Passive wheel type quadruped robot roller skating gait control method

A quadruped robot, gait control technology, applied in non-electric variable control, control/regulation system, two-dimensional position/channel control, etc. The effect of improving maneuverability

Active Publication Date: 2022-01-14
CHINA NORTH VEHICLE RES INST
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  • Abstract
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  • Claims
  • Application Information

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  • Passive wheel type quadruped robot roller skating gait control method
  • Passive wheel type quadruped robot roller skating gait control method
  • Passive wheel type quadruped robot roller skating gait control method

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[0082] The present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, so as to define the protection scope of the present invention more clearly.

[0083] This embodiment provides a passive wheeled quadruped robot roller skating gait control method, which is suitable for a passive wheeled quadruped roller skating robot with a three-joint motor and three-section leg configuration (subsequently referred to as a quadruped robot). The center-of-mass balance equation ensures the stability of the body of the quadruped robot when it is kicking the ground, realizes the roller skating movement of the quadruped robot, and improves the stability of the roller skating movement.

[0084] like figure 1 As shown, the passive wheeled quadruped robot has four legs, and each leg has three segments, which are res...

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Abstract

The invention discloses a passive wheel type quadruped robot roller skating gait control method and belongs to the technical field of robot motion control. According to the method, a foot end single-leg ground stepping motion track plan is established for the quadruped robot roller skating motion, a symmetric leg mass center balance method is provided for keeping stability of the whole machine in the single-leg ground stepping process, and meanwhile phase time sequences of all legs of the quadruped robot roller skating motion are established. According to the method, stability of the body of the quadruped roller-skating robot is realized when the quadruped roller-skating robot pedals the ground by establishing the symmetric leg mass center balance equation of the quadruped roller-skating robot, and roller-skating movement of a driven wheel of a quadruped robot is realized.

Description

technical field [0001] The invention relates to a roller skating gait control method, in particular to a passive wheeled quadruped robot roller skating gait control method, belonging to the technical field of robot motion control. Background technique [0002] Legged robots can freely choose their footholds and can adapt to rough terrain, but their speed is generally lower than that of wheeled mobile robots; wheeled mobile robots move efficiently and fast on structured roads, but their ability to overcome obstacles is poor. Therefore, the wheel-footed mobile robot with high mobility and high passability is a current research hotspot. [0003] At present, wheel-footed mobile robots are divided into two types, namely active wheeled wheel-footed robots and passive wheeled wheel-footed robots. The active wheel-type wheel-foot robot mainly adopts the active wheel design, which cannot reflect the advantages of the leg-foot structure; its balance control mainly adopts the same bod...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0223Y02T10/72
Inventor 苏波闫曈许威江磊党睿娜汪建兵邓秦丹郭亮姚其昌蒋云峰刘宇飞邢伯阳王志瑞慕林栋梁振杰赵建新许鹏邱天奇
Owner CHINA NORTH VEHICLE RES INST
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