Method and device for motion transition of a multi-legged robot

A multi-legged robot and robot motion technology, which is applied in the field of multi-legged robot motion transition, can solve the problems of complex time-consuming and high price of terrain information collection equipment, achieve smooth and stable motion transition, and reduce technical complexity and cost.

Active Publication Date: 2020-12-25
SIASUN CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, terrain information collection equipment is generally expensive, and complex and time-consuming calculations are required to complete the overall state assessment (self state, surrounding environment, and terrain information) and planning trajectory adjustment of multi-legged robots.

Method used

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  • Method and device for motion transition of a multi-legged robot
  • Method and device for motion transition of a multi-legged robot
  • Method and device for motion transition of a multi-legged robot

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Experimental program
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Embodiment 1

[0023] Figure 1a It is a flow chart of a method for motion transition of a multi-legged robot in Embodiment 1 of the present invention. This embodiment is applicable to the motion transition situation of a multi-legged robot between flat terrain and inclined terrain. The method can be performed by a multi-legged robot. Transition means to perform. In this embodiment, a quadruped robot is used as an example to illustrate the method, and the method may specifically include:

[0024] Step 110 , according to the landing condition of the swinging feet of the multi-leg robot and the change of body attitude, determine whether the multi-leg robot enters the terrain transition stage.

[0025] In this embodiment, an optional quadruped robot is taken as an example. The movement gaits of the quadruped robot mainly include crawling (walk) gait and trot (trot) gait, the walk gait is mainly used for low-speed static gait, and the trot gait In the gait, the impact between each foot end and ...

Embodiment 2

[0038] figure 2 It is a flow chart of a method for motion transition of a multi-legged robot in Embodiment 2 of the present invention. On the basis of the above-mentioned embodiments, this embodiment takes a quadruped robot as an example to describe the transition process of the quadruped robot from a flat terrain to an inclined terrain, and from an inclined terrain to a flat terrain. Correspondingly, the method in this embodiment specifically includes:

[0039] Step 210, the quadruped robot moves with a standard intermittent crawling gait.

[0040] Specifically, see Figure 1b , a is the transition stage from flat terrain to slope terrain, and b is the transition stage from slope terrain to flat terrain. Before the quadruped robot enters the transition stage, that is, when it is on flat terrain or slope terrain, it moves with a standard intermittent crawling gait.

[0041] When the quadruped robot enters transition phase a, execute step 221; when enters transition phase b, ...

Embodiment 3

[0056] image 3 It is a schematic structural diagram of a multi-legged robot motion transition device in Embodiment 3 of the present invention. The device is configured in a multi-legged robot, including:

[0057] The transition judging module 310 is used for judging whether the multi-legged robot has entered the terrain transition stage according to the landing situation of the swing foot end of the multi-legged robot and the change of the fuselage attitude, wherein the terrain transition stage includes the transition from flat terrain to slope terrain phases and transition phases from sloped terrain to flat terrain;

[0058] The motion trajectory adjustment module 320 is used to adjust the motion planning trajectory of the swinging foot end if the multi-legged robot enters the terrain transition stage;

[0059] Leaving judging module 330, used to determine whether the multi-legged robot has completely left the terrain transition stage according to whether the forward distan...

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Abstract

Embodiments of the invention disclose a method and apparatus for motion transition of a multi-legged robot. The method includes the steps of judging whether a multi-legged robot enters a terrain transition phase according to landing conditions of swing leg ends of the multi-legged robot and a change condition of a body posture, the terrain transition phase including a transition phase from a flatterrain to a sloped terrain and a transition phase from the sloped terrain to the flat terrain; if so, adjusting motion planning paths of the swing leg ends; judging whether the multi-legged robot hasleft the terrain transition phase completely according to whether the forward distance of the center of mass of the body of the multi-legged robot is greater than the length of the body; and if so, adjusting the height of the multiple leg ends of the multi-legged robot relative to the plane of the body to the same height. The technical scheme of the embodiments of the invention can reduce the technical complexity and cost, and simply realizes the smooth and stable motion transition of the multi-legged robot between the flat terrain and the sloped terrain.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of robot motion, and in particular, to a method and device for motion transition of a multi-legged robot. Background technique [0002] With the rapid development of science and technology, multi-legged robots are more and more applied due to the advantages of using discrete contact points and foot-body separation buffer structure without causing damage to the terrain and theoretically able to move on all terrains that humans can reach. more and more widely. [0003] The movement of a multi-legged robot involves the coordination and synchronization between the movement of the fuselage and the movement of the multi-legged end. It depends on the full perception of the surrounding environment, the full feedback of terrain information and the full feedback of its own state. It is a very complicated motion planning trajectory process. . At present, the research and application of multi-leg...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02B62D57/032
CPCB62D57/032G05D1/0212G05D2201/0217
Inventor 杨跞苗燕楠孙开胜冷正飞岳克双
Owner SIASUN CO LTD
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