Static Gait Planning Method for Quadruped Robot Based on Terrain Fuzzy Adaptive

Abstract

A static gait planning method for a quadruped robot based on terrain fuzzy self-adaptation, including the following steps: (1) calculating the pitch angle of the torso according to the position information of the robot's foot; (3) Estimate the complexity of the walking terrain by using the ground contact time of the two front feet of the robot, and realize the autonomous adjustment of the parameters in the trunk motion trajectory planning based on the fuzzy algorithm; (4) complete a complete step State cycle, repeat the whole process. This method enables the quadruped robot to autonomously adjust the pitch angle of the torso according to terrain fluctuations during walking, effectively improving the height of the quadruped robot's swing foot over obstacles and its terrain adaptability; effectively avoiding sudden changes in speed or acceleration , resulting in the loss of stability of the robot; realizing the adaptation of the quadruped robot to terrain changes, effectively improving the terrain adaptability of the quadruped robot.

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 changes in the complexity of the terrain, so as to improve its terrain adaptability, which belongs to robot control field. Background technique [0002] Quadruped robots developed with quadruped mammals as biomimetic objects can traverse more rugged terrain. Therefore, the quadruped bionic robot has become a hot spot in robotics 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. The quadruped robot has a variety of gaits, and in these gaits, when the robot walks in a static gait, at least three feet are in contact with the ground at any time, which effectively increases its stability and robustness during movement. sex. [0003] In order to smoothly pass...

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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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