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
CN112596530AActive Publication Date: 2021-04-02广州市威控机器人有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
广州市威控机器人有限公司
Publication Date
2021-04-02

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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.
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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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