Automatic rolling walking device and motion control method thereof

Abstract

The invention relates to an automatic rolling walking device and a motion control method thereof. The automatic rolling walking device comprises a main body and wheels, wherein a gyroscope assembly isarranged in the main body; and the gyroscope assembly comprises at least one pair of gyroscopes, a deflection motor which controls the gyroscopes to deflect actively, and a reverse synchronization mechanism which controls the pair of gyroscopes to deflect at the same speed and in the opposite direction. The gravity moment generated by the change of the center of gravity of the main body of the automatic rolling traveling device enables the gyroscopes to deflect passively, and / or the gyroscopic moment generated by controlling the gyroscopes to deflect actively by virtue of the deflection motoris then utilized to control the motion of the walking device and to maintain balance during the motion. Compared with the prior art, the automatic rolling walking device has the technical effects ofreducing the difficulty in attitude control, increasing the obstacle-surmounting height, continuously and steadily walking up and down stairs, shortening the braking distance, improving the braking performance, increasing the acceleration and the like.

Description

technical field [0001] The invention relates to a walking device structure and control technology, in particular to balance and motion control of products such as robots. Background technique [0002] The demand for products such as single-wheel / two-wheel stable vehicles, biped robots, two-wheel-foot robots, and spherical robots in the market is increasing, and the competition among companies is becoming more and more fierce. The processing precision requirements of the parts and components are very high, and it is difficult to achieve the following functions or the performance is not up to standard: 1. The product posture control is unstable and easy to fall; 2. The obstacle clearance height is insufficient; 3. It is impossible to go up and down stairs or cannot go up and down stairs continuously; 4. 1. The braking distance of emergency braking is long, which cannot meet the safe braking distance stipulated by the state; 5. The acceleration is too slow and so on. Contents...

AI Technical Summary

Problems solved by technology

[0002] The demand for products such as single-wheel / two-wheel stable vehicles, biped robots, two-wheel-foot robots, and spherical robots in the market is increasing, and the competition among companies is becoming more and more fierce. The processing precision requirements of the parts and components are very high, and it is difficult to achieve the following functions or the performance is not up to standard: 1. The product posture control is unstable and easy to fall; 2. The obstacle clearance height is insufficient; 3. It is impossible to go up and down stairs or cannot go up and down stairs continuously; 4. . The braking distance of emergency braking is long, which cannot meet the safe braking distance stipulated by the state; 5. The acceleration is too slow, etc.

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