A jumping gait planning method for a multi-legged robot

Abstract

The invention discloses a jumping gait planning method of a multi-legged robot, which comprises the following steps: observing and decomposing the human standing long jump movement, clarifying the position of the center of gravity and the change of the position of the foot end relative to the center of mass; establishing a mathematical model of the position change of the foot end , the kinematics modeling of the multi-legged robot, based on the kinematics to solve the joint angle and filter and smooth it, control the robot movement. Aiming at the problem that multi-legged robots with rigid structures cannot rely on elastic devices to achieve jumping motion, the present invention discloses a jumping gait planning method for multi-legged robots from the perspective of motion planning, which is different from the previous ones that only focused on the design of elastic structures of robots and the optimization of elastic devices The difference is that the method of observing, decomposing and imitating the human movement process proposed by the present invention provides a new reference direction for multi-legged robots to enhance complex movement skills through self-learning.

Description

Technical field [0001] The present invention relates to the field of bionic robots, specifically to a jump gait programming method of a multipod robot. Background [0002] With its advantages of flexible structure, good stability, large load capacity and strong environmental adaptability, bionic multi-legged robots will increasingly replace manpower to complete a variety of complex and dangerous tasks, thereby greatly reducing costs while greatly improving the efficiency of large-scale operations. However, limited movement patterns and gait patterns limit the superior performance of multipod robots. Although most bionic robots are getting closer and closer to natural organisms in terms of design and optimization of their shape structures, their rich kinematic gait has not yet been developed. [0003] As the most basic way of movement of natural organisms, jumping can help themselves cross large obstacles or cope with sudden crises, and effectively improve the environmental adapt...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problem of how a rigid body robot without a bouncing structure performs complex jumping motions, the present invention proposes a method for instructing and realizing the jumping gait of a multi-legged robot by decomposing and imitating human standing long jump motions

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