Bionic hexapod robot crab control system

A technology of control system and robot crab, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as poor adaptive walking ability, and achieve the effects of high speed, good obstacle avoidance ability, and reduced energy consumption

Active Publication Date: 2020-07-24
HARBIN ENG UNIV
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  • Abstract
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Problems solved by technology

[0005] The purpose of this invention is to solve the problem of poor adaptive walking ability of robot ...

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  • Bionic hexapod robot crab control system
  • Bionic hexapod robot crab control system
  • Bionic hexapod robot crab control system

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specific Embodiment approach 1

[0043] Specific implementation mode one: the following combination figure 1 Describe this embodiment, the bionic hexapod robot crab control system described in this embodiment includes a control unit 1, a GPS positioning module 2, an attitude sensor module 3 and a visual information collection module 4,

[0044]The GPS positioning module 2 is used to collect the positioning signal of the hexapod robot crab;

[0045] The attitude sensor module 3 is used to collect the attitude angle, angular velocity and acceleration signals of the hexapod robot crab;

[0046] The visual information collection module 4 is used to collect the visual image in the walking process of the hexapod robot crab;

[0047] Each joint of the robot crab body's six-legged legs and two tail legs transmits control commands to the actuator through the steering gear and feeds back the corresponding joint angles, joint speeds and joint torques;

[0048] The control unit 1 calculates the motion state of the robo...

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Abstract

The invention discloses a bionic hexapod robot crab control system, and belongs to the technical field of multi-foot robot crab control. The bionic hexapod robot crab control system is used for solving the problem that the self-adaptive walking capability of a robot crab is poor under the complex submarine terrain conditions. The bionic hexapod robot crab control system comprises a GPS positioningmodule, an attitude sensor module, a visual information acquisition module and a control unit. The GPS positioning module is adopted to collect positioning signals of a hexapod robot crab; the attitude sensor module collects attitude angle signals, angular velocity signals and acceleration signals of the hexapod robot crab; the visual information acquisition module acquires visual images of the hexapod robot crab in the walking process; joints of six walking feet and two tail wing feet of a robot crab body transmit control instructions to an executing mechanism through steering engines and feed back corresponding joint angles, joint speeds and joint torque; and the control unit processes all collected data and a preset walking path, obtains expected motion trails of each walking foot andeach tail wing foot of the robot crab, calculates and obtains motion angles of all the joints of the walking feet and the tail wing feet, and then transmits the motion angles to the corresponding steering engines in a matched mode according to instruction IDs. According to the bionic hexapod robot crab control system, self-adaptive walking operation of the robot crab under the complex terrain conditions can be realized.

Description

technical field [0001] The invention relates to a bionic hexapod robot crab control system, which belongs to the technical field of multi-leg robot crab control. Background technique [0002] In recent years, research on bionic hexapod robot crabs has developed rapidly. With the improvement of science and technology, the core part of the robot crab control system has also been developed rapidly, and its control system has also become more systematic and modular. Require. [0003] The hexapod robot crab is based on the task requirements in the complex seabed environment to conduct research on land simulation walking control. In order to complete complex tasks, it is necessary to adapt to the rough ground environment and make corresponding and timely responses to the ground environment in real time. scheduled tasks. [0004] The existing control methods have the problems of poor adaptive walking ability of the robot crab under complex terrain conditions, and poor real-time ...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/161B25J9/1612B25J9/1661B25J13/00
Inventor 范金龙孙延超秦洪德万磊李晓佳李凌宇陈欣岩
Owner HARBIN ENG UNIV
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