Control system of biped travelling robot

A walking robot and control system technology, applied in the field of robotics, can solve the problems of high cost, complex structure, difficult large-scale and large-scale market promotion, etc., and achieve the effect of precise walking

Inactive Publication Date: 2019-06-18
ANSHAN NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the current control system of the biped walking robot has a complex structure and high cost, and it is difficult to meet the walking requirements of the biped walking robot, making it difficult to promote it in a large-scale and large-scale market.

Method used

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  • Control system of biped travelling robot
  • Control system of biped travelling robot
  • Control system of biped travelling robot

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Embodiment Construction

[0029] In order to further understand the present invention, the preferred embodiments of the present invention are described below in conjunction with examples, but it should be understood that these descriptions are only to further illustrate the features and advantages of the present invention, rather than limiting the claims of the present invention.

[0030] as attached figure 1 As shown, the present invention provides a biped walking robot, whose body structure is made of aluminum-titanium alloy, which not only reduces weight, but also has higher strength and rigidity. The biped walking robot has a total of 21 degrees of freedom, wherein: the two legs of the lower limbs have a total of 12 degrees of freedom, and each leg has six degrees of freedom, including two ankle joints for forward swing and side swing. Degree of freedom, one degree of freedom for the knee joint for forward swing, and three degrees of freedom for the hip joint for forward swing, side swing and rotat...

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Abstract

The invention discloses a control system of a biped travelling robot. Structurally, an upper computer and lower computer distributed control structure is adopted, a decision-making master controller of an upper computer and a left leg all-joint controller and a right leg all-joint controller of a lower computer are included, the decision-making master controller is used for processing image information collected by an image collector and current robot movement situations collected by a left foot plantar sensor and a right foot plantar sensor, and sending control instructions to the left leg all-joint controller and the right leg all-joint controller of the lower computer through a CAN bus controller of a CAN bus; and the left leg all-joint controller and the right leg all-joint controllercontrol all-joint motors to execute motion instructions and receive information fed back by a motor encoder and a joint angle sensor, the motor is controlled precisely through a fuzzy adaptive PID control method according to feedback information, and thus the robot can travel precisely in real time according to the ground conditions.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a control system for a biped walking robot. Background technique [0002] Since the appearance of the world's first robot in 1962, robots have gone through more than 50 years of development history. For more than 50 years, robots have developed from industrial robots to intelligent robots, and have successfully become one of the high-tech technologies of the 21st century. Its research scope is wide and involves many disciplines, mainly covering machinery, electronics, biology, sensors, drive and control, etc. fields. However, the research on biped walking robots has important scientific significance and application prospects. The walking unit part of biped walking has very rich dynamics and kinematics characteristics. Including some places that are not easy for ordinary people to reach, complete the work designated or preset by people. Compared with industrial robots, its super...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00B25J9/16
Inventor 张辰放
Owner ANSHAN NORMAL UNIV
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