Motion planning and control method for wall climbing and crossing of underwater hexapod robot

A technology for hexapod robots and underwater robots, which can be used in non-electric variable control, height or depth control, control/regulation systems, etc., and can solve problems such as poor adaptability

Pending Publication Date: 2022-01-04
RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN +1
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Problems solved by technology

[0007] Aiming at the problem that the existing gait planning method has poor adaptability and cannot make the underwater hexapod robot climb and cross smoothly on walls with different inclinati

Method used

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  • Motion planning and control method for wall climbing and crossing of underwater hexapod robot
  • Motion planning and control method for wall climbing and crossing of underwater hexapod robot
  • Motion planning and control method for wall climbing and crossing of underwater hexapod robot

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[0111] Further, the drawings are now further described with reference to the present invention:

[0112] figure 1 A map of motion planning and control method for mixing and driving underwater six-foot robots. First, according to the top distance D of the underwater six-foot robots and the front distance D and underwater six-foot robot pitch angle θ and the inclination of the current wall K Errors, setting the switching signal C whose character step-switched switch 1 , C 2 Select to use climbing steps or step. In response to the climbing gait, the heading error is introduced into the design of the blade leg support, thereby achieving directional control; in addition, in order to ensure that the blade leg and the ground have sufficient positive pressure so that the blade is not slippery, set a certain basic thrust, and due to water The next six-foot robots will be subject to recovery and recovery torque when working on different inclination walls. In order to reduce the effects of...

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Abstract

The invention provides a motion planning and control method for wall climbing and crossing of a hybrid-driven underwater hexapod robot. The method specifically comprises the following steps: S1, for a wall surface with a known inclination angle, acquiring a forward distance from the mass center of an underwater hexapod robot to the wall surface by using distance measuring equipment; S2, judging which gait (climbing gait/crossing gait) should be adopted according to the forward distance between the mass center and the wall surface and the error between the pitch angle of the underwater hexapod robot and the inclination angle of the wall surface; S3, aiming at the climbing gait, designing a blade point leg supporting angle change rule according to a course error, and proposing a three-foot gait planning method based on CPG; and S4, aiming at the crossing gait, designing a mapping relation between an oscillator output signal and a blade point leg expected joint angle according to the wall inclination angle and the current pitch angle of the underwater hexapod robot, and proposing a CPG-based crossing gait planning method. According to the planning and control method disclosed by the invention, the underwater hexapod robot can cross wall surfaces with different inclination angles and realize stable climbing.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a motion planning and control method for wall climbing and crossing of a mixed-driven underwater hexapod robot. Background technique [0002] The ocean contains rich mineral resources, biological resources, and oil and gas resources. Reasonable and effective development of ocean resources is the only way for human survival and development. Traditional autonomous underwater vehicles (AUVs) or unmanned remote-operated vehicles (ROVs) cannot meet the needs of large-scale cruise detection operations and local refinement operations at the same time, while underwater robots driven by propellers and blade legs are capable of underwater cruises at the same time. , Landing on the wall and the ability to walk on the wall. [0003] The existing gait planning methods of legged robots are generally divided into two categories: gait planning methods based on motion calculation and g...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 严卫生马飞宇崔荣鑫陈乐鹏张守旭许晖
Owner RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN
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