Quadruped robot motion control method and system based on diagonal trotting gait

Abstract

The invention discloses a quadruped robot motion control method and system based on a diagonal trotting gait. The method comprises the steps of obtaining a gait track, and generating a basic foot endtrack curve; generating a forward motion track according to the moving speed in the front-back direction and the basic foot end track curve; generating a lateral motion track according to the movementspeed in the left-right direction and the basic foot end track curve; generating an autorotation motion track according to the proportion of straight line segments in the basic foot end track curve;synthesizing to obtain a final foot end track; and performing phase adjustment to obtain a leg foot end track. The system comprises a basic track module, a forward motion module, a lateral motion module, an autorotation motion module synthesis module and a phase module. By means of the method, the motion flexibility of the quadruped robot is improved. The quadruped robot motion control method andsystem based on the diagonal trotting gait can be widely applied to the field of robot control.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a motion control method and system for a quadruped robot based on a diagonal trotting posture. Background technique [0002] At present, the movement modes of robots generally include wheel type, foot type, crawler type and some bionic modes (such as crawling and peristalsis). Wheeled and tracked robots are affected by road surface factors, which seriously restrict their application and promotion. However, some bionic robots are developed for special scenarios, and their application scenarios are less. Legged robots can walk freely on various complex road surfaces, so the application range is wider and more superior. Legged robots can be divided into two-legged, four-legged, six-legged, eight-legged, etc. according to the number of feet. Among them, quadruped robots have found a balance point in terms of simple structure and stable walking. A good choice with a wide range of appli...

AI Technical Summary

Problems solved by technology

On complex and rough roads, the above methods are difficult to guarantee the stability of the robot, and in severe cases, the robot will overturn, and there are problems such as limited real-time performance, precision and adaptability of attitude control.

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