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Quadruped robot landing foot force distribution method and device, terminal and computer readable storage medium

A technology of quadruped robot and distribution method, applied in manipulators, motor vehicles, transportation and packaging, etc., can solve the problems of low efficiency, huge calculation amount of numerical method, negative impact of robot control sensitivity, etc., and achieve high computational efficiency and hardware cost. Low, increase the effect of linear constraints

Active Publication Date: 2019-03-22
SHENZHEN ACAD OF AEROSPACE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, the numerical solution of foot force is generally obtained through numerical analysis, and the analytical solution cannot be obtained through strict formula calculation.
The numerical method has a huge amount of calculation and low efficiency, which has a significant negative impact on the control sensitivity of the robot.

Method used

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  • Quadruped robot landing foot force distribution method and device, terminal and computer readable storage medium
  • Quadruped robot landing foot force distribution method and device, terminal and computer readable storage medium
  • Quadruped robot landing foot force distribution method and device, terminal and computer readable storage medium

Examples

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Embodiment 1

[0065] see figure 1 , the present embodiment provides a method for distributing foot force of a quadruped robot on the ground, the method comprising the following steps:

[0066] Step A: Establish a virtual model of the fuselage and impedance models of each foot in the same Cartesian coordinate system.

[0067] see figure 2 , Exemplarily, Step A includes:

[0068] Step A1: See image 3 , establish a Cartesian coordinate system (B) at the center of mass (COM) of the fuselage. The Cartesian coordinate system (B) has an X-axis, a Y-axis and a Z-axis that maintain an orthogonal relationship, wherein: the X-axis is a horizontal axis, and its axis represents the forward and backward direction of the robot; the Y-axis is another axis perpendicular to the X-axis. A horizontal axis, the axial direction of which represents the lateral movement direction of the robot; Z axis is the vertical axis, and its axial direction is the vertical direction. In a quadruped robot, the landing f...

Embodiment 2

[0099] see Figure 6 , this embodiment provides a foot force distribution device 100 for a quadruped robot, which includes:

[0100] The modeling module 110 is used to establish the virtual model of the fuselage and the impedance model of each foot end in the same Cartesian coordinate system;

[0101] A mapping module 120, configured to determine a stiffness mapping relationship between the virtual model and the impedance model based on a force / torque balance relationship;

[0102] The linearization module 130 is used to introduce the friction cone constraint and the internal force balance constraint to determine the linear relationship between the X / Y / Z axial components of the foot force on the ground;

[0103] The virtual force module 140 is used to obtain the current pose of the fuselage in the Cartesian coordinate system, and calculate the deviation value between it and the expected pose, and determine the virtual force-virtual moment of the fuselage according to the devi...

Embodiment 3

[0114] see Figure 9 , the present embodiment provides a terminal 200, the terminal 200 includes a memory 210 and a processor 220, the memory 210 is used to store a computer program, and the processor 220 executes the computer program to enable the terminal 200 to realize the above-mentioned quadruped robot landing force Allocation method.

[0115] Wherein, the terminal 200 includes terminal devices (such as computers, servers, etc.) that do not have mobile communication capabilities, and also includes mobile terminals (such as smart phones, tablet computers, vehicle-mounted computers, smart wearable devices, etc.).

[0116] The memory 210 may include an area for storing programs and an area for storing data. Wherein, the storage program area can store the operating system, at least one application program required by the function (such as sound playback function, image playback function, etc.); the storage data area can store data created according to the use of the terminal...

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Abstract

The invention discloses a quadruped robot landing foot force distribution method. The quadruped robot landing foot force distribution method comprises the steps that a virtual model of a machine bodyand an impedance model of each foot end are established in a same cartesian coordinate system; a stiffness mapping relationship between the virtual model and the impedance models is determined based on a force / torque balance relationship; a friction cone constraint and an internal force balance constraint are introduced to determine a linear relationship between X / Y / Z axial components of the landing foot force; fictitious force-fictitious torque of the machine body is determined according to a deviation value between a current pose and a desired pose in the cartesian coordinate system; and based on the Newton-euler equation, according to the stiffness mapping relationship, the linear relationship between the X / Y / Z axial components of the landing foot force and the virtual force-virtual torque of the machine body, the X / Y / Z axial components of the landing foot force of supporting foots are calculated. The quadruped robot landing foot force distribution method can realize the fast solution calculation of the analytical solution of the landing foot force, and has the advantages of high calculation efficiency and a low hardware cost.

Description

technical field [0001] The invention belongs to the technical field of robots, and specifically relates to a method, a device, a terminal and a computer-readable storage medium for distributing foot force of a quadruped robot on the ground. Background technique [0002] Footed robot is one of the most cutting-edge topics in the field of robot research today. It integrates many disciplines such as machinery, electronics, computers, materials, sensors, control technology and artificial intelligence. It is multidisciplinary and highly complex, attracting many scientific research Institutions and technology companies have focused their attention, and countries have invested heavily in research. [0003] A walking legged robot can be considered as a multi-degree-of-freedom parallel system. The foot force plays a decisive role in the balance of the body, especially when the robot walks on irregular roads, the change of the support force of the foot end will change the posture of ...

Claims

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Application Information

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IPC IPC(8): B25J9/16B62D57/032
CPCB25J9/162B25J9/1633B25J9/1641B62D57/032
Inventor 史亚鹏王鑫蒋振宇李满天王鹏飞李雪冰刘建伟
Owner SHENZHEN ACAD OF AEROSPACE TECH
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