Active compliance control method for foot-type robot under complex terrains

Abstract

The invention discloses an active compliance control method for a foot-type robot under complex terrains. The method comprises the steps that a joint angle correction amount and a joint angular velocity correction amount are generated at the same time through an impedance filter; a joint angle instruction and a joint angular speed instruction are outputted to a joint PD controller based on the joint angle correction amount and the joint angular speed correction amount; after the output, the adjustment amount of the length of a supporting leg is calculated through the attitude angle error of amachine body; based on the adjustment amount of the length of the supporting leg, a leg length correction instruction is generated through the impedance filter, and the leg length correction instruction is outputted to the joint PD controller; and through the joint PD controller, the foot type robot under the complex terrains is actively and flexibly controlled. In the embodiment of the invention,the method prevents foot ends of the robot from slipping, and guarantees the motion stability of the posture of a robot trunk.

Description

technical field [0001] The invention relates to the technical field of active compliance control of legged robots, in particular to an active compliance control method of legged robots under complex terrain. Background technique [0002] Legged robots are currently a research hotspot in the field of special robots. According to the number of leg and foot structures, legged robots can be divided into biped robots, quadruped robots and multi-legged robots. Quadruped robots have good bionic performance, control stability and The control complexity is relatively balanced, and currently it has attracted more attention than other types of legged robots. [0003] At present, the common tandem-legged quadruped robot has a relatively simple structure and high mobility flexibility. The walking control algorithm of the quadruped robot with this configuration is relatively mature on a flat hard ground, and the quadruped robot has a suitable gait and It can maintain good motion stabilit...

AI Technical Summary

Problems solved by technology

However, in a complex terrain environment, such as a sand tunnel with a large undulating height difference or a slope with a slope angle greater than 50°, the mutual coupling motion of the quadruped robot's four legs and the trunk motion posture is highly nonlinear, and it is difficult to establish an accurate Kinetic model

Therefore, how to ensure the motion stability of the quadruped robot under relatively complex terrain conditions, involving a suitable compliance motion compensation control algorithm, is one of the unsolved problems.

The existing motor-driven tandem-legged quadruped robot platform is not stable enough to walk in a complex unstructured environment, and it is prone to slipping or falling.

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