22 results about "Gait control" patented technology

The present application relates to a kind of soft landing reward function-based quadruped robot low-noise gait control method and system, the method includes: constructing quadruped robot motion control environment, and defining foot contact determination standard;Design soft landing reward function based on vertical contact force, for the negative punishment of large contact force at the moment of landing, guide quadruped robot to learn low contact force landing mode;Collect the real-time contact force of quadruped robot foot and historical contact state, with soft landing reward function as core optimization target, using reinforcement learning algorithm, in combination with gait stability constraint, iterative training is carried out to strategy network, and low-noise gait strategy network is obtained, for optimizing output gait control signal, to control the gait action of quadruped robot accordingly.Compared with prior art, the present application can consider the noise control and gait stability of robot by accurately determining the moment of landing, designing contact force negative reward and combining reinforcement learning to actively optimize gait strategy.

This invention discloses a semi-passive gait control method and system for bipedal robots based on adaptive Hopf-CPG, relating to the field of robotics. The method includes the following steps: establishing a dynamic model of the bipedal robot with knee joints; optimizing key structural parameters of the robot based on the dynamic model; constructing an adaptive Hopf-CPG network; introducing an adaptive mechanism, including frequency adaptation, amplitude adaptation, and phase adaptation; and fusing the adaptive Hopf-CPG network with semi-passive gait control, dynamically adjusting the active adjustment ratio of the CPG network according to the robot's walking environment to achieve a balance between passive energy saving and active stability. Compared with existing technologies, this method significantly improves motion stability, enhances anti-disturbance capabilities, reduces energy consumption, improves endurance, and exhibits strong environmental adaptability, eliminating the need for manual parameter adjustment.

This invention discloses a biomimetic cheetah spine elastic energy storage high-speed gait mechanism, belonging to the field of biomimetic legged robot motion execution and efficient gait control technology. Currently, quadrupedal and humanoid robots generally suffer from low energy utilization, high overall motion power consumption, significant gait rigidity impact, and limited continuous long-distance high-speed movement capability under high-speed running conditions. Conventional rigid linkage structures are difficult to achieve the efficient conversion and recycling of kinetic and elastic potential energy during biological movement. This invention mimics the biological movement mechanism of a cheetah during high-speed running, characterized by periodic bending and extension of the spine accompanied by elastic energy storage and release through tendons. It designs a multi-segment biomimetic flexible spinal main structure, combined with high-modulus energy storage tendon components, joint damping buffer units, and a collaborative drive linkage mechanism. This enables the robot to recover, store, and release energy within the complete gait cycle of stepping, takeoff, and landing, thereby significantly improving running speed, reducing drive system load, minimizing body vibration and impact, and enhancing overall stability and endurance under high-speed movement conditions. This technical solution has a highly original structure and is significantly different from existing bionic gait mechanisms. It can be widely used in equipment such as high-speed quadruped robots, emergency rescue robots, outdoor inspection robots, and racing robot platforms.

The application provides a bionic gait humanoid robot intelligent inspection method, device and equipment, task point distribution data is acquired, a necessary node sequence is determined based on coverage requirements, and an inspection state mapping table is established; a path probability distribution tree is constructed by using probability backtracking, a main path family and an alternative path family are identified, and a probability inspection chain is formed; the inspection chain is decomposed into continuous road sections, a traffic difficulty coefficient and a path complexity index are extracted, gait energy consumption distribution is predicted, an obstacle avoidance beat is determined, and path compensation parameters are generated; risk assessment is performed on the road sections, a risk balance scheme is formed by hedging combination of high-risk paths and safe paths, coordination rules are formulated; an inspection efficiency coordination factor is acquired based on path intersection overlap analysis, beat navigation parameters are generated; dynamic inspection units are generated by matching the beat parameters and the probability inspection chain, task arrival timing is adjusted, an elastic inspection process is constructed, and intelligent autonomous inspection under bionic gait control is realized.

The application provides a deformable wheel-leg amphibious quadruped robot and a motion control method thereof. The robot body adopts a symmetrical quadruped layout, each leg is a group of deformable wheel-leg mechanisms, the deformable wheel-leg mechanism adopts a reconfigurable five-link structure and can be switched between a wheel mode, a land leg mode and an aquatic leg mode; the robot further comprises coaxial nested transmission mechanisms for driving two active rods respectively, a control system for realizing mode switching and gait control, and an open water-filling buoyancy adjusting system for underwater operation. The application can meet the requirements of land rolling, land obstacle crossing and underwater propulsion, has the characteristics of compact structure, flexible mode switching and suitability for amphibious environment operation.

