Acrobot model-based diagonal support static balance control method for quadruped robot

Abstract

The invention discloses an Acrobot model-based diagonal support static balance control method for a quadruped robot. A diagonal support model of the quadruped robot is simplified, so that the complexity of balance control is lowered; an Acrobot under-actuated inverted pendulum model is introduced, so that the problem that the mass center of a body deviates from the position of a rotating shaft iswell solved; and finally, for an Acrobot complex nonlinear system, stable control is carried out at a balance point through a linear quadratic regulator, and through simulation analysis and model establishment, the diagonal support model is simplified into a virtual under-actuated second-order inverted pendulum Acrobot model, so that diagonal support static balance control is further carried out.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a method for controlling the static balance of a quadruped robot's diagonal support based on an Acrobot model. Background technique [0002] The balance control of quadruped robots has always been a research hotspot in the field of robotics. At present, the research on the balance control of quadruped robots mainly focuses on dynamic balance control, and the current mainstream dynamic balance control methods have their own shortcomings. Based on the SLIP (Spring Loaded Inverted Pendulum) dynamic balance control method, the balance control of the quadruped robot's dynamic gait can be completed, but in order to maintain the dynamic balance, it is necessary to switch the supporting leg and the swinging leg at a higher frequency. In addition, when the body posture of the robot is deflected, the SLIP model needs to adjust the position of the foothold of the swinging ...

AI Technical Summary

Problems solved by technology

Based on the SLIP (Spring Loaded Inverted Pendulum) dynamic balance control method, the balance control of the dynamic gait of the quadruped robot can be completed, but in order to maintain the dynamic balance, it is necessary to switch the supporting leg and the swinging leg at a higher frequency.

In addition, when the body posture of the robot is deflected, the SLIP model needs to adjust the position of the foothold of the swinging leg, which limits the robot's movement efficiency and adaptability to complex environments

The center of mass of the upper pendulum based on the static balance control method of the inverted pendulum with inertia wheels is located at the rotation axis of the upper pendulum, but it does not match the body state of the quadruped robot, so there is an error in the control model. In addition, this static balance control method is based on the The angular support leg hip joint torque output is used for balance control. According to the body structure of the diagonal support leg hip joint with different axes, the quadruped robot will have the problem of body heading deflection when performing static balance control.

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