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Quadruped robot body posture control method and quadruped robot body posture control device

A quadruped robot and fuselage technology, applied in the field of robotics, can solve problems affecting the stability of quadruped robot motion, poor real-time performance, etc.

Active Publication Date: 2018-12-28
SIASUN CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of this, the purpose of the present invention is to provide a body attitude control method and device for a quadruped robot, to alleviate the poor real-time performance of the existing attitude adjustment methods that rely on large attitude angle deviations, which seriously affect the motion stability of the quadruped robot. technical issues

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  • Quadruped robot body posture control method and quadruped robot body posture control device

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Embodiment 1

[0063] According to an embodiment of the present invention, an embodiment of a body posture control method of a quadruped robot is provided. It should be noted that the steps shown in the flow chart of the accompanying drawings can be implemented in a computer system such as a set of computer-executable instructions and, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0064] figure 2 It is a body posture control method of a quadruped robot according to an embodiment of the present invention, such as figure 2 As shown, the method includes the following steps:

[0065] Step S202, obtaining in real time the attitude angle of the body of the quadruped robot to be controlled, the angular velocity of the body attitude, and the position coordinates of each foot end;

[0066] In the embodiment of the present invention, the body attitude control method of th...

Embodiment 2

[0117] The embodiment of the present invention also provides a body attitude control device of a quadruped robot, the body attitude control device of the quadruped robot is mainly used to perform the body attitude control of the quadruped robot provided in the above-mentioned content of the embodiment of the present invention method, the body attitude control device of the quadruped robot provided by the embodiment of the present invention will be specifically introduced below.

[0118] Figure 7 is a schematic diagram of a body posture control device of a quadruped robot according to an embodiment of the present invention, such as Figure 7 As shown, the fuselage attitude control device of the quadruped robot mainly includes an acquisition module 10, a first calculation module 20, a second calculation module 30 and a third calculation module 40, wherein:

[0119] The acquisition module is used to obtain the body attitude angle of the quadruped robot to be controlled in real ...

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Abstract

The invention provides a quadruped robot body posture control method and a quadruped robot body posture control device. The method includes acquiring robot body posture angle, a robot body posture angular speed and position coordinates of all leg ends of a to-be-controlled quadruped robot in real time; computing an angle of a leg end supporting plane of the to-be-controlled quadruped robot relative to a robot body plane on the basis of the leg end position coordinates; computing a robot body posture angle control quantity of the to-be-controlled quadruped robot on the basis of the angle, the robot body posture angle and the robot body posture angular speed; computing all joint target positions of the to-be-controlled quadruped robot on the basis of the robot body posture angle control quantity, and controlling all joints of the to-be-controlled quadruped robot to move according to all the joint target positions. The quadruped robot body posture control method has the advantages that the method can achieve real-time robot body posture control of the to-be-controlled quadruped robot, and the movement stability and the terrain adaptability of the to-be-controlled quadruped robot are enhanced, so that the technical problem that the movement stability of the quadruped robot is affected severely by the poor real-time performance of an existing posture adjustment mode is relieved.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a method and device for controlling body attitude of a quadruped robot. Background technique [0002] Theoretically, quadruped robots can adapt to all terrain environments that humans can reach without causing obvious damage to the terrain, which has great research value and market prospects. The movement of a quadruped robot requires time and space coordination between the movement of the body and the movement of the quadruped end, and requires full feedback of its own state information and full perception of the surrounding environment and terrain information, which is a very complex and demanding task. motion trajectory planning and real-time control process. Keeping the stability of the fuselage is the prerequisite for the movement of the quadruped robot, which requires the control of the attitude of the robot's fuselage. [0003] Quadruped robots mainly use walk gai...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1615
Inventor 苗燕楠岳克双李法设刘雪梅杨跞
Owner SIASUN CO LTD
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