A balance control method and system for quadruped robot stance conversion

Abstract

The invention discloses a balance control method and system for quadruped robot stance transformation, the method includes: constructing a dynamic model based on a new configuration of a three-order inverted pendulum; constructing a state space equation; constructing a quadruped robot controller; obtaining four The angle and angular velocity of the actual shoulder joint, hip joint and ankle joint of the foot robot; the feedback angle and feedback angular velocity of the shoulder joint, hip joint and ankle joint are obtained by combining the expected angle of the shoulder joint and hip joint; the corresponding actual control torque is obtained; the shoulder joint is updated Desired angles of joints and hips for stance transitions. The system includes: dynamic equation module, state space equation module, controller module, actual attitude module, feedback module, actual control torque module and attitude update module. The invention only needs to control less joints to realize the control of the whole set of actions. As a balance control method and system for stance conversion of a quadruped robot, the invention can be widely used in 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 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. 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.

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