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Control method and device for bionic jumping action of quadruped robot, electronic equipment and computer readable medium

A quadruped robot, jumping action technology, applied in torque/mechanical power control, non-electric variable control, program-controlled manipulator, etc., can solve problems such as no description

Active Publication Date: 2021-01-12
HANGZHOU YUNSHENCHU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the embodiments of the present invention is to provide a control method, device, electronic device and computer-readable medium for the bionic jumping action of a quadruped robot, so as to solve the problem that there is no description of the current method of jumping accompanied by lateral movement and body orientation twisting. The problem

Method used

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  • Control method and device for bionic jumping action of quadruped robot, electronic equipment and computer readable medium
  • Control method and device for bionic jumping action of quadruped robot, electronic equipment and computer readable medium
  • Control method and device for bionic jumping action of quadruped robot, electronic equipment and computer readable medium

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Embodiment 1

[0029] figure 1 It is a flow chart of a control method for a quadruped robot bionic jump action according to an embodiment of the present invention, as figure 1 As shown, the method includes the following steps:

[0030] Step S101, simplifying the quadruped robot into a rigid body model;

[0031] Step S102, according to the simplified rigid body model, using the gyroscope data combined with the state of the feet and the joint angles of the four legs, to calculate the actual state of the body center of mass;

[0032] Step S103, in the preparation, take-off and landing phases of the quadruped robot, given the expected acceleration and angular acceleration and planning the position and posture of the quadruped robot body respectively, the feedforward virtual force is calculated from the given acceleration and angular acceleration and virtual torque, and from the error between the desired state and the actual state, according to the proportional-derivative control law and the fe...

Embodiment 2

[0067] Figure 4 It is a structural schematic diagram of a control device for a bionic jumping action of a quadruped robot provided by an embodiment of the present invention. The device can execute any control method for a bionic jumping action of a quadruped robot provided in any embodiment of the present invention, and has the ability to execute the The corresponding functional modules and beneficial effects of the method. like Figure 4 As shown, the device includes:

[0068] The simplified module 91 is used to simplify the quadruped robot into a rigid body model;

[0069] The first calculation module 92 is used to calculate the actual state of the body center of mass by using the gyroscope data combined with the state of the feet and the joint angles of the four legs according to the simplified rigid body model;

[0070] The second calculation module 93 is used for the preparation, take-off and landing phases of the quadruped robot, given the desired acceleration and an...

Embodiment 3

[0074] An embodiment of the present invention provides an electronic device, including a memory and a processor, the memory stores a computer program that can run on the processor, and it is characterized in that, when the processor executes the computer program, the A control method for the bionic jumping motion of a quadruped robot is described.

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Abstract

The invention discloses a control method and device for bionic jumping action of a quadruped robot, electronic equipment and a computer readable medium. The control method comprises the steps that thequadruped robot is simplified into a rigid body model; according to the simplified rigid body model, the actual state of a mass center of a body is calculated through gyroscope data in combination with the foot end state and the joint angles of four legs; in the preparation, take-off and landing stages of the quadruped robot, the expected acceleration and angular acceleration are given, the position and posture of the body of the quadruped robot are planned respectively, the feed-forward virtual force and virtual moment are calculated according to the given acceleration and angular acceleration, and according to the error between the expected state and the actual state, the total virtual force and virtual moment required by the mass center is calculated by combining the proportional-differential control law and the feed-forward quantity; the moment of each joint of the supporting leg is obtained according to the obtained mass center virtual force and virtual moment; and the moment ofeach joint of the supporting leg is executed by a motor to jump.

Description

technical field [0001] The invention relates to the technical field of motors, in particular to a control method, device, electronic equipment and computer readable medium for the bionic jumping motion of a quadruped robot. Background technique [0002] The movement of quadruped robots is very different from that of traditional wheeled robots. In terms of the ability to cross obstacles, quadruped robots have an inherent advantage. Existing quadruped robots can successfully pass through some irregular road surfaces, such as grasslands, rough rocky beaches, etc., with the help of diagonal trotting, but for obstacles with a certain height or length, they must use jumping methods to achieve obstacle-surmounting functions. [0003] In nature, jumping is a common movement of quadrupeds when they cross obstacles of a certain height or length. In the actual movement of animals, it is common to jump non-directly forward and twist with the body facing, which helps the animal to quic...

Claims

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Application Information

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IPC IPC(8): B25J9/16G05D17/02
CPCB25J9/1664B25J9/1633G05D17/02
Inventor 宋奉隆刘静宇李超赵逸栋朱秋国
Owner HANGZHOU YUNSHENCHU TECH CO LTD
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