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

A quadruped robot, fuzzy self-adaptive technology, applied to manipulators, motor vehicles, program-controlled manipulators, etc., to avoid sudden changes in speed or acceleration and improve terrain adaptability

Active Publication Date: 2022-05-27
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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  • Static Gait Planning Method for Quadruped Robot Based on Terrain Fuzzy Adaptive
  • Static Gait Planning Method for Quadruped Robot Based on Terrain Fuzzy Adaptive
  • Static Gait Planning Method for Quadruped Robot Based on Terrain Fuzzy Adaptive

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Embodiment Construction

[0060] The present invention divides the entire free gait planning process of the quadruped robot into multiple gait cycles, and 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 quadruped robot completes the stepping motion of the two feet on the same side of the body in turn, and in the four-legged support stage, the pitch angle of the trunk is first adjusted to ensure that the robot's swinging feet are 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 step of the other two feet Movement; when the swinging foot in a certain gait cycle touches the ground, the robot will carry out the...

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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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Application Information

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Patent Type & Authority Patents(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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