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Omnibearing gait switching method and system of parallel wheel-foot robot

A switching system and parallel technology, applied in the field of robotics, can solve the problems of low energy utilization, low load capacity, and slow motion speed of quadruped bionic robots, so as to improve motion control performance, improve stability, and ensure motion stability Effect

Inactive Publication Date: 2020-05-08
GUANGDONG INST OF INTELLIGENT MFG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the energy utilization rate of this quadruped bionic robot is low, and there is only one way of passing through the foot, and the movement speed on a flat road is relatively slow, and the parallel connection of three degrees of freedom makes the load capacity low. demand cannot be met

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  • Omnibearing gait switching method and system of parallel wheel-foot robot
  • Omnibearing gait switching method and system of parallel wheel-foot robot
  • Omnibearing gait switching method and system of parallel wheel-foot robot

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Embodiment Construction

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0042] figure 1 It shows a schematic flow chart of a method for omnidirectional gait switching of a parallel wheel-footed robot in an embodiment of the present invention, and the method includes the following steps:

[0043] S101. Establishing a kinematics model of the parallel wheel-footed robot;

[0044]It should be noted that, in the embodiment of the present invention, the parallel wheel-foot robot is a hydraulically driven parallel leg-foot robot, and each le...

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Abstract

The invention discloses an omnibearing gait switching method and system for a parallel wheel-foot robot. The method comprises the steps: establishing a kinematics model of the parallel wheel-foot robot; based on the kinematics model, taking single-leg working space constraint and walking stability constraint as consideration conditions, and stipulating a straight-going intermittent gait and a rotating gait of the parallel wheel-foot robot; and based on the straight-going intermittent gait and the rotating gait, conducting gait switching according to the walking direction and the walking posture of the parallel wheel-foot robot. In the embodiment of the invention, the motion controllability of the parallel wheel-foot robot is improved, and the overall motion stability is effectively guaranteed.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method and system for omnidirectional gait switching of a parallel wheel-foot robot. Background technique [0002] Legged robots are currently a research hotspot in the field of special robots. Legged robots with different structures and different control methods have their own advantages in terms of walking speed, load capacity, motion stability, and flexibility. However, different structural designs need to be matched with each other. The appropriate gait control algorithm to achieve optimal control performance. At present, the common serial quadruped robot has a relatively simple structure and high motion flexibility, but has a small load capacity, poor motion stability, and low energy utilization rate, and is not suitable for the needs of large loads and complex road traffic. The quadruped robot with hydraulically driven parallel wheel-foot switching has the advantages of large load,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 文享龙唐观荣周雪峰苏泽荣鄢武徐智浩
Owner GUANGDONG INST OF INTELLIGENT MFG
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