Low-energy-consumption posture analysis method under standing state based on bionic foot robot

A bionic robot, attitude analysis technology, applied in the direction of instruments, adaptive control, control/regulation systems, etc., to achieve the effect of low energy consumption attitude

Active Publication Date: 2018-10-26
OCEAN UNIV OF CHINA
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Problems solved by technology

However, the above-mentioned existing methods for energy consumption analysis of robots are mainly aimed at the analysis and optimization of energy consumption in different configurations of legs of legged robots and in motion, and seldom involve the energy consumption of legged robots in a standing posture. consumption analysis

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  • Low-energy-consumption posture analysis method under standing state based on bionic foot robot
  • Low-energy-consumption posture analysis method under standing state based on bionic foot robot
  • Low-energy-consumption posture analysis method under standing state based on bionic foot robot

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Embodiment Construction

[0044] In order to understand the above-mentioned purpose, features and advantages of the present invention more clearly, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. Many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can also be implemented in other ways than those described here. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0045] Such as figure 1 As shown, this embodiment discloses a low-energy posture analysis method based on a footed bionic robot in a standing state, including the following steps:

[0046] Step S1, performing kinematic and static analysis on the legged robot, and estab...

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Abstract

The invention discloses a low-energy-consumption posture analysis method under the standing state based on a bionic foot robot. The research is performed for the relation between the posture and the energy consumption of the foot robot, firstly the output torque of each joint of the legs is obtained through static leg analysis and the overall energy consumption model of the foot robot is established; then the motion flexibility of the robot is comprehensively considered, the maximum step performance indicator is introduced and the multi-objective function based on the energy consumption and the maximum step is established; and the low-energy-consumption posture of the robot is obtained through MATLAB simulation. The reliability and the effectiveness of the analytical method are proved by the experiment, the objectives of reducing energy consumption and increasing work endurance time can be achieved by adjusting the posture of the robot under the horizontal environment by establishing the dynamic relation between the robot posture change and the energy consumption and thus the method has important meaning for the static posture research of the robot.

Description

technical field [0001] The invention relates to the field of research on the relationship between posture and energy consumption of a legged robot, in particular to a low-energy posture analysis method based on a bionic legged robot in a standing state. Background technique [0002] As an important branch of the field of mobile robots, legged robots have good mobility flexibility and environmental adaptability, high research value and broad application prospects. However, legged robots generally have the disadvantages of low energy efficiency and high energy consumption in actual operations. Especially in low-speed mobile operations with high stability requirements and heavy loads, the robot spends more time in a static state that requires a specific posture such as positioning, loading, and fixed-point operations, and the energy generated in this non-moving state Consumption cannot be ignored. By observing the static state of multi-legged organisms such as spiders and sti...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张磊郭俊成黎明高双双刘新志
Owner OCEAN UNIV OF CHINA
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