Self-adaptive electric-driven single-leg robot and control method thereof

Abstract

The invention discloses a self-adaptive electric-driven single-leg robot, and relates to the field of robot control. According to the self-adaptive electric-driven single-leg robot disclosed by the invention, a machine body connecting plate, a thigh mechanism and a shank mechanism are arranged; after the expectation position of a shank rod of the robot and the actual position of the shank rod of the robot are obtained, through operation of the expectation position and the actual position, foot end force required for moving the shank rod from the actual position to the expectation position is obtained; force moment required by a hip joint motor and force moment required by a knee joint motor are calculated from the leg end force; and finally the force moment required by the hip joint motoris inputted in the hip joint motor, and the force moment required by the knee joint motor is inputted in the knee joint motor, so that the thigh mechanism and the shank mechanism of the robot are controlled to move. The invention further discloses a control method of the self-adaptive electric-driven single-leg robot. The self-adaptive electric-driven single-leg robot disclosed by the invention adopts a moving manner that the motors cooperate with decelerators to drive the robot, so that the high loading capacity of the robot can be realized; and besides, the moving buffering capacity of the robot is realized by an algorithm, so that the buffering capacity of the robot can be improved.

Description

technical field [0001] The invention relates to the field of mobile robot control, in particular to an adaptive electric-driven single-leg robot and a control method thereof. Background technique [0002] In recent years, with the maturity and development of mobile robot technology, mobile robots with electric drive systems have the characteristics of fast dynamic response, no noise during operation, and no gas emissions. Due to the advantage of light weight, mobile robots with electric drive systems have good commercial development prospects. [0003] At present, most of the existing mobile robots with electric drive systems use motor direct drive and a drive system with a reducer with a reduction ratio of less than 10 to control the force. It can effectively cushion the impact when running. However, the electric drive system directly driven by the motor cannot provide the ideal load capacity of the robot. In order to obtain a high load capacity, a reducer with a reductio...

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Problems solved by technology

[0004] The main purpose of the present invention is to provide an adaptive electric-driven single-leg robot and its control method, which aims to solve the problems caused by the interaction between the foot end of the robot and the ground when the robot performs high-speed movement, jumps and heavy loads in the prior art. The sharp increase in impact force will cause technical problems that damage robot parts

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