A teleoperation system and control method that can coordinately control the single-leg operation and body translation of a multi-legged robot

A multi-legged robot and operating system technology, applied in the field of improving the controllability and adaptability of the multi-legged robot remote operating system, can solve the problems of insufficient controllability and environmental adaptability, and achieve the improvement of work space and working ability, high The effect of location tracking accuracy, heriliac transparency

Active Publication Date: 2020-12-29
严格科创产业发展集团合肥有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problem of insufficient controllability and environmental adaptability of the conventional multi-legged robot remote control system when the multi-legged robot is in an obstacle environment (there are collapses, obstacles and target objects in the local environment), in order to give full play to the multi-legged robot. In order to overcome the influence of complex and changeable environmental constraints on the working ability of multi-legged robots, a teleoperation system and control method that can coordinately regulate the single-leg operation and body translation of multi-legged robots is proposed

Method used

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  • A teleoperation system and control method that can coordinately control the single-leg operation and body translation of a multi-legged robot
  • A teleoperation system and control method that can coordinately control the single-leg operation and body translation of a multi-legged robot
  • A teleoperation system and control method that can coordinately control the single-leg operation and body translation of a multi-legged robot

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specific Embodiment approach 1

[0022] Specific implementation mode 1: A teleoperation system that can coordinately control the single-leg operation and body translation of a multi-legged robot described in this embodiment first needs to determine the teleoperation scheme of the system, the teleoperation scheme of the multi-legged robot in an obstacle environment Including: designing the overall control process, mapping method and force feedback mode of the teleoperation system, the overall control process of the teleoperation system is designed based on different work scenarios and task requirements; the teleoperation mode of the system adopts multi-master single In the slave control mode, one master robot is responsible for controlling the body translation of the slave robot, and the other master robot is responsible for controlling the displacement of the end of the slave robot’s operable legs. In this mode, the teleoperation system can realize multi-legged robots The coordinated regulation of single-leg m...

specific Embodiment approach 2

[0023] Specific implementation mode 2: A kind of teleoperating system described in this embodiment mode can cooperatively control the single-leg operation and body translation of a multi-legged robot. Single-leg layer teleoperation subsystem; refer to attached figure 1 The composition of the multi-legged robot teleoperation system shown in the figure specifically includes the operation terminal 1 and the environment terminal 2, the main-end robot 3 on the body layer, the master-end controller 4 on the body layer, the slave-end controller 5 on the body layer, and the body 6 of the slave-end robot. , the single-leg layer master robot 7 , the single-leg layer master controller 8 , the single-leg layer slave controller 9 , the operable legs 10 and the communication port 11 of the slave robot.

specific Embodiment approach 3

[0024] Specific embodiment 3: This embodiment is to further explain the overall control process of the teleoperation system of a multi-legged robot that can coordinately regulate the single-leg operation and body translation described in specific embodiment 1. In this embodiment, refer to attached figure 2 The overall control flow of the multi-legged robot teleoperation system shown can be described according to three working scenarios: Scenario 14: When there is a local surmountable obstacle in the working space of the slave robot 12, the operation at this time The operator can manually intervene on the operable legs of the slave robot through the single-leg layer master robot, and control it to interact with the target obstacle 13 according to the operator's intention; Scene 15: When the operable leg of the slave robot is in the After the surface of the body is solid, since the leg is far away from the self-planned target foothold point, the slave robot 12 needs to maintain...

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Abstract

The invention discloses a teleoperation system and control method for synergistically regulating and controlling single-leg operation and machine body translation of a multi-legged robot, and relatesto a teleoperation mode which can maintain the stability margin of a machine body and maximize the environment interaction ability of the robot when the multi-legged robot faces an obstacle environment. The teleoperation system of the multi-legged robot presents a teleoperation scheme which can synergistically control the single-leg operation and the machine body translation, a kinematics model ofthe whole machine and a dynamics model of an operable leg under the coupling action are established, a teleoperation subsystem of a machine body layer and a single-leg layer is designed, absolute stability criteria of multi-degree of freedom coupling are used for solving the control law parameters of the machine body layer, and based on a nonlinear force observer and a adaptive robust controller,a single-leg layer control framework is improved. The control method can ensure that the multi-legged robot can produce the stable teleoperation system in the obstacle environment, can satisfy the tracking accuracy and have good force transparency at the same time. The remote operation system and control method for synergistically regulating and controlling the single-leg operation and the machine body translation of the multi-legged robot are suitable for the teleoperation operation field of multi-legged robots.

Description

technical field [0001] The invention belongs to the technical field of remote operation of legged robots, and in particular relates to a new method for improving the controllability and adaptability of a multi-legged robot remote operating system in an obstacle environment. Background technique [0002] Due to its own multi-degree-of-freedom redundant configuration characteristics, when it is applied in an unstructured environment, it relies on the walking mode of switching between the swing leg and the supporting leg and the high stability margin under the multi-leg support, making it relatively stable. Other types of robots have stronger environmental adaptability and task operability. However, in a complex and changeable working scene, since the multi-legged robot may encounter local terrain mutations, unstable movement recovery, and target object interaction during the walking process, it is necessary to formulate a targeted teleoperation strategy at this time. In this ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 尤波李佳钰许家忠杜重阳李鲲鹏
Owner 严格科创产业发展集团合肥有限公司
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