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A bionic motion control method of a wheel-legged compound robot based on cpg

A motion control and robotics technology, applied in motor vehicles, adaptive control, general control systems, etc., can solve problems such as low efficiency, complex calculation, lack of real-time performance and environmental adaptability, and achieve simple calculation, convenient control, and environmental The effect of adaptability and robustness improvement

Active Publication Date: 2021-01-26
SOUTHEAST UNIV
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Problems solved by technology

[0003] At present, for the control method of wheel-legged compound robot, the model-based control method is mainly used. Although this method can obtain accurate motion trajectory and foothold, the calculation is complicated, the efficiency is low, and it does not have real-time and environmental adaptability. During the conversion of wheel and leg motion modes, most of the robots need to be in a motion pause state

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  • A bionic motion control method of a wheel-legged compound robot based on cpg
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  • A bionic motion control method of a wheel-legged compound robot based on cpg

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Embodiment Construction

[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.

[0035] Such as figure 1 As shown, a bionic motion control method of a CPG-based wheel-leg compound robot includes the following steps.

[0036] Step 1, CPG network model establishment, planning layer.

[0037] Such as figure 2 and image 3 As shown, the wheel-leg compound robot has four wheel-leg mechanisms, and its specific structure is as described in CN201610048470.4, which will not be repeated here.

[0038] Each wheel-leg mechanism is connected to a CPG oscillator, each CPG oscillator is preferably a Kuramoto phase oscillator, and the CPG network is preferably a Kuramoto model.

[0039] exist figure 1 Among them, LF, RF, LR and RR denote the left front wheel-leg mechanism, right front wheel-leg mechanism, left rear wheel-leg mechanism and right rear wheel-leg mechanism. The four CPG oscillators corresponding to L...

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Abstract

The invention discloses a bionic motion control method of a wheel-leg compound robot based on CPG, comprising the steps of: step 1, establishing a CPG network model; step 2, outputting a rhythm signal; step 3, function mapping and step 4, motion execution . According to the different movement modes of the wheel and the legs of the robot, the invention maps the periodic change signal to the movement control function of the corresponding mode, so as to realize the smooth and fast switching of the movement modes of the wheel and the legs. Therefore, it has the characteristics of simple calculation and convenient control, and the environmental adaptability and robustness have been improved. The switch is used to switch the wheel and leg motion modes of the robot, and the Sigmoid function method is used to smooth the transition of the control signal during the switching process. , to achieve smooth and fast switching of wheel and leg movement modes during movement. In addition, during the transition between wheel and leg motion modes, the robot can continue to move forward without pause.

Description

technical field [0001] The invention relates to the technical field of robot bionic motion control, in particular to a bionic motion control method of a CPG-based wheel-leg compound robot. Background technique [0002] Wheel-legged composite robots have both the high-speed and high-efficiency movement of wheeled robots and the terrain adaptability of legged robots, and have been a research hotspot for ground mobile robots for many years. Chinese invention CN201610048470.4 discloses a wheel-leg mechanism applied to a wheel-leg compound robot. Through the cooperation and control of two power machines, the rope is retracted and released to switch the wheel-leg mode of the robot. [0003] At present, for the control method of wheel-legged compound robot, the model-based control method is mainly used. Although this method can obtain accurate motion trajectory and foothold, the calculation is complicated, the efficiency is low, and it does not have real-time and environmental adap...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04B62D57/028
CPCB62D57/028G05B13/042
Inventor 宋光明戚奇恩韦中高源宋爱国
Owner SOUTHEAST UNIV
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