gait adjustment in three-dimensional space
A quadruped robot, gait technology, applied in attitude control and other directions, to achieve the effect of improving adaptability
Active Publication Date: 2019-08-30
SHANDONG UNIV
View PDF5 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
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 balance and stability control method for quadruped robots based on gait adjustment in three-dimensional space, which realizes the balance control of quadruped robots and prevents situations such as tipping and rollover.
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 moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0048] The invention is based on the stability control of the quadruped robot by adjusting the gait in the three-dimensional space. The method ensures that the quadruped robot can actively adjust to external lateral impacts, rough terrain, etc. to maintain stable walking while maintaining a normal movement target. The specific procedure of this method is as follows.
[0049]Establish a trunk-based mobile coordinate system and a hip-based local coordinate system for a quadruped robot, such as figure 1 As shown, the motion of the quadruped robot is thus described. The pitch angle, pitch angular velocity, roll angle and roll angular velocity of the quadruped robot are collected by the VG sensor. The acquisition frequency is 100hz.
[0050] Compare the current torso posture of the quadruped robot collected by the sensor with the given torso angle and calculate the foothold gait of the quadruped robot through the spring-loaded inverted pendulum model, and adjust the footfall of t...
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
Login to View More 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 a stable pitch angle and a stable roll angle of a quadruped robot trunk, belonging to the technical field of quadruped robot stability control. Background technique [0002] The application of existing vehicles in environments with large ruggedness or complex and changeable terrain is greatly restricted. For example, intermittent gullies on the ground or sandy and muddy ground 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 human control, and there is no active attitude adjustment for adapting...
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
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
Inventor 李贻斌辛元昊陈腾柴汇杨琨
Owner SHANDONG UNIV