Omnibearing motion control method for double-leg-wheel composite robot

Abstract

An omnibearing motion control method for a double-leg-wheel composite robot comprises the steps that virtual generalized force is constructed in a task space, multi-point force distribution is conducted on the virtual generalized force according to structure division, a leg wheel torque solver is constructed based on a proposed coupling leg wheel dynamic model, joint torque capable of achieving leg wheel tail end distribution force is obtained, on the basis of wheel-ground contact force Jacobian, wheel-ground contact compensation force for maintaining the heading is mapped into joint torque, a slope estimator based on internal sensor information is constructed, torque compensation of the horizontal relative positions of wheels and a trunk is carried out for different slopes, and the joint torque obtained through calculation of controllers of all layers is fused and applied to a joint actuator. According to the method, the motion of double leg wheels is reasonably controlled, so that the position and posture of the trunk are not influenced by the change of the ground gradient, stable all-dimensional motion can be kept, the terrain adaptability of the robot is enhanced, and the walking stability of the robot in the unstructured terrain is improved.

Description

technical field [0001] The invention relates to an omni-directional motion control method for a dual-leg wheel compound robot, belonging to the technical field of robot control. Background technique [0002] The active drive wheels are installed at the ends of the limbs of the two-legged robot to form a two-legged wheel composite robot. The robot with this configuration has sufficient active degrees of freedom. In theory, with the help of the telescopic cooperation of the left and right legs and the balance and steering capabilities of the two wheels, it can achieve omnidirectional and stable travel on continuous uneven ground. However, there is no statically stable equilibrium point when the dual-legged-wheel composite robot moves, and feedback control is required to maintain dynamic stability. solved problem. [0003] The robot with the dual-legged-wheel composite configuration appeared relatively late, and the currently published control methods have made preliminary ex...

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Problems solved by technology

[0003] The robot with the dual-legged-wheel composite configuration appeared late, and the current public control methods have made preliminary explorations on the motion control of the dual-legged-wheel composite robot, but none of them can give full play to the advantages of the dual-legged-wheel composite movement mode.

As published in 2019IEEE-RAS 19 th The International Conference on Humanoid Robots article "Model Decoupling and Control of the wheeled Humanoid Robot Moving in Sagittal Plane" (model decoupling and control of sagittal plane motion of wheeled humanoid robot) only discusses the motion and balance control of the robot in the sagittal plane , unable to achieve full range of motion; "LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops" published in IEEE Robotics and Automation Letters in 2020 Full range of motion is covered, but motion control testing over unstructured terrain is not mentioned

In 2020, Songyan Xin and others published related work "Online Dynamic Motion Planning and Control for Wheeled BipedRobots" (online dynamic motion planning and control for wheeled biped robots) on the network platform. Sagittal and lateral motion, tested on uneven ground, but control of other dimensions not included in general control framework

[0004] The above existing control methods still focus on the balance control of the wheeled movement on the dual-legged-wheel composite robot, but the combination of legs and wheels has greater motion potential, and the wheel is used as a part of the leg-wheel composite structure. Modeling and control, without simplification, can achieve better control effect

At the same time, there is no research that summarizes five-dimensional motion under the same control framework in the existing methods, which lacks systematic and practical

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