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Robot state planning method and device based on sequence optimization and storage medium

A robot and sequence technology, applied in the directions of measuring devices, instruments, surveying and navigation, etc., to improve the traffic capacity, avoid the influence of front and rear coupling, and reduce the impact.

Active Publication Date: 2020-09-15
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The problem solved by the present invention is how to deal with the coupling relationship between states, reduce the influence of the motion of the hexapod robot on the subsequent state planning in the previous motion cycle, and improve the ability of the hexapod robot to pass through complex terrain

Method used

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  • Robot state planning method and device based on sequence optimization and storage medium
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  • Robot state planning method and device based on sequence optimization and storage medium

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Embodiment Construction

[0035] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0036] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. In the embodiments of the present application, a hexapod robot is taken as an example to describe in detail the robot s...

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Abstract

The invention provides a robot state planning method and device based on sequence optimization and a storage medium, and the method comprises the steps: repeatedly executing a random sequence generation step for many times according to a preset initial state, and obtaining a random sequence set, wherein the random sequence generation step comprises the steps of circularly executing a motion stategeneration algorithm according to an initial state until a preset target state is reached or a next motion state cannot be generated, and obtaining a random sequence; and scoring each random sequenceaccording to a preset rule, and determining the random sequence with the highest score as a motion sequence of the robot in the random sequence set according to a scoring result. According to the technical scheme, the whole movement process is considered, and the state sequence of a hexapod robot is planned, so that the front-back state coupling influence caused by periodic planning can be avoided, and the traffic capacity of the hexapod robot in complex terrains is improved.

Description

technical field [0001] The present invention relates to the technical field of robot control, in particular to a robot state planning method, device and storage medium based on sequence optimization. Background technique [0002] Since wheeled robots need to move on a continuous ground, and footed robots can choose footholds to move in discrete foothold terrains, footed robots have better performance in the face of complex field environments. capacity. Among many legged robots, hexapod robots stand out with their strong environmental adaptability and high fault tolerance. Because they can perform various difficult tasks in some dangerous environments, they are widely used in industries, Aerospace, military and disaster relief and other fields have broad prospects for development. [0003] When the legged robot walks from one position to another, each position in the motion process corresponds to a state of the legged robot. The state includes the current position informati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/20G01C21/165
Inventor 丁亮高海波王志恺徐鹏龚肇沛王冠宇邓宗全李楠
Owner HARBIN INST OF TECH
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