This invention discloses a damage control method for a hexapod robot based on a joint-aware attention mechanism, belonging to the field of robot damage control technology. It includes: acquiring joint angles, platform posture, and historical motion information at the current and historical moments; performing joint-by-joint damage identification based on the error between the actual and desired joint positions to obtain the location and type of damaged joints; constructing a morphological context, a damage context, and a damage mask based on robot connectivity and damage results; inputting temporal and spatial information into a joint-dimensional attention module, dynamically allocating the influence weights of each joint, and outputting a damage control strategy; and generating continuous control signals based on a motion interpolation module to drive robot motion. This invention improves the strategy generalization ability and aperiodic gait control performance of the hexapod robot by explicitly introducing a damage scene context at the joint dimension, enabling adaptive motion control and exhibiting good robustness, versatility, and engineering application value.

This invention discloses a multimodal perception and control device for quadruped robots suitable for inspection, belonging to the field of robot control technology. The device includes a foot vibration sensing module, an energy management module, a vibration-energy collaborative controller, a gait control module, and a perception system scheduling module. The foot vibration sensing module collects foot-ground contact vibration spectrum data during the ground contact phase; the energy management module monitors the remaining battery energy and the power consumption of each component in real time; the vibration-energy collaborative controller, with the inspection task completion rate as a unified objective, calculates vibration quality indicators based on vibration data, calculates the remaining energy budget based on remaining energy and power consumption, and outputs gait and perception parameter adjustment commands; the gait control module adjusts walking speed and motor torque curves; and the perception system scheduling module adjusts the sensor sampling frequency and resolution. This invention achieves an adaptive balance between vibration sampling quality and energy consumption, extending the effective inspection time while ensuring anomaly detection accuracy.

The application provides a robot walking control method and device, electronic equipment and storage medium, and belongs to the technical field of robot motion control. The method comprises the following steps: acquiring robot body perception data and relative displacement of a foot relative to a pelvis; determining a reference body height based on a fully extended leg height; the maximum value of the reference body height is less than the fully extended leg height; determining a target foot pitch angle according to the relative displacement; inputting the body perception data, the reference body height and the target foot pitch angle into a gait control model to obtain a control instruction; and controlling the robot to walk according to the control instruction. The application sets the reference body height slightly lower than the fully extended leg height, guides the robot to adopt a walking mode closer to straight knees to effectively shorten the force arm of the trunk weight to the knee joint axis center, and introduces a soft buffer mechanism through the linear mapping relationship between the target foot pitch angle and the relative displacement, so that the knee joint torque and energy consumption can be reduced, the motor overheating can be avoided, and the hardware mechanical loss can be reduced.

This invention provides a method and system for terrain perception and motion state recognition of quadruped robots based on multi-dimensional accelerometer sensors. The method includes steps such as signal acquisition, signal preprocessing, feature extraction, terrain perception, motion state decoupling, and state output. The system includes a sensor module, a data acquisition and signal conditioning module, and a processor module. It solves the problems of motion state coupling and low feature recognition accuracy in quadruped robots in complex unstructured environments. This method exhibits high recognition accuracy and real-time response speed under various terrain and gait conditions, significantly improving the environmental adaptability and intelligent gait control level of quadruped robots during autonomous navigation.

Disclosed is a robot perception based terrain recognition and gait control method, system, medium, and device. The method includes: acquiring pitch angle data and foot force data of a bipedal robot based on optimal foot forces; inputting the pitch angle data and the foot force data into a trained k-nearest neighbor (KNN) model to recognize a terrain on which the bipedal robot is currently walking, and obtaining a terrain recognition result; a training process of the KNN model including: driving the bipedal robot to pass through a rough terrain and a flat terrain with a fixed step frequency gait, inputting collected pitch angle sample data and foot force sample data from different terrains into the KNN model, and using the KNN model to perform terrain classification; receiving the terrain recognition result, and adjusting step frequency and gait based on the terrain recognition result according to a preset gait control strategy.

