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Robot stepping priority control method

A technology of priority order and control method, applied in the field of robotics, to achieve the effect of convenient control and improved movement flexibility

Active Publication Date: 2020-04-21
JIANGSU OCEAN UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there is no report on the research on the priority control of robot steps in the prior art.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] Example 1: Priority contraction order control of joint flexors and extensors:

[0037] Use the aforementioned formula (1) to construct the imitation spinal cord control network of the robot joint as follows: figure 1 shown. This joint-mimicking spinal cord control network mainly includes an interneuron network in which flexor and extensor interneurons mutually inhibit each other (ie, joint oscillators), and flexor and extensor motor neurons corresponding to flexor and extensor interneurons, respectively. Flexor and extensor motor neurons serve to control the flexor and extensor muscles of the joint, respectively.

[0038] In order to control the swing sequence of the flexor and extensor muscles of the robot joint, it can be realized by controlling the sequence of input of the upper nerve center control signal of the flexor and extensor interneurons of the joint interneuron network (ie, joint oscillator). Using the above control method, the figure 1 The performance of...

Embodiment 2

[0040] Example 2: Priority swing sequence control of two joints swinging alternately:

[0041] image 3 It is the imitation spinal cord control network of the human hip joint, which reflects the coordination relationship between two joints with alternating swing motions. It also includes the interneural network and the corresponding motor neurons. According to the contraction phase relationship between the flexors and extensors of the left and right hip joints in the process of alternating swing, the priority order of the upper central control signal input of the two hip joints is designed, so as to control the priority swing order of the two hip joints. The specific control input signals and The simulated spinal cord network output simulation results are as follows: Figure 4 shown. The paraspinal network parameters for a single joint were the same as those for the above-mentioned joint-spinal control network, and the inhibitory synaptic connections between joints were wei...

Embodiment 3

[0043] Embodiment 3: The control method of the salamander step priority:

[0044] refer to Figure 5 Schematic diagram of the bionic structure and driving mode of the salamander bionic robot. Among them, the filled muscles are flexors, and the blank muscles are extensors. The salamander bionic robot body includes 10 connecting rods, which are connected by a single-degree-of-freedom rotating hinge, and the hinge axis is perpendicular to the ground in the initial state. The shoulder joint and hip joint of the robot can be regarded as a Hooke hinge. In the initial state, one of its axes is perpendicular to the ground to realize the front and rear swing of the limbs, and the other axis is parallel to the body axis to realize the leg-lifting movement of the limbs. There is an elbow joint between the thigh and the lower leg of the forelimb, and they are connected by a single-degree-of-freedom rotating hinge, and the rotation axis of the hinge passes through the plane where the thi...

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Abstract

The invention discloses a robot stepping priority control method, and relates to the technical field of robots. The method comprises the following steps: firstly, constructing a spinal cord imitationcontrol network of robot joints, including an intermediate neuron network and a motor neuron network, and utilizing a robot joint flexor muscle and extensor muscle preferential contraction sequence control method to directly design upper-layer central nervous control input with a limited sequence for a robot alternate swing joint flexor muscle and extensor muscle intermediate neuron control network so as to realize stepping priority control; or indirectly controlling the phase relation between the outputs of the leg middle neuron networks by designing the input priority sequence of the upper-layer central control signals of the flexor muscle and the extensor muscle middle neurons of the guide network by utilizing the guide effect between the middle neuron networks so as to control the stepping priority sequence of the robot. The method is convenient to control, and the movement flexibility of the foot type bionic robot and various exoskeleton robots can be effectively improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for controlling the step sequence of a robot. Background technique [0002] Because robots have broad application prospects in military, industry, life, home service and medical treatment, they have been widely concerned by people. However, the characteristics of the robot's complex motion, many control joints, strong nonlinearity and complex interaction with the surrounding environment have brought great difficulties to its control. [0003] The traditional robot control is mostly to establish the robot kinematics and dynamics model first, and then plan and control the robot's motion based on it. This control method is very difficult to establish a high-performance bionic robot control method that is flexible, diverse and adaptable to the environment. In order to solve the problem of robot control, bionic control inspired by biological neural control has gradually beco...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1602
Inventor 刘强张凯刘金龙张永硕
Owner JIANGSU OCEAN UNIV
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