Static gait planning method of quadruped robot
A quadruped robot, static gait technology, applied in the direction of instruments, two-dimensional position/channel control, non-electric variable control, etc.
Pending Publication Date: 2020-10-13
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Problems solved by technology
[0006] In order to solve the existing problems, the present invention provides a static gait planning method of a quadruped robot and a computer-readable storage medium
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[0072] In order to make the technical problems, technical solutions and beneficial effects to be solved by the embodiments of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0073] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be used for both fixing function and circuit communication function.
[0074] It is to be understood that the terms "length", "width", "top", "bottom", "front"...
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The invention provides a static gait planning method of a quadruped robot and a computer readable storage medium. The method comprises the steps of selecting multiple sets of irregular foot falling points distributed in an ''S'' shape and located on the same horizontal plane in advance; determining a target area of gravity center adjustment of the quadruped robot, wherein the target area meets twoconstraint conditions: stability constraint and foot end working space constraint; in a gravity center adjusting stage, selecting a point closest to a gravity center initial projection position froma gravity center adjusting target area to serve as a gravity center adjusting target point, and determining the shortest gravity center moving track through a gravity center track optimization algorithm; acquiring the maximum body and a foot end moving speed under a joint angular speed constraint condition through a speed optimization algorithm; and making the quadruped robot walk according to thefoot falling point at the maximum body and the foot end moving speed. The quadruped robot can keep stable in the moving process, the foot end can swing to the expected foot falling point, and the walking speed of the quadruped robot is increased.
Description
technical field [0001] The invention relates to the technical field of gait planning of a quadruped robot, in particular to a static gait planning method of a quadruped robot and a computer-readable storage medium. Background technique [0002] With the development of human society and the advancement of science and technology, people's desire to explore the unknown world is becoming stronger and stronger. However, considering factors such as safety, it is difficult for human beings to reach many complex or unknown places with their own strength, so people have developed various walking robots to work instead of themselves. The most widely used walking robots are divided into wheeled and tracked robots, but because the walking paths of wheeled and tracked robots are continuous, they can only drive on relatively flat roads, while more than five percent of the earth's Ten roads are rough and even have a large number of forbidden areas, which greatly limits their application. ...
Claims
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Patent Timeline
Login to View More IPC IPC(8): G05D1/02
CPCG05D1/0253G05D1/0263G05D1/0223G05D1/0221G05D1/0276Y02T10/40
Inventor 王学谦王雅琪叶林奇刘厚德梁斌
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV