Four-foot robot static gait planning method based on terrain fuzzy self-adaption

A quadruped robot, fuzzy self-adaptive technology, applied to manipulators, motor vehicles, program-controlled manipulators, etc., to achieve the effect of improving terrain adaptability

Active Publication Date: 2019-10-15
SHANDONG UNIV OF SCI & TECH
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Problems solved by technology

[0005] In order to solve the above-mentioned deficiencies in the existing static gait generation methods, the present invention provides a terrain fuzzy self-adaptive static gait planning method with good stability, so that the quadruped robot can perceive terrain information in real time according to its own information, and based on fuzzy algorithm Realize the autonomous adjustment of gait parameters with changes in terrain information to improve the robot's terrain adaptability

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  • Four-foot robot static gait planning method based on terrain fuzzy self-adaption

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[0060] The present invention divides the entire free gait planning process of the quadruped robot into multiple gait cycles, each gait cycle includes a three-foot support stage (Three Feet Support Stage, TFSP) and a four-foot support stage (Four Feet Support Stage, FFSP). In the three-legged support stage, the four-legged robot completes the two-legged movement on the same side of the body in turn. In the four-legged support stage, the pitch angle of the torso is first adjusted to ensure that the swinging foot of the robot is in the three-legged support stage. The swing foot has enough working space to cross obstacles on the terrain; after that, the projection of the center of gravity of the torso is adjusted to the corresponding stable area through the support of the four feet, so as to ensure that the robot can stably complete the two-foot step on the other side Movement; when the swinging foot in a certain gait cycle touches the ground, the robot will carry out relevant mot...

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Abstract

Disclosed is a four-foot robot static gait planning method based on terrain fuzzy self-adaption. The four-foot robot static gait planning method based on terrain fuzzy self-adaption comprises the following steps of (1) calculating a trunk pitching angle according to foot falling position information of a robot; (2) planning a trunk movement track, and ensuring the stability of the robot in a nextstepping stage; (3) estimating the complexity of walking terrain by using the time of ground touching of two feet of the robot, and automatically adjusting parameters of truck moving track planning onthe basis of a fuzzy algorithm; and (4) completing a complete gait cycle and repeating the whole process. By means of the method, the pitching angle of a trunk can be automatically adjusted accordingto the terrain fluctuation in the walking process of the fur-foot robot, and the height and the terrain adaptability of the four-foot robot swinging feet across an obstacle are effectively increasedand improved respectively; the situation that the robot loses stability due to the fact that the speed or the acceleration is suddenly changed is effectively avoided; the self-adaption of the four-foot robot to the terrain is realized, and the terrain adaptability of the four-foot robot is effectively improved.

Description

technical field [0001] The invention relates to a static gait planning method for a quadruped robot to adapt to the terrain, so that the quadruped bionic robot can independently adjust the gait parameters according to the change of terrain complexity, so as to improve its terrain adaptability, which belongs to robot control field. Background technique [0002] Quadruped robots developed with quadruped mammals as bionic objects are able to traverse more rugged terrain. Therefore, quadruped bionic robot has become a hotspot in robot research. In the research field of quadruped robots, gait planning is the key element to realize the stable walking of quadruped robots on complex terrain. Quadruped robots have a variety of gaits, and in these gaits, when the robot uses a static gait to walk, at least three feet are in contact with the ground at any time, which effectively increases its stability and robustness during motion. sex. [0003] In order to pass through rough terrai...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B62D57/032
CPCB25J9/1664B62D57/032
Inventor 张帅帅刘明尹燕芳樊铭渠荣学文宋锐
Owner SHANDONG UNIV OF SCI & TECH
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