Quadruped robot climbing gait
A quadruped robot and gait technology, applied in the field of robotics, can solve problems such as dragging legs, instability and falls, and achieve the effects of increasing stability margin, simple gait, and improving climbing performance
Pending Publication Date: 2020-04-07
HUNAN CITY UNIV
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Problems solved by technology
[0004] Aiming at the problem that a quadruped robot is affected by lateral displacement when walking on a slope, causing leg dragging or even falling down, the invention provides a climbing gait of a quadruped robot, which is based on the static stability criterion. The robot keeps the fuselage parallel to the slope surface, and at most one leg is in the swing phase at any moment. Before a certain leg of the robot enters the swing phase, the robot first moves the fuselage to the limit position in the direction opposite to the leg to the maximum extent. Guarantee the static stability margin of the robot
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Embodiment
[0034] Embodiment: In this example, the self-weight of the robot is about 70kg. As can be seen from the climbing gait proposed by the present invention, there is at most one leg in the swing phase during the walking process of the robot. Before a certain leg of the robot enters the swing phase, the body moves to the same position as The extreme position of the leg in the opposite direction. Such as figure 2 As shown, state 0 represents the initial posture of the robot, and state 0 to state 1 is the process of the robot entering the slope straight gait from the initial posture adjustment. The slope straight gait cycle actually includes eight states 1-8, and the specific process is as follows : Move the center of gravity of the robot to the rear left corner (state 1), step forward with the right leg (state 2), move the body to the right, move the center of gravity of the robot to the rear right corner (state 3), step forward with the left leg (state 4), and move the body Move ...
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The invention discloses a quadruped robot climbing gait, and belongs to the technical field of robots. The gait takes a static stability criterion as a theoretical basis. When the robot climbs a slope, the robot body is kept parallel to the slope surface, at most one leg of the robot is in a swing phase at any moment, and before one leg of the robot enters the swing phase, the robot body moves tothe limit position in the direction opposite to the leg so that the static stability margin of the robot is guaranteed to the maximum extent. According to the method, the stability margin of the quadruped robot during climbing can be greatly increased, the climbing performance of the quadruped robot is improved, the gait is simple and good universality and practicability are achieved.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a climbing gait of a quadruped robot. Background technique [0002] In the natural environment, slopes are a common landform, and it is of great significance to study the walking of quadruped robots on slopes for the realization of robot field operations. Similar to a robot walking horizontally, a quadruped robot must first ensure static stability when walking on a slope, that is, at least three legs should be in contact with the ground to support the body at any moment of motion, and the center of the body must fall on the ground. In the triangular area formed by the three-leg support points. Under this premise, the four legs can be lifted and landed in a certain order to realize walking. When walking, the fuselage also moves forward relative to the ground with the movement of the legs, and the center of gravity is always moving. The four legs take turns to lift the stride, an...
Claims
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IPC IPC(8): B25J9/16B62D57/032
CPCB25J9/16B25J9/1664B62D57/032
Inventor 袁聪
Owner HUNAN CITY UNIV