Snake-like robot mixed three-dimensional gait control method

A gait control and robot technology, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of snake-like robots, such as insufficient gait adaptability, high requirements for the exercise environment, and slow speed, so as to improve the environmental adaptability and sports performance, expanding gait types, and simple control methods

Inactive Publication Date: 2019-06-21
BEIJING UNIV OF CHEM TECH
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Problems solved by technology

[0005] In view of the above problems, the purpose of the present invention is to provide a new hybrid three-dimensional gait control method for snake-like robots to solve the problems of insufficient adaptability, slow speed, low efficiency and high requirements for the motion environment of current snake-like robots.

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  • Snake-like robot mixed three-dimensional gait control method
  • Snake-like robot mixed three-dimensional gait control method
  • Snake-like robot mixed three-dimensional gait control method

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Embodiment Construction

[0042] The present invention will be further described below in conjunction with the accompanying drawings.

[0043] see Figure 4.1 , the hybrid gait of the snake-like robot linear peristalsis-horizontal undulating motion provided by the present invention; the first n joints perform linear peristaltic motion, and the following joints perform horizontal undulating motion. The joint control functions of the front and rear body joints of the snake-like robot are as follows:

[0044]

[0045]

[0046] where N h is the total number of yaw joints, N v is the total number of pitch joints, n is the separation position of two gaits, A v is the amplitude of the swing angle function of the pitch joint of the front body, ω v is the frequency of the swing angle function of the pitch joint of the front body, δ v is the phase difference of the front body pitch joint swing angle function; A h is the amplitude of the swing angle function of the rear body yaw joint, ω h is the fre...

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Abstract

The invention discloses a snake-like robot hybrid three-dimensional gait control method. The snake-like robot mixed three-dimensional gait is three-dimensional movement generated by cross-mixing of basic motions such as plane wave motion, linear peristalsis, lateral winding and the like, and the device dominant mechanism is that different movement gait is adopted at different parts of the snake-like robot body. Different snake-like robot motions have different movement characteristics and terrain adaptability due to different movement mechanisms, the novel mixing can effectively integrate themovement characteristics and advantages of various gait, meanwhile, the disadvantages of the single gait are made up, and the snake-like robot can simultaneously have the advantages of multiple motiongait. According to the novel hybrid three-dimensional gait, the motion gait types of the snake-like robot can be expanded, the motion capability of the snake-like robot is greatly improved, and the flexibility and adaptability of the snake-like robot in different environments are effectively improved.

Description

technical field [0001] The invention relates to the field of robot research and engineering, in particular to a novel hybrid three-dimensional gait control method for a snake-like robot that combines the advantages of the existing snake-like robot's motion gait. Background technique [0002] On-site rescue immediately after a disaster is very important. However, the environment of the disaster site is complex, and rescuers cannot enter the disaster site, which brings huge challenges to the rescue work. In special operations missions such as war and anti-terrorism, the fastest way to sneak into the enemy's position for effective investigation can often occupy the commanding heights of information, seize the initiative, and play a vital role in winning the battle. The complex terrain in special missions brings huge risks and unpredictable resistance to reconnaissance missions. Therefore, it is of great practical significance to study robots that can replace humans in disaster...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 曹政才张东胡标黄冉肖清耿鹏李俊宽
Owner BEIJING UNIV OF CHEM TECH
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