Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Movement control method for quadruped robot based on central pattern generator

A pattern generator and robot motion technology, applied in the field of bionic robots, can solve problems such as the inability to control the robot's footprint factor, motion frequency and gait independently, and achieve the effect of smooth motion and smooth switching process.

Active Publication Date: 2018-10-02
CHANGAN UNIV
View PDF12 Cites 3 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the deficiencies in the prior art, the object of the present invention is to provide a motion control method for a quadruped robot based on a central pattern generator, which solves the problem that the robot's floor space factor, motion frequency and gait cannot be independently controlled in the prior art. control, which limits the application of free gaits to robots

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Movement control method for quadruped robot based on central pattern generator
  • Movement control method for quadruped robot based on central pattern generator
  • Movement control method for quadruped robot based on central pattern generator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0032] Such as figure 1 As shown, this embodiment provides a motion control method for a quadruped robot based on a central mode generator, including foot end trajectory planning, which includes foot end trajectory in a swing state, foot end trajectory in a support state, and foot end trajectory planning. relative to the root joint trajectory;

[0033] In this embodiment, the initial position and velocity of the foot end of the robot relative to the root joint are known, as well as the expected target position, speed, and intermediate position of the robot, and a quartic spline curve is used to plan the trajectory of the robot, that is, the foot end in the swing state The trajectory formula is:

[0034]

[0035] Restrictions:

[0036]

[0037] The foot trajectory obtained in the swing state is as formula (1):

[0038]

[0039] In formula (1), x is the control signal, x∈[-1,1]; s is the step size, h is the maximum leg height of the walking robot, v 0 is the average...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a movement control method for a quadruped robot based on a central pattern generator, and the method comprises a step of foot end locus planning which comprises the planning ofa locus of a foot end in a swinging state, a locus of the foot end in a support state and a locus of the foot end relative to a root joint. The method can achieve the independent control of the duty ratio, movement period and gait of a walking robot. Moreover, the method achieves the control of the gait of the robot through changing the phase of the robot, and the change interval of phase can be infinitely small, thereby enabling the robot to perform any gait, and guaranteeing the steady switching at any moment during the gait switching. The method can enable the robot to steadily move in a natural environment through the control of the gait of the robot.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and in particular relates to a motion control method for a quadruped robot based on a central pattern generator. Background technique [0002] With the development of science and technology, human beings are gradually expanding the field of exploration of the natural world. Some fields that humans cannot enter or will cause great harm to the human body can rely on robots to conduct on-the-spot exploration of these fields. Legged robots have a strong ability to adapt to the environment, and their movements are relatively flexible. However, the posture and gait of the robot, two key factors that determine the adaptability of multi-legged robots to complex environments, can be adjusted by changing the robot's footprint and motion frequency. Therefore, the robot's footprint, Frequency and gait are related to whether the performance of the robot can be fully exerted. The initial multi-legged r...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 朱雅光秦瑞吴永胜郭童刘琼
Owner CHANGAN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com