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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: 2004-04-21
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

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] 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.

[0028] 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

A control method and device able to realize the rhythmic movement of animal for the foot-type bionic robot feature that the rhythmic movement control mechanism smilar to that of animal is used and 3 function layers (higher-layer control layer, mode generating layer and drive executing layer) are used for control. Said mode generating layer has a mode generator to generate the rhythmic moving signals of hip joint, which are then converted to the control signals associated with the knee joint and leg, resulting in 4 running modes, free walk, stroll, slow running and fast running.

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...

Claims

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Application Information

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