Leg joint load law analysis method for quadruped robot

Abstract

The invention relates to the technical field of intelligent robots, and discloses a leg joint load law analysis method for a quadruped robot. The method comprises the following steps: S1, controllingwalking of thequadruped robot by using a spring inverted pendulum and a virtual model control algorithm; S2, adding a virtual spring damping element between the ideal position and the actual positionof each degree of freedom; and S3, analyzing a walking control algorithm and a load law of the quadruped robot based on the spring inverted pendulum and the virtual model. Positive and negative kinematics analysis is carried out on the quadruped robot by applying a D-H parameter method; the relationship between the foot end position and the joint corner is obtained; then, on the basis of kinematics analysis, kinetic analysis is conducted on the quadruped robot, linear variable-speed walking of the quadruped robot under the diagonal gait is achieved through the spring inverted pendulum and thevirtual model control method, and the load law of all joints in the diagonal gait walking process of the quadruped robot is obtained through analysis.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a method for analyzing the load law of leg joints of a quadruped robot. Background technique [0002] Quadruped robots are mainly used in tasks such as rescue and disaster relief and geological exploration in complex terrain in the wild. This requires quadruped robots to be able to adapt to various complex terrains. As an important research direction of bionic robots, quadruped robots are designed after the limb structure of mammals such as dogs and horses, and can adapt to terrains with large unevenness through the scattered points of contact between legs and feet. [0003] At present, one of the most important problems existing in the hydraulic system of quadruped robots in terms of energy utilization is that the hydraulic system of quadruped robots mostly adopts a single-pump multi-actuator hydraulic system. The hydraulic system of the robot has the characteristics...

AI Technical Summary

Problems solved by technology

[0003] At present, one of the most important problems existing in the hydraulic system of quadruped robots in terms of energy utilization is that the hydraulic system of quadruped robots mostly adopts a single-pump multi-actuator hydraulic system. The hydraulic system of the robot has the characteristics of high-speed light load, low-speed heavy load, and high-low speed alternately. This kind of working condition where the same actuator has high-low speed alternately and different actuators have high-low speed simultaneously requires the hydraulic system to provide multiple flow and pressure combinations at the same time. The single-pump multi-actuator hydraulic system belongs to the throttling speed regulation system. In order to take into account the movement requirements of multi-actuator and multi-working conditions, the flow and pressure matching can only be realized through throttling, so more savings are generated. flow loss

This problem causes the hydraulic system of quadruped robot to be inefficient, which has seriously limited the development and application of quadruped robot technology. Therefore, it is necessary to conduct energy-saving research on the hydraulic system of quadruped robot.

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