Balance control method and system for standing posture conversion of quadruped robot

Abstract

The invention discloses a balance control method and system for standing posture conversion of a quadruped robot. The method comprises the steps of: constructing a kinetic model based on a new three-order inverted pendulum configuration; constructing a state space equation; constructing a quadruped robot controller; acquiring angles and angular speeds of actual shoulder joints, hip joints and ankle joints of the quadruped robot; obtaining feedback angles and feedback angular speeds of the shoulder joints, the hip joints and the ankle joints according to the expected angles of the shoulder joints and the hip joints; obtaining a corresponding actual control moment; and updating the expected angles of the shoulder joints and the hip joints to realize standing posture conversion. The system comprises a kinetic equation module, a state space equation module, a controller module, an actual posture module, a feedback module, an actual control moment module and a posture updating module. The whole set of action can be controlled only by controlling few joints. The balance control method and system for standing posture conversion of a quadruped robot can be widely applied to the field of robot control.

Description

technical field [0001] The invention belongs to the field of robot control, in particular to a balance control method and system for quadruped robot stance conversion. Background technique [0002] Quadruped robots can well adapt to unstructured and harsh environments, and can meet the needs of military reconnaissance, resource exploration, and emergency rescue and disaster relief. However, in an unstructured operating environment, sometimes it is necessary to switch between different stance gaits according to different terrains. However, most quadruped robots use point-to-foot contact, and the contact area is small. It is difficult to maintain balance during the process of standing posture conversion. At present, the standing posture balance control methods for quadruped robots mostly involve the robot in different walking states. The state of quadruped balance, rarely involving the control of balance during stance transitions (quadruped to biped transition). The existing...

AI Technical Summary

Problems solved by technology

However, most quadruped robots are point-to-foot contact, and the contact area is small. It is difficult to maintain balance during the process of standing posture conversion. At present, the standing posture balance control methods for quadruped robots mostly involve the robot in different walking states. Quadrupedal balance state, rarely involving balance control during stance transitions (quadruped to bipedal transition)

The existing stance transformation method for quadruped robots combines traditional coordinate transformation and ZMP (Zero Moment Point Method), but ZMP is limited to the plane contact surface when calculating, when the robot is working on soft and rugged terrain , the application of ZMP is relatively limited, and the robot configuration is complex. The traditional coordinate transformation method requires a lot of calculations, which is not conducive to the next step of controller design.

Images