Transformer substation legged robot posture adjusting method, controller, transformer substation legged robot posture adjusting system and transformer substation legged robot

Abstract

The invention belongs to the field of robots, and provides a transformer substation legged robot posture adjusting method, a controller, a transformer substation legged robot posture adjusting system and a transformer substation legged robot. The transformer substation legged robot posture adjusting method comprises the steps that when the legged robot advances, a same-speed retreating method is adopted so that the moving speed of a swing leg relative to a trunk can be the same as the moving speed of a supporting leg relative to the trunk, and it is guaranteed that the swing leg is vertically lifted; after the legged robot stands stably, initial coordinates of the foot ends in a shoulder joint coordinate system are calculated based on posture information and geometric information existing after stable standing, new coordinates of the foot ends in the shoulder joint coordinate system are obtained by combining the trunk posture adjustment amount and the distance between the left foot and the right foot, and standing posture adjustment is conducted; in the advancing and standing posture adjusting process of the legged robot, on the basis of the current motion working condition, under the condition that pose constraints are met, active posture adjustment of a mechanical arm on a legged movement platform is utilized to assist a legged movement platform control system in the control over the platform posture, so that the legged movement platform keeps the stress and torque balance states.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a posture adjustment method, a controller, a system and a robot of a substation legged robot. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] The footed inspection motion platform has stronger environmental adaptability and movement flexibility than traditional wheeled robots. It can not only operate in complex road environments such as grasslands and gravel roads in the station, but also cross obstacles, go up and down stairs, and climb over roadside stones. And other typical obstacles in the station, the ability to adapt to the complex road environment in the station has been greatly improved. The footed inspection motion platform is based on the "leg-foot" motion structure. On the other hand, the stable control of the overall posture of th...

AI Technical Summary

Problems solved by technology

[0004] The inventors have found that the existing legged robots have the following problems in the process of attitude adjustment: 1) The existing legged robot gait planning method may kick obstacles when the legged robot lifts its feet, which may affect the balance or even be blocked. The situation of tripping over obstacles

2) Due to the actual application in the substation, the foot movement platform usually needs to be equipped with inspection equipment, which will affect the position of the center of gravity of the platform, thereby affecting the attitude stability control of the motion platform

3) The footed robot will produce center of mass height fluctuations and torso posture shakes when walking, resulting in low sensor positioning accuracy. The inspection step of the footed robot is to traverse the preset inspection points one by one. If it reaches the target point, it will immediately decelerate. And stop, there is often a large error, even if you step for a period of time to fine-tune the position, the stop position will be inaccurate due to the shaking of the trunk

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