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A robot gait control method

A technology of gait control and robotics, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as poor adaptability, single movement mode, and rigid movements.

Active Publication Date: 2022-06-21
GUANGZHOU COLLEGE OF SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the quadruped robot motion control method and control device adopt a sinusoidal diagonal gait; the motion mode is too single to control the robot, and the movement is too rigid during motion, and can only overcome some simple obstacles; Modification of gait curve; poor adaptability

Method used

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  • A robot gait control method
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Embodiment Construction

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] like Figure 1-2 A robot gait control method, the robot includes a mechanical leg and a control module; the mechanical leg is provided with a foot end; the foot end is arranged at the bottom of the mechanical leg, and the foot end has a data collector; The device is an infrared ranging sensor; the control module includes the control system and the upper computer; the control system includes the interaction layer, the weight decision layer, the foot end planning layer and the execution layer; the data collector and the upper computer are connected with the interaction layer signal; the interaction layer will The second height value H2 collected by the data collector and the first height value H1 input by the host computer are sent to the weight decision-making layer, and the first height value H1 and the second height value H2 of ...

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Abstract

The invention provides a method for controlling the gait of a robot. By weighting the first height value H1 and the second height value H2, the data of the first height value H1 is corrected; the height of the highest point A of the foot end calculated in this way Accurate; by calculating the Y coordinate of the highest point A of the foot end, and then calculating the control point P 1 The coordinates; this method can set the starting point P according to different scenes 0 , end point P 2 coordinates, and then calculate the control point P 1 coordinates; then the foot end motion curve is generated by the second-order Bezier curve formula; in this way, the scene is widely used; the motion mode is rich; at the same time, because the Bezier curve is too smooth, the robot moves through the foot end motion coordinates generated by the Bezier curve , so that the movement is stable.

Description

technical field [0001] The invention relates to a robot motion control method, in particular to a robot gait control method. Background technique [0002] With the rapid development of science and technology, robotics has developed by leaps and bounds. Robots can perform high-precision work quickly and accurately, far away from humans. It can be widely used in emergency and disaster relief, planetary exploration, military demining and other environments that are not suitable for human survival. Compared with wheeled or tracked robots, footed robots have certain advantages in unstructured environments. Among the multi-legged walking robots, the quadruped robot has a simple structure and stable motion, and has the most extensive research and application in the footed robot. But the motion process of the quadruped robot is a multi-link, strong coupling, time-varying nonlinear system, so the motion control of the quadruped robot is very complicated. Most of the existing meth...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 王营东王蕊周桂灿周展鸿邢泽恺许昌尧
Owner GUANGZHOU COLLEGE OF SOUTH CHINA UNIV OF TECH