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Self-stabilization control method, system and device of wheel-legged robot

A wheel-legged robot and control method technology, applied in general control systems, control/regulation systems, adaptive control, etc., can solve the problem of less wheel-legged robots and achieve the effect of ensuring stability

Active Publication Date: 2020-02-07
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Claims
  • Application Information

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Problems solved by technology

[0004] At present, there are few researches on self-stabilizing control methods for wheel-legged robots at home and abroad, especially the method of using optimization strategies to obtain self-stabilizing controller parameters

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  • Self-stabilization control method, system and device of wheel-legged robot

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Embodiment Construction

[0044] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than Full examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0045] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention...

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Abstract

The invention belongs to the field of robot control, and specifically relates to a self-stabilization control method, system and device of a wheel-legged robot, aiming to enable the wheel-legged robotto keep stable even facing external disturbance and to return to the initial state. The method comprises steps of selecting control parameters from a pre-established control parameter table based onsize and position of external interference force, wherein the control parameters are control parameters of a preset control model; acquiring angle information of a hip joint, a knee joint and an anklejoint at the moment, rotating angle information of a traveling wheel and angle of inclination of a center of gravity, and calculating output torques of the hip joint, the knee joint and the ankle joint according to the control model with the selected control parameters; and controlling the hip joint, the knee joint and the ankle joint based on the output torques of the hip joint, the knee joint and the ankle joint. The wheel-legged robot can keep stable even facing external disturbance and can return to the original state rapidly.

Description

technical field [0001] The invention belongs to the field of robot control, and in particular relates to a self-stabilizing control method, system and device for a wheel-legged robot. Background technique [0002] Wheel-legged robot is one of the hot research topics of legged robot. Compared with humanoid robots, wheel-legged robots use double wheels instead of soles. Although the movement efficiency has been greatly improved, the self-stability has deteriorated. The traditional ZMP stabilization method is no longer suitable for wheel-legged robots. Therefore, it is very important to design and realize the self-stabilizing controller of the wheel-legged robot. The self-stabilizing control method of the present invention can be suitable for the wheel-legged robot to keep stable when disturbed by external force. [0003] The patent application number of Hangzhou Joyfly Robot Technology Co., Ltd. is 201711437200.3, which discloses a wheel-legged robot structure. The patent o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04B62D57/028
CPCB62D57/028G05B13/042
Inventor 邢登鹏刘希伟邹伟徐德
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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