This invention discloses an emergency deployment and path planning method for an amphibious tension robot based on off-road gait. The invention first achieves rapid emergency deployment of the robot through high-altitude drop, and combines an impact-resistant structure to achieve posture self-recovery after landing / water exposure. Next, an off-road gait model is established, dividing the robot into single-level gait and multi-level combined gait modes, enabling multimodal movement such as directional forward movement, turning, jumping, and in-situ direction changes across all water and land terrains. Finally, environmental perception data and an improved A* algorithm are integrated to complete dynamic path planning, real-time obstacle avoidance, and trajectory optimization. This method enables the tension robot to have rapid response capabilities in complex emergency scenarios, high path planning accuracy, and strong gait control adaptability. It can achieve efficient monitoring and operation in complex hydrological emergency scenarios such as underground rivers, shallow waters, and oil spill areas, improving deployment efficiency by more than 60%, controlling path tracking error within 5cm, and exhibiting significantly better impact resistance and terrain adaptability than traditional underwater robots.

This invention provides a limp-drive control method, apparatus, and medium for a distributed drive vehicle. The distributed drive vehicle has a hydraulic steering system and multiple drive motors. The limp-drive control method for the distributed drive vehicle includes analyzing the driver's required torque. When the drive motors are in a torque-limited state, the vehicle's steering angle is analyzed. An initial torque distribution is performed among the multiple drive motors with the goal of achieving zero yaw torque generated by the vehicle. When the initial torque is less than the driver's required torque, the initial torque is corrected. In the event of drive motor failure, this method can meet the driver's required torque within the limits required by the hydraulic steering system.

The application discloses a kind of hexapod robot positioning mapping method, system, storage medium and equipment, the method includes: acquisition two-dimensional point cloud data, three-dimensional point cloud data and real-time attitude data;When it is judged that any attitude angle exceeds preset stable threshold, generate gait control instruction for controlling hexapod robot;Two-dimensional point cloud data is handled using improved Hector-SLAM algorithm, generate two-dimensional grid map, and run ORB-SLAM3 algorithm that has fused YOLOv8 target detection and introduced dynamic point grading rejection mechanism to handle three-dimensional point cloud data, generate three-dimensional point cloud map;The map is weighted and fused, to obtain fused environment map;According to the path planning of fusion environment map and current positioning result, generate foot end trajectory point by forward and inverse kinematics solution, control hexapod robot to move, realize continuous positioning and mapping.The application realizes the stable, accurate autonomous positioning and mapping of hexapod robot in dynamic environment by motion control and multi-algorithm fusion.

This invention relates to the field of robot adaptive control technology, and provides a method for terrain processing and multi-terrain gait control of a humanoid robot, comprising: planning an inspection route and segmenting walking segments according to spatial location and functional area; acquiring multi-source data using a multi-source environmental perception unit, fusing each walking segment, and extracting terrain features; mapping the terrain features of each walking segment to terrain labels with road surface type identification and safety risk level according to preset discrimination rules, and converting the safety risk level into a gait level; automatically selecting a target gait mode according to the gait level, and issuing gait control parameters matching the gait mode to each joint controller; monitoring the foot contact state and posture changes in real time, comparing them with the terrain label and gait level of the corresponding walking segment, dynamically adjusting the gait level of the corresponding walking segment and its subsequent segments, and updating the gait control parameters.

The embodiment of the specification discloses a robot leg module and a robot gait control method, wherein the robot leg module comprises a body support part, a leg link and a foot support part; a leg shell is sleeved outside a first connecting part of the body support part of the leg link, and a first wire channel is formed between the leg link and the leg shell; a second connecting part of the leg link close to the foot support part is connected with an ankle shell to form a second wire channel; the inside of the body support part is provided with a first servo actuator for driving the leg link to rotate around a first axis; the inside of the foot support part is provided with a second servo actuator for driving the foot support part to rotate around a second axis; wherein the second axis is perpendicular to the first axis; a first wire passing port is arranged on the body support part, a second wire passing port is arranged on the foot support part, and the first wire passing port is communicated with the second wire passing port via the first wire channel and the second wire channel.

The application provides an animation gait control method and system, electronic equipment and a storage medium, which are suitable for the virtual reality technical field, predict the stride and the theoretical step frequency through the moving speed calculation, and determine the final root bone position by comprehensively considering the physical constraint and the moving intention. The three-dimensional character moves according to the predicted stride and the theoretical step frequency, and the root bone of the three-dimensional character is adjusted to the final root bone position, so that the situation of sliding step during the movement of the three-dimensional character is avoided, and the reality of the virtual environment is ensured.

