Jumping control method for double-wheel-foot robot

Abstract

The invention provides a jumping control method for a double-wheel-foot robot. The jumping control method is used for solving the problem that due to a complex modeling mode, the jumping control mode of the double-wheel-foot robot is complex. According to the method, the virtual leg is taken as a research object to establish a double-wheel-foot simplified dynamic model, the double-wheel-foot simplified dynamic model is taken as a control model basis, and the balance control of the robot under the variable virtual leg length is realized by controlling the driving torque of the wheels; a z-direction movement track of a virtual leg foot is designed, the foot movement track of each supporting leg is obtained through the virtual leg foot movement track obtained through calculation according to the leg inverse kinematics calculation relation, then the angle of each joint is calculated, and then bounce control is achieved by controlling the angle of each joint; and calculating horizontal bounce acting force compensation in the advancing direction of the driving wheel to balance x-direction disturbance generated by impact of the driving wheel and the ground during bounce, and realizing stable control of jumping of the double-wheel-foot robot under the combined action of balance control, and the method is simple, easy to realize and good in control effect.

Description

technical field [0001] The invention relates to the field of robot motion control, in particular to a jumping control method of a two-wheeled robot. Background technique [0002] Two-wheeled robot is a kind of walking robot with foot and wheel. Different from the existing two-wheeled balance trolley, the two-wheeled robot has the advantages of wheeled efficient movement and footed walking in complex environments. Research institutions at home and abroad Corresponding research has been carried out, and the typical ones include that the Handle wheel-footed robot of Boston Dynamics in the United States can realize complex actions such as unilateral obstacle crossing, jumping, descending stairs, and descending slopes. The specific technology involved has not yet been disclosed. The Ascento bi-wheeled robot can realize flexible movements such as jumping, unilateral obstacle crossing, and continuous stair climbing. The jump control is mainly realized by the method of whole body dy...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of complex jumping control methods of two-wheeled robots caused by complex modeling methods, the present invention provides a jumping control method for two-wheeled robots, which introduces the concept of virtual legs and simplifies two legs into one virtual leg , in the simplified model, the two driving wheels are independent of each other, and the virtual leg is connected to the two driving wheels, where the length of the virtual leg is equal to the sum of the distances of each support leg from the hip joint to the center of the corresponding driving wheel Half, there is leg kinematics calculation relationship between the virtual leg length and the hip joint angles and knee joint angles of the two supporting legs, and the hip joint angles and knee joint angles of the two supporting legs are obtained by real-time measurement; the present invention establishes a virtual The legs are the simplified dynamic model of the two-wheel foot as the research object, as the basis of the control model, and it is linearized and discretized; the control includes three parts, balance control, jump control, and jump stability control, wherein, through Control the driving torque of the wheels to realize the balance control of the robot under the variable virtual leg length; design the z-direction motion trajectory of the virtual leg and foot, and calculate the relationship through the inverse kinematics of the leg, and obtain each support from the calculated virtual leg and foot motion trajectory The foot movement trajectory of the leg, and then calculate the angle of each joint, and then realize the bounce control by controlling the joint angle; calculate the horizontal bounce force compensation along the forward direction of the driving wheel, which is used to balance the impact caused by the driving wheel and the ground when bouncing The disturbance in the x direction works together with the balance control to realize the jumping stability control of the two-wheeled robot, wherein the movement track in the z direction is divided into a ground stage and an air stage, wherein the ground stage is divided into a pressing buffer stage and a take-off buffer stage stage, the air stage is used to effectively cross obstacles during the jumping process, and is divided into the stage of raising legs in the air and the stage of dropping legs in the air

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