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

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...

AI Technical Summary

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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