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A gait planning method for quadruped robot leg movement

A quadruped robot, gait planning technology, applied in the direction of instruments, simulators, attitude control, etc., can solve the lack of adaptive quadruped robot gait planning methods and other problems

Active Publication Date: 2022-04-15
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] In order to solve the problem of lack of an adaptive quadruped robot gait planning method in the prior art, the present invention provides a gait planning method for quadruped robot leg movement

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  • A gait planning method for quadruped robot leg movement
  • A gait planning method for quadruped robot leg movement
  • A gait planning method for quadruped robot leg movement

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Embodiment Construction

[0032] In order to make the technical problems, technical solutions and beneficial effects to be solved by the embodiments of the present invention clearer, the present invention 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 the present invention, not to limit the present invention.

[0033] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be used for both fixing function and circuit communication function.

[0034] It is to be understood that the terms "length", "width", "top", "bottom", "front"...

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Abstract

The invention provides a gait planning method for the leg movement of a quadruped robot, comprising the following steps: S1: building a model of the leg of a quadruped robot under a robot simulation platform; S2: screening a neural network to train the reinforcement learning strategy of the model ; S3: Setting and testing the reward and punishment function, state input and training conditions of the reinforcement learning strategy; S4: Training the model based on the reward and punishment function, the state input and the training conditions and displaying the results of the model respectively The motion effects of the swing phase and the support phase are used to demonstrate the training results of the neural network. By adopting the reinforcement learning algorithm and using the heuristic learning and training scheme, not only the kinematics of the legs are planned, but also the robot can adaptively adjust the gait under this algorithm network.

Description

technical field [0001] The invention relates to the technical field of legged robots, in particular to a gait planning method for leg motion of a quadruped robot. Background technique [0002] In the traditional quadruped robot model, the quadruped robot generally has the same or mirrored four legs, each leg has three degrees of freedom, and is controlled by three drivers respectively, namely the hip joint cross-section driver, the hip joint sagittal plane Actuator with knee sagittal plane actuation. [0003] In the early field of motion planning, the single-foot Jacobi matrix was generally established to solve the end position of the footed robot or use the matrix to solve its inverse kinematics. However, this method has the following disadvantages: 1. The establishment of the Jacobi matrix is ​​relatively cumbersome, which is not conducive to manual solution and computer calculation. 2. According to this method, the inverse kinematics solution will cause the arm shape to...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCG05B13/042G05B13/027G05B17/02G05D1/0088G05D1/0221G05D1/0225G05D1/0891
Inventor 刘厚德于天宁王学谦梁斌朱晓俊高学海
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV