Leg active adjusting method for stable transition of quadruped robot in variable stiffness terrain

Abstract

The invention provides a leg active adjusting method for stable transition of a quadruped robot in a variable stiffness terrain, which comprises the following steps: when the quadruped robot touches the ground with a diagonal gait, adjusting the equivalent length of diagonal legs of the robot according to the deviation angle of a robot body, so that the robot body is balanced; in the flying state, controlling the swing angle of the legs by planning the landing point position of the robot to achieve forward speed control; when the robot lands in the air, compensating the equivalent stiffness of diagonal legs of the robot to active variable stiffness calculation of the legs so as to adjust the equivalent leg length, and therefore the pitching posture of the robot body is corrected; enabling the landing phase attitude to be subjected to feedback control, and then adjusting the virtual spring stiffness change of the robot in real time according to the change of a landing machine body of the robot, so that a better balance effect is obtained; and providing additional energy compensation for jumping of the robot by increasing the power of the leg motor of the robot at the beginning of the next jumping period. According to the invention, the problem that the robot is not easy to fall down when walking on the ground with different hardness is simply and effectively solved.

Description

technical field [0001] The invention belongs to the technical field of quadruped robot motion research, and in particular relates to an active adjustment method for legs of a quadruped robot in a stable transition of terrain with variable stiffness. Background technique [0002] Compared with most wheeled and tracked mobile robots, legged bionic robots are more adaptable in unstructured environments. Among them, the quadruped robot has obvious advantages in the evaluation factors such as stability, dynamic performance, and control difficulty. Therefore, the application prospects in the fields of home service and disaster rescue have attracted extensive attention from researchers. [0003] However, the surface conditions are complex and diverse, and it is often difficult to smoothly realize the stable transition of quadruped robots on diverse grounds in this environment. Will Bosworth et al. used the dynamic jump experiment of the Super Mini Cheetah robot between soft and ha...

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Problems solved by technology

[0006] The purpose of the present invention is to aim at the deficiencies of the prior art, and provide a method for active leg adjustment of a quadruped robot in the stable transition of terrain with variable stiffness. The problem of walking without falling down when the hardness is different

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