Rugged-terrain-oriented four-foot robot double-layer structure gait planning method

A quadruped robot, gait planning technology, applied in the field of robotics

Active Publication Date: 2018-07-27
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In summary, although the existing literature tries to solve the problem of quadruped robots walking stably on rough terrain, it has many limitations.

Method used

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  • Rugged-terrain-oriented four-foot robot double-layer structure gait planning method

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Experimental program
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Effect test

Embodiment 1

[0075] Embodiment 1 is to utilize the method of the present invention to realize that the Stewart type electric parallel wheel-foot robot carries out foot type stable walking on the boss 901 with gullies and discontinuities, and removes the platform of the starting point and the end point, and the length of the boss varies from 22cm to 35cm. etc., the height varies from 29cm to 90cm. Figure 8 -(a) is the output of the local path planning layer in Embodiment 1. The grid map collected and analyzed by the environmental perception system 704 is divided into a prohibited area 801 and a passable area 802 according to the roughness of the terrain. Foot starting position 810 and center of mass starting position 808 to the target center of mass position 803 between the left rear leg target footing point 804, the right rear leg target footing point 805, the left front leg target footing point 806, and the right front leg target footing point The linear target motion plan that point 809...

Embodiment 2

[0076] Embodiment 2 is to use the method of the present invention to realize Stewart type electric parallel wheel-foot robot to carry out foot-style stable walking in the ravine terrain 1001 with roll angle change, remove the platform of the starting point and the end point, and the length of the boss varies from 34cm to 100cm , the width ranges from 29 to 86, and the height ranges from 17cm to 38cm. Figure 8 -(b) is the output of the local path planning layer in Embodiment 2. The grid map collected and analyzed by the environmental perception system 704 is divided into a prohibited area 801 and a passable area 802 according to terrain roughness, etc., from the quadruped Target footing point 804 of the left hind leg, target footing point 805 of the right hind leg, target footing point 806 of the left front leg, and target footing point of the right front leg between the starting position 810 and the starting position 808 of the center of mass to the target center of mass posit...

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Abstract

The invention discloses a rugged-terrain-oriented four-foot robot double-layer structure gait planning method. During upper layer movement planning, landing points of swing legs under each swing phaseare planned according to a gait sequence, and centroid track planning of a robot trunk is carried out on each supporting phase to form the optimal target movement state of each step till the finishing point of a given planned path is reached, wherein the landing points are planned in the mode that a sector search area of the current swing legs in the four-foot robot is built in a grid map, and coordinates of the optimal target landing points are found in a passable area of the sector search area. By using method, the calculation efficiency and the terrain adaptability of the robot are improved under the condition that the movement speed and stability of the robot are not reduced.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a quadruped motion planning method facing rough terrain. Background technique [0002] According to the composition structure and movement form of the ground mobile robot, it is mainly divided into crawler type, wheel type, foot type and compound type. Compared with the other two independent forms of movement, the foot trajectory of foot movement is a series of discrete points, which can be supported by isolated contact points, so it has strong obstacle-surmounting ability and terrain adaptability, and is suitable for rough terrain Steady Walking Study. Quadruped robot is a multi-disciplinary research platform integrating mechanics, electronics, materials, control and artificial intelligence, and has always been one of the research hotspots in the field of robotics. [0003] The footed robot combines the terrain information detected and processed by environmental per...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 郭非汪首坤王军政赵江波马立玲沈伟李静
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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