Attitude adjustment method, controller, system and robot for substation legged robot

Abstract

The invention belongs to the field of robots, and provides a posture adjustment method, a controller, a system and a robot for a substation legged robot. Wherein the method comprises that when the legged robot is advancing, adopting the method of withdrawing at the same speed so that the moving speed of the swing leg relative to the torso is the same as that of the supporting leg relative to the torso, so as to ensure that the swinging leg is lifted vertically; After the robot stands stably, calculate the initial coordinates of the foot in the shoulder joint coordinate system based on the posture information and geometric information after standing stably, and then combine the trunk posture adjustment and the distance between the left and right feet to obtain the foot in the shoulder joint coordinate system In the new coordinates and adjust the standing posture; in the process of moving forward and standing posture adjustment of the footed robot, based on the current motion conditions and satisfying the pose constraints, the posture of the robotic arm on the footed motion platform is used to actively adjust, Assist the foot motion platform control system to control the platform attitude, so that the foot motion platform maintains a balanced state of force and torque.

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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