Quadruped robot gait control method, quadruped robot and computer readable storage medium
A quadruped robot, gait control technology, applied in attitude control, non-electric variable control, control/adjustment system, etc. Effect
Inactive Publication Date: 2021-08-06
海南大熊软件科技有限公司
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[0003] The main purpose of the present invention is to provide a quadruped robot gait control method, a quadruped robot and a computer-readable storage medium, aiming at solving the problem of the actual gait of a quadruped robot in the prior art and the designed leg gait planning trajectory inconsistent technical issues
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[0042] Next, the technical solutions in the embodiments of the present invention will be described in contemplation in the embodiments of the present invention, and clearly, as described herein is merely, not all of the embodiments of the present invention. Based on the embodiments of the present invention, those of ordinary skill in the art will belong to the scope of the present invention without all other embodiments obtained without creative labor.
[0043] It should be noted that all directional indications (such as above, lower, left, right, front, and then ...) are intended to be interpreted between the components under a particular attitude (as shown in the drawings). The relative positional relationship, the movement condition, etc., if the specific posture changes, the directional indication is also correspondingly changed.
[0044] In the present invention, unless otherwise expressly specified and defined, the term "connection", "fixed", etc., should be broadly understo...
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The invention discloses a quadruped robot gait control method, a quadruped robot and a computer readable storage medium, and belongs to the field of robot motion control methods. The quadruped robot control method comprises the following steps: obtaining a first preset rotation angle of a hip side-sway motor of a single leg, a second preset rotation angle of a hip forward motor and a third preset rotation angle of a knee motor; constructing a rotation angle transpose matrix q based on the first preset rotation angle, the second preset rotation angle and the third preset rotation angle; and according to the rotation angle transpose matrix q and a pre-stored torque formula, obtaining a first output torque of the hip side-sway motor, a second output torque of the hip forward motor and a third output torque of the knee motor. By the adoption of the quadruped robot gait control method, the actual swing of each leg in the quadruped robot can better conform to the preset gait planning track of the legs.
Description
Technical field [0001] The present invention relates to the field of robotic motion control methods, and more particularly to a four-legged robotic analysis, quadruple robots, and computer readable storage media. Background technique [0002] Four-foot robots generally have preset leg galaysplay trajectories to make the four-legged robots more stable. Through the design of the trajectory, the hip side swinging machine, the hip front, the output angle of the knee motor, but the specific attitude of the four-foot robot is only controlled by the rotation angle to the presence of the actual legs and the preset legs. Technical issues that are inconsistent with the step planning trajectory. Inventive content [0003] The primary object of the present invention is to provide a four-legged robot galaxy control method, a four-caper robot, and a computer readable storage medium, aimed at solving the actual gait and design of the prior art four-foot robots. Inconsistent technical issues. ...
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IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 杨宏强阮清源王雍雯李元基
Owner 海南大熊软件科技有限公司