Robot turnover control method based on energy optimization

Abstract

The invention discloses a robot turnover control method based on energy optimization. The robot turnover control method based on energy optimization comprises the following steps that one turnover strategy is chosen on the basis of the energy optimization principle according to the environmental condition of the outside world; a robot prepares for turnover, and poses according to the chosen turnover strategy; turnover is conducted according to the step of the chosen turnover strategy; and finally, the turnover motion is accomplished, and the robot recovers to be in the normal working posture.The turnover strategies of the robot include the gravity center turnover strategy, the supporting turnover strategy and the torque turnover strategy. The robot can choose one turnover mode to accomplish turnover according to the environment on the basis of the energy optimization principle. The method effectively overcomes the limitation of the environment and the space, and only one tail needs tobe additionally arranged on the robot so that the robot can utilize the multiple strategies to accomplish turnover under the extreme condition that the body is completely inverted. A new method is provided for posture adjustment of the land robot.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and in particular relates to a method for controlling the turning over of a robot based on energy optimization. Background technique [0002] In recent years, the research on bionic robots has been increasing, and the technologies involved have become more and more complex. Relevant studies mainly focus on terrestrial organisms, such as cheetahs, kangaroos, geckos, etc., to study typical movement characteristics such as running, jumping, and climbing, and to design robots with corresponding functions. However, when robots complete various forms of motion in complex environments, they often face the problem of instability and falls. Therefore, designing a robot with attitude adjustment characteristics to adapt to harsh working environments can expand the application range of land robots. [0003] At present, most of the attitude-adjustable robots recorded in the existing literature have specifi...

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Problems solved by technology

[0004] However, the above example only studies the attitude adjustment of the robot, and the obtained robot attitude adjustment range is limited, and it is impossible to turn over; and the robot only uses one strategy to adjust the attitude, and additional actions such as sliding, jumping, and vacating are required. The constraints of environmental factors, in addition, these actions will cause the robot to consume a lot of energy when adjusting its attitude

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