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Quadruped robot motion control method and system, storage medium and equipment

A quadruped robot and robot movement technology, applied in the general control system, control/regulation system, adaptive control, etc., to achieve the effect of improving the level of autonomy and intelligence, and robust motion planning and control

Active Publication Date: 2022-06-10
山东济清科技服务有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the design process of traditional quadruped robot controllers based on deep reinforcement learning is cumbersome, and the stability, efficiency and versatility of quadruped robot motion control are poor.

Method used

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  • Quadruped robot motion control method and system, storage medium and equipment
  • Quadruped robot motion control method and system, storage medium and equipment
  • Quadruped robot motion control method and system, storage medium and equipment

Examples

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Embodiment 1

[0050] These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby instructions are provided for implementing the flow in Figure 1 process or multiple processes and / or boxes Figure 1 steps of the function specified in the box or boxes.

[0051]Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented through computer programs to instruct related hardware, and the programs can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM) and...

Embodiment 2

Embodiment 3

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PUM

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Abstract

The invention relates to the technical field of adaptive control, and provides a quadruped robot motion control method and system, a storage medium and equipment, and the method comprises the steps: obtaining the state of a quadruped robot when the quadruped robot walks in an environment, and selecting an action according to the state through a strategy network; acquiring the foot end position of the quadruped robot walking in the environment, and calculating to obtain a reference action; the action executed by the quadruped robot is obtained by combining the reference action with the action output by the strategy network, an action instruction is sent to the quadruped robot, the movement of the quadruped robot is achieved, and more stable and robust movement planning and control of the quadruped robot are achieved.

Description

technical field [0001] The invention belongs to the technical field of adaptive control, and in particular relates to a motion control method, system, storage medium and equipment of a quadruped 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] Traditional quadruped robot control methods often require precise dynamics and kinematics modeling and analysis of the robot in advance, using the expected trajectory and foot feedback force to reversely solve the angle and torque that each joint driver needs to execute. This process requires a lot of It is difficult to design a robust controller for the agile locomotion of a quadruped robot due to the expertise and lengthy manual design process. Moreover, there will be delay and noise interference in reality. The model analysis of quadruped robots is often not accurate enough, which increases...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李彬刘伟龙侯兰东杨姝慧徐一明张友梅张瑜张明亮
Owner 山东济清科技服务有限公司
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