Method for dynamically spanning protruding obstacle for four-foot robot

A quadruped robot and robot technology, applied in the direction of motor vehicles, manipulators, program-controlled manipulators, etc., can solve the problems of lack of local foot autonomous planning research, robot movement obstruction, low efficiency, etc., to achieve dynamic self-adaptation, swing The trajectory is stable and reliable, and the effect of improving stability and compliance

Active Publication Date: 2020-02-21
CHINA NORTH VEHICLE RES INST
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The former can successfully avoid convex obstacles, but the efficiency is low; the latter may cause the movement of the robot to be blocked due to the inaccurate judgment of the operator on the convex obstacles, or even the danger of overturning
Although some universities and research institutions have carried out research on the autonomous walking of robots, they mainly focus on the autonomous behavior of the body such as people following, and the research on local autonomous planning is relatively lacking.

Method used

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  • Method for dynamically spanning protruding obstacle for four-foot robot
  • Method for dynamically spanning protruding obstacle for four-foot robot
  • Method for dynamically spanning protruding obstacle for four-foot robot

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Embodiment Construction

[0029] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0030] The invention provides a method for a quadruped robot to dynamically cross convex obstacles. The steps implemented by the method are as follows: figure 1 Shown:

[0031] Step 1: Detection of the robot landing in the safe area. Specifically include:

[0032] Step 11: Multi-sensor integration such as airborne camera and laser radar establishes the elevation map of the foothold area, and obtains the elevation information x of the foothold area, as shown in the attached figure 2 shown.

[0033] Step 12: Calculate the terrain relief information σ of the foothold area according to the elevation information of the foothold area, and σ is calculated as follows:

[0034]

[0035] In the formula, N is the number of elevation grids, x i is the elevation value of the i-th grid, and x is the average elevation value of the N grids.

[0036] Step 13: Set...

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Abstract

The invention discloses a method for dynamically spanning a protruding obstacle for a four-foot robot, and belongs to the technical field of robot motion control. The implementation steps of the method are as follows, firstly, a footing safety area is detected when the robot faces the protruding obstacle, secondly, the swing leg track is re-planned, and finally, a robot dynamic protruding obstaclespanning stabilization controller is established. According to the method, by establishing the robot dynamic protruding obstacle spanning stabilization controller, spanning of the protruding obstacleis achieved, and the travelling efficiency of the four-foot robot to the complex obstacle pavement is improved.

Description

technical field [0001] The invention relates to the technical field of robot motion control, in particular to a method for a quadruped robot to dynamically cross convex obstacles. Background technique [0002] Compared with traditional wheeled and tracked vehicles, quadruped robots can choose discrete footholds for swinging legs, so they can adapt to complex terrains such as plateaus and mountains. At present, quadruped robots mainly focus on self-sensing based Body control, the stride height of the swinging leg is fixed or artificially set, therefore, for large-sized convex obstacles: 1) rely on the operator to control the robot to choose a detour; 2) use the operator to judge the size of the convex obstacle Artificially adjust the swing trajectory of the swing leg to cross convex obstacles. The former can successfully avoid convex obstacles, but the efficiency is low; the latter may cause the movement of the robot to be blocked due to the inaccurate judgment of the operat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B62D57/032
CPCB25J9/16B25J9/1666B25J9/1676B62D57/032
Inventor 许鹏苏波江磊姚其昌党睿娜许威蒋云峰慕林栋降晨星邓秦丹梁振杰汪建兵郭亮卢玉传赵建新
Owner CHINA NORTH VEHICLE RES INST
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