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A quadruped robot stress control method and device

A technology of a quadruped robot and a control method, which is applied in the field of quadruped robot stress control, can solve the problems of the quadruped robot being easily damaged, poor in stress capability and low in reliability, and achieves a simple control process and improves stress capability. 、Reliable effect of control process

Active Publication Date: 2022-06-17
CHINA NORTH VEHICLE RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of quadruped robots in the prior art, such as easy damage, high cost, low reliability and poor stress capability, the present invention provides a stress control method and device for quadruped robots. Simplify the dynamic equation of the virtual leg in the model, then determine the foot support trajectory planning equation according to the dynamic equation of the virtual leg, and finally carry out the quadruped robot according to the foot support trajectory planning equation and the vertical force on the foot Stress control, the quadruped robot is not easy to damage, avoids the installation of force sensors, reduces the cost, has high reliability, and can improve the stress ability of the quadruped robot, and the control process is stable and flexible

Method used

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  • A quadruped robot stress control method and device
  • A quadruped robot stress control method and device
  • A quadruped robot stress control method and device

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Effect test

Embodiment 1

[0082] Embodiment 1 of the present invention provides a stress control method for a quadruped robot. The specific flowchart is as follows: figure 1 The specific process is as follows:

[0083] S101: Determine the dynamic equation of the virtual legs in the simplified model of the pre-built quadruped robot;

[0084] S102: Determine the foot support motion trajectory planning equation according to the dynamic equation of the virtual leg;

[0085] S103: Perform stress control on the quadruped robot according to the foot support motion trajectory planning equation and the vertical force on the foot.

[0086] Before determining the dynamic equations of the virtual legs in the pre-built quadruped robot simplified model in the above S101, it is possible to construct such as figure 2 The simplified model of the quadruped robot shown, figure 2 Among them, A, B, C, and D are the four actual support legs of the quadruped robot, E is the fuselage, F is the virtual leg, o is the origi...

Embodiment 2

[0114] Based on the same inventive concept as Embodiment 1, Embodiment 2 of the present invention provides a stress control device for a quadruped robot, including a first determination module, a second determination module, and a stress control module. Function:

[0115] The first determining module is used to determine the dynamic equation of the virtual leg in the simplified model of the quadruped robot that is pre-built;

[0116] The second determination module is used for determining the foot support motion trajectory planning equation according to the dynamic equation of the virtual leg;

[0117] The stress control module is used for stress control of the quadruped robot according to the foot support motion trajectory planning equation and the vertical force on the foot.

[0118] The quadruped robot stress control device provided in the second embodiment of the present invention further includes a modeling module, and the modeling module is used to construct a simplifie...

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Abstract

The invention provides a stress control method and device for a quadruped robot. Firstly, the dynamic equation of the virtual leg in the simplified model of the quadruped robot is determined, and then the motion trajectory planning equation of the foot support is determined, and finally the stress control of the quadruped robot is performed. The quadruped robot is not easy to damage, avoids the installation of force sensors, reduces the cost, has high reliability, and can improve the stress capability of the quadruped robot, and the control process has stability and flexibility. In the present invention, the trajectory planning equation in the vertical direction is based on trigonometric function trajectory planning, which is easy to implement. Through the variable height support range, the height of the fuselage can be flexibly and effectively controlled, and the support flexibility of the fuselage is improved. The support motion trajectory planning equation and the vertical force on the feet are used to control the stress of the quadruped robot. The external compliance force of the support body is fully considered, and the contact compliance of the feet is high.

Description

technical field [0001] The invention relates to the field of robot motion control, in particular to a stress control method and device for a quadruped robot. Background technique [0002] Compared with traditional wheeled or tracked vehicles, quadruped robots can choose discrete swing legs to land on their feet, so they can adapt to complex terrains such as plateaus and mountains. The control methods of quadruped robots in the existing technology mainly include position servo. Control with force servo control. Position servo control has poor stress ability for quadruped robots in complex environments, and it is easy to cause damage to quadruped robots. Force servo control mainly includes active force feedback control and resistance force control. Active force feedback control and resistance force control are relatively soft to the quadruped robot and the ground, and both can realize the force compliance control of the quadruped robot, and can be used in complex off-road env...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 许鹏苏波江磊姚其昌党睿娜许威刘兴杰蒋云峰慕林栋降晨星卢玉传邓秦丹康祖铭余雪玮
Owner CHINA NORTH VEHICLE RES INST