Hydraulic hexapod robot and walking gait control method based on mass center fluctuation

A control method and technology of hydraulic machinery, applied in the field of robotics, can solve the problems of valve port throttling loss, energy waste, low energy utilization rate, etc.

Active Publication Date: 2020-11-06
ZHEJIANG UNIV
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  • Abstract
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  • Claims
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Problems solved by technology

As a result, in the constant pressure hydraulic system, there is a large amount of throttling loss at the valve port, which easily causes a large amount of energy waste, that is, there is a problem that the average power of the hexapod walking robot is high and the ener

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  • Hydraulic hexapod robot and walking gait control method based on mass center fluctuation
  • Hydraulic hexapod robot and walking gait control method based on mass center fluctuation
  • Hydraulic hexapod robot and walking gait control method based on mass center fluctuation

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Embodiment

[0047] like figure 1 As shown, the hexapod walking robot 1 of the present invention includes a control unit, a body 10, a hydraulic system, a hydraulic mechanical leg 11, a hydraulic mechanical leg 12, a hydraulic mechanical leg 13, a hydraulic mechanical leg 14, a hydraulic mechanical leg 15 and a hydraulic mechanical leg 16, Three hydraulic mechanical legs are respectively arranged on both sides of the body 10, and the hydraulic mechanical legs on both sides are arranged symmetrically; Twice the area of ​​the hydraulic cylinder of the mechanical leg, that is, the hydraulic cylinder area of ​​the hydraulic mechanical leg 13 and the hydraulic mechanical leg 14 is twice the area of ​​the hydraulic cylinder of other hydraulic mechanical legs; wherein, the structure of the hydraulic mechanical leg is as follows figure 2 As shown, the specific root joint 20, root joint rod 27, hip joint 21, thigh rod 22, knee joint 23, calf rod 24 and foot end 25 fixed on the calf rod 24; the hyd...

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Abstract

The invention relates to a hydraulic hexapod robot and a walking gait control method based on mass center fluctuation, which belong to the technical field of robots. The robot comprises a body and three hydraulic mechanical legs arranged on the two sides of the body respectively. Each hydraulic mechanical leg comprises a root joint, a hip joint, a thigh rod, a knee joint, a shank rod and a foot end fixedly arranged on the shank rod, and the gait control method comprises the steps that the hydraulic mechanical legs are controlled to walk according to the three-foot gait according to the plannedfoot end track, so that the mass center track of the six-foot walking robot is a cosine curve track; specifically, under a calcaneal joint coordinate system, the components of the foot end track in the advancing direction and the vertical direction are all sextic polynomials, and displacement, speed and acceleration are continuous. Compared with a control method for keeping the mass center heightapproximately unchanged in the prior art, the control method provided by the invention has the advantages that the average flow and average power of the robot in one gait period can be effectively reduced through the gait with the fluctuated mass center, so that the energy utilization rate is effectively increased, and the method can be widely applied to the technical field of robots.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a hydraulic hexapod robot and a walking gait control method based on fluctuations of the center of mass of the robot. Background technique [0002] As a robot widely used in high-risk and labor-intensive fields such as military industry, emergency rescue and disaster relief, mobile robots can not only reduce the work intensity of humans, but also complete dangerous tasks for humans; in the existing mobile robots, adopt The multi-legged walking robot driven by hydraulic pressure has the characteristics of high power density, high load, high bandwidth, fast response and strong anti-disturbance ability, and is especially suitable for heavy-duty multi-legged walking robots. [0003] For the specific structure of the hexapod walking robot, as the disclosed structure of the patent document CN102556198A, the publication number includes a body and six hydraulic mechanical legs evenly arra...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 金波董峻魁刘子祺翟硕
Owner ZHEJIANG UNIV
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