Obstacle-jumping system for quadruped robot

A quadruped robot and robot technology, applied in the field of robotics, can solve the problem that quadruped robots cannot jump through obstacles, and achieve the effect of ensuring reliability

Inactive Publication Date: 2018-11-23
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the quadruped robot

Method used

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  • Obstacle-jumping system for quadruped robot
  • Obstacle-jumping system for quadruped robot
  • Obstacle-jumping system for quadruped robot

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[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] like figure 1 As shown, the quadruped robot jumping motion control system includes an attitude detection subsystem, a motion planning subsystem, and a torque control subsystem. The attitude detection subsystem obtains ideal real-time motion data by processing and optimizing the signal returned by the robot sensor or the simulated attitude and joint signals returned during the simulation process. The motion planning subsystem plans the ideal jumping trajectory of the robot by analyzing the terrain changes and the size of the obstacles, and calculates its expected displacement, velocity, and acceleration values. The torque control subsystem calculates the torque input required by each joint according to the ideal motion trajectory planned by the motion, and uses the PD controller to stabilize the motion state and resist the external disturb...

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Abstract

The invention provides an obstacle-jumping system for a quadruped robot. The system comprises a posture detecting subsystem, a motion planning subsystem and a torque control subsystem which are sequentially connected and is characterized in that the posture detecting subsystem processes posture and joint signals returned by the robot and transmits the data to the motion planning subsystem; the motion planning subsystem analyzes topographical change and the size of an obstacle to plan the jump motion trajectory of the robot and calculates the expected displacement, speed and acceleration of therobot; the torque control subsystem calculates the required input torque of each joint according to the planned motion trajectory. By the obstacle-jumping system, when the robot faces a large obstacle or a high step, the robot can jump over the obstacle or jump onto the step.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a system for jumping obstacles of a quadruped robot. Background technique [0002] There have been more than 40 years of research history on mobile robots, and the research and production of mobile robots have been valued and participated by various countries. With the continuous advancement of robot technology, the field of robot research is becoming more and more extensive. Although the traditional wheeled robot has low technical difficulty and low development cost, it is difficult to pass through complex road sections. The quadruped robot was born to cope with complex road sections and cross obstacles. Its dexterous leg structure can easily cope with the unknowability of the ground and complete crossing tasks. Quadruped robots are not only a hot topic of research in the academic field, but also have been applied to many real-world scenarios, such as fire rescue and dangerous m...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 于天宁刘厚德梁斌王学谦朱晓俊高学海
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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