Hexapod robot motion control algorithm

A technology of robot motion and hexapod robot, applied in the field of robot motion control, can solve problems such as sideslip and joint damage of the body, and achieve the effect of reducing the possibility of sideslip, reducing joint damage, and increasing the stability of the body

Inactive Publication Date: 2019-03-26
NORTHWESTERN POLYTECHNICAL UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is the damage to the joints of the body caused by the mutual repulsion force generated by the arc walking of the hexapod robot when it advances, and the situation that if the foot end is not perpendicular to the ground during the falling process, it is easy to cause sideslip

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  • Hexapod robot motion control algorithm
  • Hexapod robot motion control algorithm
  • Hexapod robot motion control algorithm

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Embodiment Construction

[0034] A hexapod robot motion control algorithm is characterized in that it comprises the following steps:

[0035] Step 1, according to the appearance of the robot structure, combined with the method of establishing the coordinate system, establish the body coordinate system;

[0036] Step 2, establish a coordinate system for a single walking leg;

[0037] Step 3, foothold selection, that is, the distance D projected from the foot end of each leg to the heel joint in the direction of motion when walking in the supported state. Determine an appropriate distance according to the robot's own parameters and motion parameters. Once the distance is determined, when the robot advances or retreats, the projection of the distance between the foot end of each leg and the heel joint in the forward or backward direction is the fixed value.

[0038] Step 4, the inverse kinematics solution when the body is moving, using coordinate transformation to establish the corresponding relationship...

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Abstract

The invention provides a hexapod robot motion control algorithm which is mainly used for solving the problem that, in the supporting state advancing process of legs on the two sides of a robot body, the walking tracks of the legs relative to joints are arc-shaped, so that mutual exclusion force is generated, and the joints of the robot body are damaged. The method comprises the five steps of establishing a robot coordinate system, establishing a robot body coordinate system, establishing a single walking leg coordinate system, performing forward and reverse kinematics solution and performing amotion control method. Viewed from each leg and joint, the algorithm enables the foot end track of a robot in the supporting state walking process to be a straight line, as shown in Figure 1, and thetracks of the two side legs of the robot body are parallel to each other, so that the problem of mutual exclusion force is well solved; in addition, according to the algorithm, foot ends make vertical contact with the ground in the lifting and falling process of the legs, so that the robot body is not prone to sideslip, and the stability of the robot body is greatly enhanced.

Description

technical field [0001] The invention belongs to a robot leg motion control algorithm and belongs to the field of robot motion control. Background technique [0002] Hexapod robots have more redundant degrees of freedom in structure, can adapt to more complex terrain, walk in the field with complex road conditions, and complete transportation operations in non-structural environments that crawler or wheeled types cannot complete. Therefore, in many aspects with broadly application foreground. However, in the past, the joint control of the hexapod robot has great disadvantages. The trajectory of each leg swinging around its heel joint during the forward process is an arc, so that the legs on both sides form a mutual repulsion force during the forward process. When the body is heavy, the The joint damage is relatively serious; in addition, if the feet of each leg are not perpendicular to the ground during the falling process, it is easy to cause sideslip and affect the stabili...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/0276
Inventor 刘卫东魏超高立娥李乐金友强
Owner NORTHWESTERN POLYTECHNICAL UNIV
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