A method for a quadruped robot to dynamically cross convex obstacles

A quadruped robot and robot technology, which is applied to motor vehicles, manipulators, program-controlled manipulators, etc., can solve problems such as overturning, lack of research on autonomous planning for local landing, and low efficiency.

Active Publication Date: 2021-04-23
CHINA NORTH VEHICLE RES INST
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  • Description
  • Claims
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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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  • A method for a quadruped robot to dynamically cross convex obstacles
  • A method for a quadruped robot to dynamically cross convex obstacles
  • A method for a quadruped robot to dynamically cross convex obstacles

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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 a quadruped robot to dynamically cross convex obstacles, belonging to the technical field of robot motion control. The implementation steps of the method are as follows: firstly, the safety area of ​​the robot's foothold facing the convex obstacle is detected; secondly, the trajectory of the swing leg is re-planned; finally, a stable controller for the robot to dynamically cross the convex obstacle is established. The invention realizes leaping over convex obstacles by establishing a dynamic obstacle-surmounting stable controller for the robot, and improves the walking efficiency of the quadruped robot on complex obstacle road surfaces.

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 Patents(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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