Gait control method and device of multi-legged robot and robot

A multi-legged robot and gait control technology, applied in the field of robotics, can solve problems such as poor anti-interference

Inactive Publication Date: 2018-07-03
SHEN ZHEN KUANG CHI HEZHONG TECH LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a gait control method, device and robot for a multi-legged robot, to at least solve the technical problem in the prior art that the operation planning of the biped robot adopts offline design, resulting in poor anti-interference performance

Method used

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  • Gait control method and device of multi-legged robot and robot
  • Gait control method and device of multi-legged robot and robot
  • Gait control method and device of multi-legged robot and robot

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Embodiment 1

[0020] According to an embodiment of the present invention, an embodiment of a gait control method for a multi-legged robot is provided. It should be noted that the steps shown in the flow chart of the accompanying drawings can be implemented in a computer system such as a set of computer-executable instructions and, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0021] figure 1 is a flow chart of the gait control method of a multi-legged robot according to an embodiment of the present invention, as figure 1 As shown, the method includes the following steps:

[0022] Step S102, dividing each gait of the robot into a plurality of action units with a preset sequence, and obtaining the robot's foot end motion trajectory and the target zero moment point corresponding to the foot end motion trajectory.

[0023] Specifically, the gait can include: start, s...

Embodiment 2

[0079] According to an embodiment of the present invention, an embodiment of a gait control device for a multi-legged robot is provided, Image 6 is a schematic diagram of a gait control device for a multi-legged robot according to an embodiment of the present invention, such as Image 6 As shown, the device includes:

[0080] The first acquisition module 60 is configured to divide each gait of the robot into a plurality of action units with a preset order, and acquire the robot's foot end movement trajectory and the target zero moment point corresponding to the foot end movement trajectory.

[0081] Specifically, the gait can include: start, stop, normal walking, left turn, right turn, acceleration, deceleration, etc. Each gait is composed of multiple action units. When the robot receives an instruction to execute a certain gait, This gait can be completed by performing actions according to the action units in the preset sequence in this gait.

[0082] The above-mentioned r...

Embodiment 3

[0122] According to an embodiment of the present invention, a robot is provided, including any gait control device for a multi-legged robot in Embodiment 2.

[0123] The gait control devices of the multiple groups of robots included in the above-mentioned robots of the present application divide each gait of the robot into a plurality of action units with a preset order through the first acquisition module, and acquire the foot end motion trajectory and For the corresponding target zero-moment point, when the robot walks with a preset gait, the robot’s center-of-mass trajectory is obtained according to the current zero-moment point and target zero-moment point of the robot acquired in real time through the second acquisition module; A determination module determines the trajectory information of the robot's component connection nodes according to the foot end movement trajectory and the mass center movement trajectory; through the action module, the robot is controlled to act a...

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Abstract

The invention discloses a gait control method and device of a multi-legged robot and the robot. The method comprises the following steps: each gait of the robot is divided into multiple action units with a preset sequence, and leg end motion trajectories of the robot and target zero torque points corresponding to the leg end motion trajectories are obtained; under the condition of the robot walking according to preset gaits, a mass center motion trajectory of the robot is obtained according to present zero torque points and target zero torque points of the robot obtained in real time; trajectory information of part connecting nodes of the robot is determined according to the leg end motion trajectories and the mass center motion trajectory; and the robot is controlled to move according tothe sequence of the action units in the preset gaits and the trajectory information of the part connecting nodes corresponding to the action units. The method solves the technical problem of weak interference resistance caused by offline design in operation planning of a double-legged robot in the prior art.

Description

technical field [0001] The invention relates to the field of robots, in particular to a gait control method, device and robot for a multi-legged robot. Background technique [0002] Biped robots have humanoid appearance and motion characteristics, and have a good affinity. They are more suitable as service robots to cooperate with humans to complete tasks and conduct human-computer interaction. The bipedal motion control technology can be well transplanted to the multi-legged robot platform, which is beneficial to the research of multi-legged robots, while the discrete and alternating footholds of the legged robot, which are easy to adjust, can better adapt to different grounds, and the movement is more flexible. It is beneficial to complete work tasks in complex and unknown environments. The unilateral constraint and underactuation of biped robots easily lead to unstable walking and fall. Therefore, effective gait planning and stable motion control are key technologies and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1612B25J9/1633B25J13/00B25J9/16
Inventor 不公告发明人
Owner SHEN ZHEN KUANG CHI HEZHONG TECH LTD
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