Biped walking robot force feedback controller

Abstract

The application discloses a force feedback controller of a biped walking robot, which comprises a chassis and two rocker mechanisms symmetrically arranged on the chassis. Each joint of the rocker is controlled and connected by a FOC motor, which is used for reading position and controlling output torque. The application can simultaneously know the motor position and control the torque output by using the motor magnetic field orientation control technology, so as to achieve the effects of reading position and generating force feedback. The positions and orientations of the two rocker handles can be read by robot kinematics to generate two sets of six-degree-of-freedom spatial information, which are used for controlling other biped robots. The application avoids some algorithmic requirements and directly controls the robot to walk by human perception.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a biped walking robot. BACKGROUND

[0002] Most of the existing software or devices for controlling the biped walking robot directly specify the spatial state of the biped;

[0003] Almost no controller has a powerful feedback ability, that is, the function of allowing the user to perceive the resistance or barrier force;

[0004] Most of the existing controllers are the most basic directional control, that is, indicating the up and down and left and right of the robot, rather than the detailed spatial state control of the biped. SUMMARY

[0005] In view of the above technical deficiencies, the purpose of the present application is to provide a biped walking robot force feedback controller to solve the existing problems.

[0006] To solve the above technical problems, the present application adopts the following technical scheme:

[0007] The biped walking robot force feedback controller comprises a chassis and two rocker mechanisms symmetrically arranged on the chassis, each joint of the rocker is controlled and connected by a FOC motor for reading position and controlling output torque.

[0008] Preferably, the rocker comprises a handle and a plurality of rod segments, the handle and the rod segments are connected through a linear servo, and the rod segments are connected through a flat servo.

[0009] Preferably, the rod segments comprise a first rod segment, a second rod segment, a third rod segment, a fourth rod segment, a fifth rod segment and a sixth rod segment, the first rod segment is a linear rod segment, the fourth rod segment is a parallel rod segment, the second rod segment, the third rod segment and the fifth rod segment are cross rod segments, and the end faces of the two ends of the cross rod segment are perpendicular.

[0010] One end of the sixth rod segment is rotatably connected to the chassis through a flat servo and can rotate along the center line of the connection;

[0011] One end of the fifth rod segment and the other end of the sixth rod segment are rotatably connected through a flat servo and can rotate along the perpendicular line of the other end of the sixth rod segment;

[0012] One end of the fourth rod segment and the other end of the fifth rod segment are rotatably connected through a flat servo and can rotate along the perpendicular line of the other end of the fifth rod segment;

[0013] One end of the third rod segment and the other end of the fourth rod segment are rotatably connected through a flat servo and can rotate along the perpendicular line of the other end of the fourth rod segment;

[0014] One end of the second rod section and the other end of the third rod section are connected by a flat rudder and can rotate along the perpendicular line of the other end of the third rod section;

[0015] One end of the first rod section and the other end of the second rod section are connected by a flat rudder and can rotate along the perpendicular line of the other end of the second rod section, and the other end of the first rod section is connected with the handle through a straight rudder.

[0016] The beneficial effects of the present application are:

[0017] 1. The motor magnetic field guiding control technology can be used to know the motor position and control the torque output to achieve the effect of reading the position and generating force feedback;

[0018] 2. The positions and orientations of the two joystick handles can be read through the robot kinematics to generate two sets of six-degree-of-freedom spatial information for controlling other biped robots;

[0019] 3. Some algorithmic requirements are avoided, and the robot is directly manipulated to walk by human perception. DETAILED DESCRIPTION

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0021] Figure 1 A perspective view of the biped walking robot force feedback controller according to the embodiment of the present application is provided.

[0022] Figure 2 An exploded view of the rocker arm of the biped walking robot force feedback controller according to the embodiment of the present application is provided.

[0023] Figure 3 A side view of the rocker arm of the biped walking robot force feedback controller according to the embodiment of the present application is provided.

[0024] Figure 4 A perspective view of the bottom plate of the biped walking robot force feedback controller according to the embodiment of the present application is provided.

[0025] Figure 5 A perspective view of the handle of the biped walking robot force feedback controller according to the embodiment of the present application is provided.

[0026] Figure 6 A perspective view of the straight rudder of the biped walking robot force feedback controller according to the embodiment of the present application is provided.

[0027] Figure 7 This is a three-dimensional structural diagram of the flat servo motor of the force feedback controller for a bipedal walking robot provided in an embodiment of the present invention;

[0028] Figure 8 A three-dimensional structural diagram of the second, third, and fifth links of the force feedback controller for the bipedal walking robot provided in an embodiment of the present invention;

[0029] Figure 9 A three-dimensional structural diagram of the first link of the force feedback controller for a bipedal walking robot provided in an embodiment of the present invention;

[0030] Figure 10 This is a three-dimensional structural diagram of the fourth link of the force feedback controller for a bipedal walking robot provided in an embodiment of the present invention.

