Central mode generator-based quadruped robot gait planning method

A quadruped robot and pattern generator technology, applied in the direction of instruments, attitude control, non-electric variable control, etc., to achieve the effect of reducing the rolling range, reducing the yaw angle, and reducing the pitching range

Active Publication Date: 2018-12-04
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem of how to improve the stability of quadruped robots i

Method used

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  • Central mode generator-based quadruped robot gait planning method
  • Central mode generator-based quadruped robot gait planning method
  • Central mode generator-based quadruped robot gait planning method

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specific Embodiment approach 1

[0038] The gait planning method of the quadruped robot based on the central pattern generator of the present embodiment is as follows: image 3 As shown in the figure, only the 3-way signal flow of the left front leg is drawn in the figure, and the signal flow of other legs is similar.

[0039] The quadruped robot system includes the quadruped robot body, the inertial measurement unit sensor, and the positioning sensor. The attitude angle, angular velocity and specific position of the body of the footed robot during the movement process. The attitude angle includes pitch angle, yaw angle and roll angle. is at 0, its amplitude is as small as possible, so the difference between the above attitude angles and the required zero value is reversed, and then the weighted summation is a part of the feedback signal. Likewise, the feedback signal of the positioning sensor is obtained.

[0040]The central pattern generator is a control system composed of nerve cells and specific connect...

specific Embodiment approach 2

[0057] In the gait planning method of the quadruped robot based on the central pattern generator of the present embodiment, the control signals of the three types of joints are as follows:

[0058] 1. Side swing joint signal:

[0059]

[0060] Among them, θ lsi Indicates the drive signal of the side swing joint of the i-th leg, A i is a constant, sign(ζ) is a sign function, and when the i-th leg represents the left front or left rear leg, ζ≤0, y i Represents one original output signal of the hopf oscillator network. Numbers 1, 2, 3, and 4 represent the left front leg, right front leg, left rear leg, and right rear leg, respectively.

[0061] Note: y i ≤0, indicating that the leg is in the swing phase.

[0062] 2. Hip joint signal:

[0063]

[0064] where x i is an output of the hopf oscillation network (with the y in the side swing joint signal i different road), k i is a constant that determines the swing speed of the upper limb of each leg of the quadruped rob...

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Abstract

The invention discloses a central mode generator-based quadruped robot gait planning method. The method comprises the following steps: B1, reference oscillation signals are adjusted correspondingly inview of a different joint, the attitude angle, the angular velocity and the position of the trunk during the movement process of the quadruped robot are measured, and feedback signals are generated accordingly; according to the oscillation signals and the feedback signals after adjustment, control signals of each joint are outputted; the control signals of a side-swing joint contain the oscillation signals; control signals for a hip joint pair in swing and standing phases are different, control signals for a knee joint in the standing phase are adjusted, and thus, the angle of the knee jointis thus adjusted; and B2, the control signals control the quadruped robot to perform diagonal gaits, that is, a left foreleg and a right rear leg move together, and a right foreleg and a left rear legmove together. Different joints are adjusted differently, the pitch angle and the roll angle when the quadruped robot moves are reduced, and the stability of the quadruped robot during the motion process is improved.

Description

technical field [0001] The invention relates to the field of quadruped robots, in particular to a gait planning method for a quadruped robot based on a central pattern generator. Background technique [0002] With the continuous development of human society and the continuous advancement of science and technology, the field of human activities has increased dramatically, and the desire to explore the unknown world has also increased day by day. However, it is difficult or even impossible to reach many places with complex terrain conditions on the earth only by human strength. The current mainstream means of transportation are based on wheeled and tracked, and it has to be said that they have played an extremely important role. However, wheeled and tracked vehicles have a major defect, that is, the ground is required to be flat and have good hardness, but the fact is that most of the land on the earth is uneven and unstructured, which means Greatly limit the use of these to...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 刘厚德王孝勇朱晓俊王学谦梁斌高学海
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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