Body posture slope self-adaptive control method of four-foot bionic robot

A technology of bionic robot and self-adaptive control, which is applied in the direction of program control of manipulators, manipulators, motor vehicles, etc. It can solve the problems of slow movement of robots, low adaptability to complex road surfaces, introduction and other problems, and achieve stable walking and optimized foot end Movement space, enhanced stability margin effect

Active Publication Date: 2020-11-06
QILU UNIV OF TECH
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Problems solved by technology

However, according to the inventor’s understanding, its adaptability to complex road surfaces is relatively low, and how to introduce terrain information into the attitude motion control of the robot is not considered to improve the stability margin during the robot’s movement and better improve the robot’s ability to control slopes. Adaptability to rugged terrain
[0005] At the same time, most of the existing literature is based on the static gait or the adaptive adjustment of the slope based on visual information, which leads to the slowdown of the robot's movement speed, unstable walking on the slope, or increases the workload of processing visual information.

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  • Body posture slope self-adaptive control method of four-foot bionic robot

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[0054] The present disclosure will be further described below in conjunction with the accompanying drawings and embodiments.

[0055] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0056] It should be noted that the terminology used herein is only for describing specific embodiments, and is not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

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Abstract

The invention provides a body posture slope self-adaptive control method of a four-foot bionic robot. According to the body posture slope self-adaptive control method, optimal plantar force distribution and foot end landing prediction are achieved under model prediction control; the posture adjustment of the robot during climbing is realized through a body posture slope self-adaptive algorithm, sothat the perception of the robot on a slope terrain environment can be realized, the posture self-adaptive adjustment and stable movement walking of the robot on the slope terrain are realized, and the visual perception information of the robot does not need to be utilized.

Description

technical field [0001] The disclosure belongs to the technical field of robot posture control, and relates to a body posture slope adaptive control method of a quadruped bionic robot. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] At present, bionic robots are gradually moving from the laboratory to the workplace, and their high dynamics, complex environment adaptability and large load capacity have been significantly improved. In order to complete a given job task, the robot generally adopts a single terrain adaptation mode, which significantly reduces the robot's adaptability to various complex environments. In nature, four-legged mammals can adjust their posture adaptively according to different environmental conditions, so as to improve the stability of the robot's movement process and the adaptability to complex environments. Ther...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032B25J9/08B25J9/16
CPCB25J9/08B25J9/1664B25J9/1679B62D57/032
Inventor 李彬梁启星张慧李志刘伟龙荣学文范永
Owner QILU UNIV OF TECH
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