Wheel-legged robot stress-type motion posture conversion method and system

Abstract

The invention provides a wheel-legged robot stress-type motion posture conversion method and system. By establishing an unstructured environment database of a wheel-legged robot, the robot is modeledto obtain a stress-type motion posture module and a control module for stably conversion of each motion posture, so as to establish an external stimuli degree evaluation function of the unstructured environment. The wheel-legged robot performs real-time detection of the stimuli of the external unstructured environment and tracks the own movement posture. The stimuli degree evaluation function is used for determining a corresponding response mode, and the motion conversion module is used for realizing the posture conversion, so that the wheel-legged robot can realize rapid stress-type motion decision according to the changes of the environment; and therefore, the flexibility and adaptability of the robot in a complex unstructured dynamic environment are improved.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a method and system for transforming a wheel-legged robot's stress-type motion attitude. Background technique [0002] Wheel-legged robot is a robot form that combines the high mobility of wheeled robots and the high environmental adaptability of legged robots. It can replace humans to complete tasks in national defense security, disaster rescue, etc., and has huge application requirements. At present, the reaction speed of wheel-legged robots to environmental mutations is far behind that of humans. The fundamental reason is that there is no human stress response mechanism in robot control, and it is impossible to quickly dodge, avoid, and curl up according to the sudden change in environmental stress. The movement mode restricts its practical application process, so the movement mechanism of robots simulating human stress response is a basic scientific problem ...

AI Technical Summary

Problems solved by technology

[0004] However, at present, most robots work in a structural environment, so the motion control method is single, and the operator needs to control or pre-set the action in real time. It is impossible to change the motion posture according to the real-time environment, and the motion posture conversion speed is slow.

Secondly, the wheel-legged robot has two control modes, one is the wheel-type motion mode, and the other is the foot-type motion mode. The dynamic models of the two modes are quite different. The control algorithms are also different. There are motion modes during mutual conversion, and when the modes are switched, the structure of the control algorithm or the sudden change of the main parameters are prone to instability.

Unable to achieve wheel-legged robots to work in unstructured environments

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