Attitude stability adjustment method based on multi-legged robot
The technology of a multi-legged robot and an adjustment method is applied in the field of posture stability adjustment based on a multi-legged robot, and can solve the problems of body shaking and body shaking.
Active Publication Date: 2021-02-09
OCEAN UNIV OF CHINA +1
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Problems solved by technology
[0005] During posture adjustment, the discontinuity of the body’s acceleration tends to cause the body to shake. In order to solve the problem that the robot’s foot end position is fixed and the body shakes during posture adjustment, the present invention proposes a multi-legged robot based on posture stability. Adjustment method to achieve the purpose of stable body without shaking when attitude adjustment
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[0089] In order to understand the above-mentioned purpose, features and advantages of the present invention more clearly, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.
[0090] The solution of the present invention mainly aims at the instability problem that occurs at the start and stop moments when the attitude of the multi-legged robot is changed, and proposes a stable attitude adjustment method:
[0091] First, the mapping relationship between the joint angle of the robot's supporting leg and the body posture is established through kinematic analysis; the joint angle of the leg is a known quantity that can be measured accurately and in real time. Therefore, when the position of the foot of the supporting leg remains unchanged, at a certain mom...
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The invention discloses a method for adjusting the attitude stability of a multi-legged robot. First, the mapping relationship between the joint angle of the supporting leg of the multi-legged robot and the attitude angle of the body is established through kinematic analysis; based on the designed mapping model, the attitude is adjusted smoothly by The stable adjustment of the supporting legs is realized; secondly, set the constraint index that meets the requirements of the stable adjustment of the robot attitude, plan the body attitude angle transformation curve based on the S-curve acceleration and deceleration method, and then obtain the control trajectory requirements of the joints through the mapping relationship, so as to achieve smooth adjustment ; In addition, the specific selection and motion control methods are given for the redundancy problem caused by the different number of supporting legs of the multi-legged robot when the attitude is changed, so as to achieve the purpose of a stable body without shaking when the attitude of the multi-legged robot is adjusted. The legged robot provides a stable planning method for attitude adjustment in rough terrain, which solves the instability problem of the traditional planning method when the robot changes the body posture, and provides an important reference for multi-legged robots to improve terrain adaptability .
Description
technical field [0001] The invention relates to the field of attitude adjustment of robots, in particular to a method for adjusting attitude stability based on multi-legged robots. Background technique [0002] The multi-legged robot has a good ability to cross obstacles and adapt to complex terrain, thanks to the robot's good adaptive posture according to the terrain environment, the continuous adjustment between postures can ensure the efficiency of the robot when completing mobile tasks And stability, it can be used as a multi-degree-of-freedom operating platform to complete mobile tasks in rough and complex terrain. However, when the robot performs attitude adjustment, the discontinuity of the body acceleration tends to cause the body to shake, especially when the robot is working with a heavy load, the body may even tip over. Therefore, it is necessary to study the stability of the robot attitude adjustment process to solve the problem of body shaking during attitude a...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张磊王福才王哲徐佩琪郜增辉李元刘策冲
Owner OCEAN UNIV OF CHINA