A multimodal motion robot based on a Sarrus-derived mechanism combined with an octahedron comprises: an upper active wheel system (1), a lower active wheel system (6), a first branch (2), a second branch (3), a third branch (4), and a fourth branch (5). In terms of gait control, the robot achieves a wheeled mode driven by the active wheels by controlling the rotation of the active wheel motors in the upper and lower active wheel systems. Through the folding angle control of the upper and lower active wheel systems and the side branches, the octahedron can be unfolded and folded in two dimensions, forming various rolling motion modes. Simultaneously, the synchronous foldability of the upper and lower active wheel systems adds a folding dimension to the octahedron, achieving deterministic tumbling. This multimodal motion greatly enhances its own mobility and adaptability to complex environments, enabling it to cope with various harsh terrains such as ravines, narrow spaces, vertical spaces, and sandy areas. It has broad application prospects in military, space exploration, outdoor environmental reconnaissance, and disaster relief fields.

The utility model discloses a humanoid robot, the trunk subassembly, femur subassembly and shank bone subassembly of this humanoid robot are provided with multiple inertia measurement units, the footboard assembly includes first, second, third, fourth ground contact subassembly, and it is connected in series through the pivot assembly in proper order, the first ground contact subassembly is located the forward direction of the trunk subassembly, the fourth ground contact subassembly is located the rear direction of the trunk subassembly, the fourth ground contact subassembly is connected through a pivot assembly on the downside of the shank bone subassembly, the footboard assembly is installed with pivot assembly and pressure sensing unit, through the detection of multiple inertia measurement units and multiple pressure sensing components, the humanoid robot can carry out ZMP zero moment point gait control, MPC model predictive control analysis, to reach the purpose of robot autonomous detection, barycentre balance.

The application provides a control system of a wall-climbing robot based on bionic gait control. The method comprises the following steps: a diagonal foot asynchronous timing control module determines the release duration of each magnetic foot of the wall-climbing robot based on the asynchronous linkage characteristics of the gecko's diagonal feet and a pre-trained neural network model, and determines the asynchronous timing of the wall-climbing robot according to the release duration of each magnetic foot; a body posture self-adaptive adjustment module determines the target posture of the wall-climbing robot according to the posture angle deviation of the wall-climbing robot; a bionic obstacle avoidance collaborative control module determines an obstacle avoidance path according to the position of a target point, and controls the wall-climbing robot to perform obstacle avoidance movement in combination with the asynchronous timing of the wall-climbing robot and the target posture. In this way, by imitating the asynchronous linkage characteristics of the gecko's diagonal feet, the timing of the foot end of the wall-climbing robot, the body posture and the obstacle avoidance action are dynamically controlled, so as to improve the operation stability of the wall-climbing robot.

The utility model discloses a kind of bionic gecko robots based on vacuum adsorption and multi-gait control, including front half body rack, the one end of front half body rack is fixedly installed with connecting piece, the bottom end of connecting piece is rotatably connected with rear half body rack, the two sides of front half body rack inner wall and the two sides of rear half body rack inner wall are all installed with installation shell, one end of four installation shells is all installed with mechanical arm assembly, the bottom end of four mechanical arm assemblies is all installed with adsorption fixing assembly, adsorption fixing assembly includes length pole and hole connecting seat, a kind of bionic gecko robots based on vacuum adsorption and multi-gait control of the utility model, by setting adsorption fixing assembly, micro air pump extracts gas by valve airflow pipeline, so that vacuum chuck has vacuum adsorption, to this adsorption is fixed in use, firm degree is high, replace traditional additional device that prevents falling, reduce the use cost of robot.

This invention belongs to the field of quadruped robot motion control and intelligent control technology, and discloses a robust gait control method for quadruped robots applicable to various terrains. The method involves acquiring the quadruped robot's body state information and foot state information; determining the supporting foot of the quadruped robot in the current cycle; estimating the terrain of the quadruped robot in the current cycle based on the body state information of the current cycle; extracting the slope and height features of the terrain; generating body posture references and body height references adapted to the terrain of the current cycle; constructing a model predictive control optimization model with terrain-adaptive Lyapunov stability constraints; solving the model predictive control optimization model to obtain the optimal foot contact force sequence in the prediction time domain; and selecting the first step of the optimal foot contact force sequence as the gait control command for the quadruped robot in the current cycle. This invention enables quadruped robots to walk stably in complex terrain environments, significantly improving the system's engineering applicability and environmental robustness.