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Composite type obstacle crossing trajectory planning method for quadruped robot

A quadruped robot, trajectory planning technology, applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve problems such as sudden obstacles encountered by quadruped robots, and achieve the effect of reducing energy consumption

Active Publication Date: 2020-12-29
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0004] The purpose of the present invention is to propose a compound obstacle-crossing trajectory planning method for a quadruped robot to solve the problem that the quadruped robot suddenly encounters obstacles when walking normally under the CPG rhythm gait

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  • Composite type obstacle crossing trajectory planning method for quadruped robot
  • Composite type obstacle crossing trajectory planning method for quadruped robot
  • Composite type obstacle crossing trajectory planning method for quadruped robot

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Embodiment

[0090] In order to verify the effectiveness of the solution of the present invention, a simulation experiment was carried out.

[0091] Build a quadruped robot on the Webots simulation platform, such as Figure 4 shown. The basic parameters of the robot are as follows: m=10kg, M=100kg, h=0.6m, build a circular obstacle with a radius of 5 cm, and set the obstacle-crossing step height of the robot according to the obstacle height information: H=0.1m, c= 0. Based on the above parameters, the optimal step size can be calculated by the optimal step size formula: Set the swing period T=0.5s, and simulate in MATLAB to obtain the trajectory curve of the foot end as follows: Figure 5 shown. From Figure 5 It can be seen that the simulation trajectory basically meets the expected requirements. The curve of the obstacle-crossing trajectory is smooth and continuous, which meets the position requirements of the obstacle-crossing. There is no sudden change at the beginning and end, ...

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Abstract

The invention discloses a composite type obstacle crossing trajectory planning method for a quadruped robot. The composite type obstacle crossing trajectory planning method comprises the following steps that a CPG model is established, and a quadruped robot is controlled to walk on a flat road surface in a periodic gait manner through a standard oscillation signal output by the model; when an obstacle appears on the flat road surface, an optimal obstacle crossing starting point is determined according to obstacle distance information returned by a sensor, and a CPG rhythm adjustment step length is changed, so that the robot reaches the optimal obstacle crossing starting point in the previous step of obstacle crossing; an obstacle crossing foot end track is planned based on an improved composite cycloid method, and the robot is controlled to cross obstacles. According to the composite type obstacle crossing trajectory planning method for the quadruped robot, a traditional CPG strategy and a foot end track planning strategy are combined, and stable obstacle crossing of the quadruped robot is achieved.

Description

technical field [0001] The invention relates to the field of gait planning for quadruped robots, in particular to a compound obstacle-crossing trajectory planning method for quadruped robots. Background technique [0002] With the development of industrial technology, quadruped robots have good mobility and can traverse complex environments with obstacles. Reasonable foothold selection under terrain conditions with distributed obstacles is a key capability of quadruped robots, especially special-purpose robots. Although many control methods have been used to control the motion of quadruped robots, their performance is still far behind that of animals in the biological kingdom. [0003] Compared with other control strategies, the biological control method based on the central pattern generator (CPG) can effectively improve the stability and environmental adaptability of the robot's movement by referring to the characteristics of the movement mode of animals in nature. metho...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/02G05D1/08G01C21/20
CPCG05B13/042G05D1/0214G05D1/0891G01C21/20
Inventor 黄紫霄朱晓璐郭健魏扬帆王艳琴
Owner NANJING UNIV OF SCI & TECH
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