Quadruped robot diagonal gait design method under participation of waist twisting

Abstract

The invention provides a quadruped robot diagonal gait design method under the participation of waist twisting. The method comprises the following steps: establishing a quadruped robot model, whereinthe quadruped robot model comprises a trunk, walking feet and hip joints; planning a trajectory of a diagonal gait of the quadruped robot model; establishing a coordinate system Oxyz, and determiningthe position of the hip joints of the quadruped robot model in the coordinate system Oxyz and the coordinates of the centroid of the quadruped robot model; determining the maximum torsional angle of the trunk according to the trajectory; according to the trajectory, determining the increment of strides caused by trunk twisting; in order to ensure the diagonal gait to meet required dynamic characteristics, determining a trajectory equation of the center of mass; verifying the rationality of the diagonal gait trajectory of the quadruped robot model. The beneficial effects of the invention are that the robot has a larger step length so as to obtain faster moving speed, stability, rapidity and flexibility in the walking process can be guaranteed, and the gait obtained by the planning also hascontinuity, stability and periodicity.

Description

Technical field [0001] The invention belongs to the technical field of robot motion planning, and particularly relates to a quadruped robot diagonal gait design method with the participation of waist twisting. Background technique [0002] With the rapid development of society, our lives are becoming more and more intelligent and convenient. All kinds of robots have emerged as the times require. Robots are playing an increasingly important role in our lives. As a human production tool, robots have shown great advantages in reducing labor intensity, improving productivity, changing production modes, and liberating people from dangerous, harsh, and heavy working environments. The multi-legged bionic robot has a simple structure. It is flexible, strong in carrying capacity, and stable. It can not only walk on complex non-structural roads and easily cross large obstacles (such as trenches, rocks, etc.), but also can move quickly with a dynamic gait. Multi-legged bionic robots can co...

AI Technical Summary

Problems solved by technology

All the performance and performance of multi-legged robots only rely on the movement of the feet. From the perspective of bionics, the waist of animals is involved in the movement of animals. The lack of participation of waist movements in multi-legged robots has limited performance.

Images