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Universal gait design and control method for foot-type robot

A control method and robot technology, applied in two-dimensional position/channel control, control/regulation system, non-electric variable control, etc., can solve insufficient simulation, simplified change of Hopf oscillator output signal, poor stability of quadruped robot, etc. problem, to achieve the effect of simple control, accurate control and high control precision

Active Publication Date: 2021-04-02
广州市威控机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] At present, the central mode generator simply changes the output of the Hopf oscillator, and at the same time, uses the body posture of the foot robot as a simple proportional differential feedback signal, and combines the two as the final gait control signal of the foot robot. It is because the change of the output signal of the Hopf oscillator is too simplified, resulting in large pitching and rolling motions of the footed robot during the movement process, resulting in low stability of the footed robot during the movement process.
[0006] The previous gait controller of the footed robot based on the Hopf oscillator, the gait controller is not enough to simulate the details of the animal's diagonal gait movement, which makes the quadruped robot very poor in stability during the movement process

Method used

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  • Universal gait design and control method for foot-type robot

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Embodiment 1

[0069] This embodiment provides a general gait design and control method for legged robots. In terms of gait design, the present invention simplifies the gait design into gait parameter settings, and a set of gait parameters corresponds to a gait type. A set of key position points within a gait cycle. Each gait cycle has two states: turning on the ground and swinging in the air. Each leg is performing the same gait cycle repeatedly, but the starting position is different (there is a phase difference). This method can quickly design a variety of gaits for the robot and smoothly switch between different gaits; in terms of control, the present invention provides a set of controls for different robot walking gaits, walking speeds, leg heights, body heights, etc. A general set of foot trajectory calculation methods for legged robots can adapt to various complex terrains.

[0070] The described method takes a hexapod robot as an example, and the present embodiment is illustrated wi...

Embodiment 2

[0132] This embodiment provides a general gait design and control method for legged robots. The method takes a hexapod robot as an example. This embodiment uses a triangle 12 gait for illustration, as figure 2 As shown, the details are as follows:

[0133] In this embodiment, the following definitions are made:

[0134] There are 12 steps altogether in StepsInGait=12 a gait cycle;

[0135] NrLiftedPos=3 3 steps in a gait cycle are in the air;

[0136] TLDivFactor=8 moves on the ground 8 times in one gait cycle;

[0137] NomGaitSpeed=150 The step size of each step is 150 (unit: mm);

[0138] HalfLiftHeigth=True The leg lift heights of serial numbers 2 and 12 are half of that of serial number 1;

[0139] LRGaitLegNr=1 The starting serial number of the left hind leg is 1;

[0140] RFGaitLegNr=3 The starting serial number of the right front leg is 3;

[0141] LMGaitLegNr=5 The starting serial number of the left middle leg is 5;

[0142] RRGaitLegNr=7 The starting serial nu...

Embodiment 3

[0198] This embodiment provides a general gait design and control method for legged robots. The method takes a hexapod robot as an example. This embodiment uses a triangular 6 gait for illustration, as image 3 As shown, the details are as follows:

[0199] In this embodiment, the following definitions are made:

[0200] There are 6 steps altogether in StepsInGait=6 a gait cycle;

[0201] NrLiftedPos=2 2 steps in a gait cycle are in the air;

[0202] TLDivFactor = 3 moves on the ground 3 times in a gait cycle;

[0203] NomGaitSpeed=150 The step size of each step is 150 (unit: mm);

[0204] HalfLiftHeigth=FALSE The leg lift heights of serial numbers 2 and 1 are the same height;

[0205] LRGaitLegNr=4 The starting serial number of the left hind leg is 4;

[0206] RFGaitLegNr=1 The starting sequence number of the right front leg is 1;

[0207] LMGaitLegNr=1 The starting serial number of the left middle leg is 1;

[0208] RRGaitLegNr=1 The starting serial number of the right ...

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Abstract

The invention provides a universal gait design and control method for a foot-type robot. The gait design comprises the steps of: determining gait parameters including StepsInGait, NrLiftedPos, TLDivFactor, HalfLiftHeigh and initial key point position parameters of gait periods of all legs of the foot-type robot, determining key position points in one group of gait periods through the parameters; and the control method comprises the steps that foot end position coordinates of each leg of the robot in one gait period are obtained, and the rotation angle of each joint of the leg is solved according to the kinematics model and inverse kinematics. According to the invention, gait design is simplified into gait parameter setting, one group of gait parameters corresponds to one gait type, and keyposition points in one group of gait periods are determined; aiming at different control quantities such as walking gait, walking speed, leg lifting height and machine body height of the robot, the invention provides a set of universal foot end track calculation method for the foot type robot.

Description

technical field [0001] The invention relates to the technical field of legged robots, in particular to a general gait design and control method for legged robots. Background technique [0002] Compared with other mobile robots, legged mobile robots have higher flexibility and environmental adaptability, and have attracted more and more attention from researchers. According to the number of robot legs, it can be divided into two categories: single-legged robots and multi-legged robots. Among them, quadruped robots are the main ones among multi-legged robots. This is because, on the one hand, from the perspective of bionics , higher mammals are almost all quadrupeds. On the other hand, from the perspective of the control of legged robots, quadruped robots move more smoothly than biped robots. There are also relatively common hexapod robots. The control method Similar to a quadruped robot, it is simpler to control than a single robot. For example, the patent application publi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223
Inventor 贺培冯嘉鹏李钟
Owner 广州市威控机器人有限公司
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