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

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...

AI Technical Summary

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 energy utilization rate is low during the walking movement.

[0005] For the above technical problems, the usual solution is to add an energy recovery system, but it is easy to make the entire hydraulic system more complicated, and the energy recovery efficiency is usually low

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