Control method based on leg and arm multiplexing hexapod robot and robot

Abstract

The invention relates to a control method based on a leg-arm multiplexing hexapod robot and the robot, and the method comprises the following steps: building a model by taking the trunk mass center of the leg-arm multiplexing hexapod robot as an original point, and obtaining the feedforward force of each supporting leg of the robot by using the position vector of the leg supporting point of the robot relative to the mass center point and the virtual supporting force at the trunk mass center; constructing a whole-body dynamic model of the robot by utilizing the floating degree of freedom of the robot trunk, the motion degree of freedom of the robot joints and the obtained feedforward force of each supporting leg, and obtaining the joint torque of each supporting leg of the robot; acquiring a joint angle and a joint torque in a swing track of a non-supporting leg of the robot by utilizing the change of position coordinates of the robot; and achieving robot control based on the joint torque of each supporting leg and the joint angle and the joint torque of the non-supporting leg. Supporting force can be optimized in real time, the movement track can be adjusted, and robust movement under external force disturbance is achieved; and during arm type operation, a single-arm mode and a double-arm mode are flexibly configured, and various operations such as pushing and the like are realized.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a control method and robot based on a leg-arm multiplexing hexapod 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 legged robot is a mobile robot with a "leg / foot" structure formed by the mechanical structure, such as biped, quadruped and other legged robots. Compared with mobile robots such as wheeled and tracked, it is a good mobile platform for detection and inspection, material transportation, post-earthquake rescue, and dangerous environment reconnaissance in unstructured environments. [0004] As a mobile platform, leg-footed robots often lack certain operating capabilities. For example, for factory inspections, not only the mobility of the robot is required, but also emergency operating capabilities such as switching valves and r...

AI Technical Summary

Problems solved by technology

[0006] One is a humanoid bipedal dual-arm robot, which uses bipedal feet to move and dual arms to perform operations, such as Boston Dynamics' Atlas and Honda's Asimo, etc. However, bipedal robots have insufficient static stability compared with multi-legged robots and require real-time posture The adjustment remains stable, the control technology is difficult, and the load capacity is limited;

[0007] The second is a quadruped robot with a mechanical arm installed on the torso, such as Boston Dynamics' Spot robot. Although this method can realize the movement and operation of the robot, the arm-to-foot used for the operation increases the load relative to the robot body and occupies the robot hardware. and structural resources, increasing energy consumption, and the arm also needs to be in real-time working state to maintain stability when it is not on task, which increases power;

[0008] The third is a multi-legged robot with the function of reusing feet and arms. Its limbs can be used as feet when moving and arms when working. However, there are few such robots at present, and they are mainly small robots driven by steering gear, which do not have flexible gait. Movement and work ability

[0009] It can be seen that there are currently many gait motion methods for biped, quadruped, and hexapod robots in the motion control methods of leg-foot robots, but it is impossible to achieve coordinated control of gait motion and arm-type operations for leg-arm multiplexing hexapod robots. Methods

Images