Underwater hexapod robot gait generation and conversion method based on CPG-Hopf network coupling algorithm

A hexapod robot and network coupling technology, applied in the field of foot bionic robot control, can solve the problem of excessive power and flow requirements of the hexapod robot, and achieve the effects of avoiding gait disorder, achieving stability, and achieving coordination and consistency.

Pending Publication Date: 2022-01-28
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

Gao Haibo proposed a motion planning method to reduce the power and flow consumption of hydraulically driven hexapod robots, which involves the field of motion planning for legged robots. The use of existing motion planning methods for hexapod robots leads to excessive power and flow requirements for hexapod robots question

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  • Underwater hexapod robot gait generation and conversion method based on CPG-Hopf network coupling algorithm
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  • Underwater hexapod robot gait generation and conversion method based on CPG-Hopf network coupling algorithm

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[0035] specific implementation plan

[0036] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0037] The gait generation and switching method of the underwater hexapod robot based on the CPG-Hopf network coupling algorithm considered in this paper is aimed at the underwater hexapod robot, which needs to move in one or more gait modes during the underwater walking process. The robot has coordinated movements and stable posture during walking. In response to this requirement, the gait generation and gait conversion scheme of the underwater hexapod robot should be reasonable and optimal.

[0038] A kind of underwater hexapod robot gait generation and switching method based on CPG-Hopf network coupling algorithm proposed by the present invention comprises the following steps:

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Abstract

The invention designs an underwater hexapod robot gait generation and conversion method based on a CPG-Hopf network coupling algorithm, and aims at solving the problem that a hexapod robot coordinates the actions of legs in the movement process and improves the smoothness of the actions during gait conversion. Most of existing gait generation methods are based on a model method and a behavior control method, the controllability of actions is not high, and the actions are not high-intelligence behaviors. The CPG-Hopf network coupled oscillator simulates the mechanism of rhythm motion generated by animals and is applied to control of the robot, and the CPG-Hopf network coupled oscillator has the advantages of being high in controllability, more stable and higher in motion efficiency. Meanwhile, a CPG-Hopf network coupling algorithm is optimized on the basis of a CPG-Hopf network coupling oscillator, interpolation calculation is conducted on key parameters in the CPG-Hopf network coupling algorithm through linear interpolation, the underwater hexapod robot is more stable and smoother during gait switching, and therefore the situation that the joint angle of a middle arc-shaped leg changes suddenly is avoided, and the stability and smoothness of the robot are improved. And the mechanical and control system of the robot is impacted, so that the structural safety of the underwater hexapod robot is ensured.

Description

technical field [0001] The design of the invention belongs to the field of bionic robot control, and specifically relates to the research on a gait generation and gait conversion algorithm based on a CPG-Hopf network coupling algorithm for an underwater hexapod robot. Background technique [0002] The underwater environment is full of uncertainties, and the exploration of the underwater environment requires specific tools, such as underwater vehicles such as ROV, AUV, and UUV. However, because such underwater vehicles are difficult to possess the ability of low-speed operation near the seabed, there are many difficulties in a large number of seabed operations. With the continuous development of robot bionic technology, legged robots are used in many fields, and the motion characteristics of legged robots meet the requirements of subsea operations. Therefore, the research on underwater legged robots is of great significance. [0003] Different from crawler robots and wheele...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 李芳野许晖李浩全刘涛于海涛
Owner NORTHWESTERN POLYTECHNICAL UNIV
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