Response type robust control method for four-foot robot under load sudden changes based on ZMP theory

Abstract

The invention discloses a response type robust control method for a four-foot robot under load sudden changes based on the ZMP theory. Firstly, a four-foot robot complete dynamics model with a disturbing term is established; the ZMP calculating formula under load sudden changes is inferred in combination with the robot body dynamics, and the stable gait of the four-foot robot under the situation of the load sudden changes is planned on the basis of the ZMP; and then, a nonlinear disturbance observer model is established, an observer gain matrix is solved through a linear matrix inequation, anobserver observes the disturbance value, compensation is conducted on disturbance through sliding-mode control, and robust tracking of the joint angle is guaranteed. The response type robust control method can overcome disturbance brought to the normal-walking four-foot robot due to the load sudden changes.

Description

Technical field [0001] The invention belongs to robot control technology, and is specifically a reactive robust control method for quadruped robots based on ZMP theory under load mutation. Background technique [0002] After Boston Dynamics developed BIGDOG, the quadruped robot has received more and more attention from the research community. Different from traditional wheeled and crawler robots, the four-legged robot has a point contact with the ground when walking, so it can move in complex and harsh environments such as rugged mountain roads, mud or stairs, and at a moving speed. , Load capacity, stability and other aspects showed many advantages. Four-legged robots often face various complex situations in actual environments. When the four-legged robot is disturbed by a sudden load change, the height of the fuselage decreases and the posture of the fuselage tilts, which affects the walking stability of the robot, and even in severe cases. It will cause the overturning of th...

AI Technical Summary

Problems solved by technology

Quadruped robots often face a variety of complex situations in the actual environment. When the quadruped robot is disturbed by a sudden load change, the height of the robot body will be reduced, and the posture of the body will be tilted, which will affect the walking stability of the robot. In severe cases, even It will cause the overturning of the fuselage, and its robust control problem is relatively complicated, and no effective control method has been proposed so far

Images