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Method and device for controlling robot simulating animal foot movement

A bionic robot, rhythmic motion technology, applied in manipulators, manufacturing tools, etc., can solve problems such as flexibility, stability and adaptability gaps, and achieve the effect of good environmental adaptability

Inactive Publication Date: 2006-06-07
TSINGHUA UNIV
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Problems solved by technology

In general, although the above method can realize the movement of the robot to a certain extent, due to the constraints of its control system structure and the control method adopted, it is highly stable with the animal in terms of flexibility, stability and adaptability. Compared with adaptive rhythmic exercise, there is still a gap

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  • Method and device for controlling robot simulating animal foot movement
  • Method and device for controlling robot simulating animal foot movement
  • Method and device for controlling robot simulating animal foot movement

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings.

[0028] figure 1 For the overall scheme of the footed bionic robot control system of the present invention, since the rhythmic motion control system of animals is considered to be layered and modular, it can be divided into high-level control layer, pattern generation layer and drive execution layer. Among them, the high-level control layer sends out motion commands to control the start of rhythmic motion of animals; the pattern generation layer generates rhythmic motion signals of various joints, so that animals can realize different motion modes and can switch between them; the drive execution layer, That is, the animal's musculoskeletal system produces motor output.

[0029]Similar to the animal rhythmic motion control network, a robot motion control system including three functional layers is built. Among them, the high-level control layer determines the start of ...

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Abstract

The invention relates to a control method and device for a legged bionic robot for realizing the rhythmic movement of animals, belonging to the technical field of bionic robot motion control. The invention adopts the rhythmic movement control mechanism similar to that of animals, and uses three functional layers of a high-level control layer, a pattern generation layer and a drive execution layer to control. The pattern generation layer uses neuron oscillators to couple each other to form a rhythm generator to generate rhythm signals as the position signal of the robot hip joint. The output of a neuron oscillator corresponds to a robot hip joint, and the position signal of the hip joint is transformed by The related control signal of the knee joint of the same leg is obtained, so that the robot has a flexible, agile and adaptable bionic movement function, and can produce four typical gaits of animals: free walking, trotting, walking, running, and the free walking speed is about 0.3m / s, and can perform mutual conversion between gaits, and can realize functions such as climbing a slope of about 10° and crossing 2cm-high obstacles.

Description

technical field [0001] The invention relates to a control method and device for a footed bionic robot capable of realizing rhythmic movement of animals, and belongs to the technical field of bionic robot motion control. Background technique [0002] For the multi-legged coordinated control of legged robots, there are mainly two methods: model-based methods and behavior-based methods. The model-based method is a traditional motion control method for legged robots. It is mainly based on conventional motion planning. The robot's motion is restricted by the environment and is suitable for posture control and static walking; the behavior-based motion control method is based on the United States. The legged robot developed by researchers led by Brooks of MIT is a representative. This method uses some local conditioned reflex units in the basic biological behavior as the main basis for the motion control of the legged robot, focusing on the bottom layer of the robot. Local control...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/00
Inventor 郑浩峻李铁民张秀丽程智锋赵里遥关旭赵广涛
Owner TSINGHUA UNIV
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