[0031] Explanation of reference numerals in the attached diagram: 1. Chassis; 2. Rocker mechanism; 21. Handle; 22. Linear servo; 23. Flat servo; 24. Linkage 2; 25. Linkage 1; 26. Linkage 3; 27. Linkage 5; 28. Linkage 4; 29. ​​Linkage 6. Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Example 1, such as Figures 1 to 10 As shown, the force feedback controller for a bipedal walking robot includes a chassis 1 and two rocker mechanisms 2 symmetrically arranged on the chassis 1. Each joint of the rocker is controlled and connected by an FOC motor, which is a magnetic field guided motor used to read the position and control the output torque. The position of each joint can be read, and the six degrees of freedom information of the rocker handle 21 can be calculated through robot kinematics. After some software settings and calculations, two sets of information can be generated to control the bipedalism of other robots. When the robot encounters an obstacle or its movement is hindered, it can transmit information to this controller. The controller can then generate a reasonable torque output through the FOC motor to provide force feedback to the user.

[0034] Furthermore, the joystick includes a handle 21 and several lever sections, the handle 21 and the lever sections are connected by a linear servo motor 22, and the lever sections are connected by a flat servo motor 23.

[0035] Further, the rod sections include a first rod section 25, a second rod section 24, a third rod section 26, a fourth rod section 28, a fifth rod section 27, and a sixth rod section 29. The first rod section 25 is a linear rod section. The fourth rod section 28 is a parallel rod section. The second rod section 24, the third rod section 26, and the fifth rod section 27 are cross rod sections. The cross rod sections are perpendicular at both ends.

[0036] One end of the sixth rod section 29 is rotatably connected to the chassis 1 through the flat steering engine 23 and can rotate along the center line of the connection.

[0037] One end of the fifth rod section 27 and the other end of the sixth rod section 29 are rotatably connected through the flat steering engine 23 and can rotate along the perpendicular line of the other end of the sixth rod section 29.

[0038] One end of the fourth rod section 28 and the other end of the fifth rod section 27 are rotatably connected through the flat steering engine 23 and can rotate along the perpendicular line of the other end of the fifth rod section 27.

[0039] One end of the third rod section 26 and the other end of the fourth rod section 28 are rotatably connected through the flat steering engine 23 and can rotate along the perpendicular line of the other end of the fourth rod section 28.

[0040] One end of the second rod section 24 and the other end of the third rod section 26 are rotatably connected through the flat steering engine 23 and can rotate along the perpendicular line of the other end of the third rod section 26.

[0041] One end of the first rod section 25 and the other end of the second rod section 24 are rotatably connected through the flat steering engine 23 and can rotate along the perpendicular line of the other end of the second rod section 24. The other end of the first rod section 25 is connected to the handle 21 through the straight steering engine 22.

[0042] When in use, taking the left joystick as an example:

[0043] The flat steering engine 23 is connected to the base, and the flat steering engine 23→ the cross rod section→ the flat steering engine 23→ the cross rod section→ the flat steering engine 23→ the parallel rod section→ the flat steering engine 23→ the cross rod section→ the flat steering engine 23→ the cross rod section→ the flat steering engine 23→ the linear rod section→ the straight steering engine 22→ the joystick handle 21.

[0044] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A biped walking robot force feedback controller characterized by comprising: The application relates to a robot, which comprises a chassis and two rocker mechanisms symmetrically arranged on the chassis, each joint of the rocker is controlled and connected by a FOC motor, the position reading information of the FOC motor is used to calculate six-degree-of-freedom information of a rocker handle through robot kinematics, the six-degree-of-freedom information is set and calculated on software to generate two sets of information for controlling other robots, the robot can transmit information to a controller when encountering obstacles or motion obstacles, the controller generates reasonable torque output through the FOC motor to perform force feedback on a user. The rocker comprises a handle and a plurality of rod segments, the handle and the rod segments are connected through linear servos, and the rod segments are connected through flat servos. The rod segments comprise a first rod segment, a second rod segment, a third rod segment, a fourth rod segment, a fifth rod segment and a sixth rod segment, the first rod segment is a linear rod segment, the fourth rod segment is a parallel rod segment, the second rod segment, the third rod segment and the fifth rod segment are cross rod segments, and the end faces of the cross rod segments are perpendicular; one end of the sixth rod segment is rotationally connected to the chassis through a flat servo and can rotate along the center line of the connection; one end of the fifth rod segment and the other end of the sixth rod segment are rotationally connected through a flat servo and can rotate along the perpendicular line of the other end of the sixth rod segment; one end of the fourth rod segment and the other end of the fifth rod segment are rotationally connected through a flat servo and can rotate along the perpendicular line of the other end of the fifth rod segment; one end of the third rod segment and the other end of the fourth rod segment are rotationally connected through a flat servo and can rotate along the perpendicular line of the other end of the fourth rod segment; one end of the second rod segment and the other end of the third rod segment are rotationally connected through a flat servo and can rotate along the perpendicular line of the other end of the third rod segment; one end of the first rod segment and the other end of the second rod segment are rotationally connected through a flat servo and can rotate along the perpendicular line of the other end of the second rod segment, and the other end of the first rod segment is connected to the handle through a linear servo.

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