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73 results about "Inverted pendulum" patented technology
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An inverted pendulum is a pendulum that has its center of mass above its pivot point. It is unstable and without additional help will fall over. It can be suspended stably in this inverted position by using a control system to monitor the angle of the pole and move the pivot point horizontally back under the center of mass when it starts to fall over, keeping it balanced. The inverted pendulum is a classic problem in dynamics and control theory and is used as a benchmark for testing control strategies. It is often implemented with the pivot point mounted on a cart that can move horizontally under control of an electronic servo system as shown in the photo; this is called a cart and pole apparatus. Most applications limit the pendulum to 1 degree of freedom by affixing the pole to an axis of rotation. Whereas a normal pendulum is stable when hanging downwards, an inverted pendulum is inherently unstable, and must be actively balanced in order to remain upright; this can be done either by applying a torque at the pivot point, by moving the pivot point horizontally as part of a feedback system, changing the rate of rotation of a mass mounted on the pendulum on an axis parallel to the pivot axis and thereby generating a net torque on the pendulum, or by oscillating the pivot point vertically. A simple demonstration of moving the pivot point in a feedback system is achieved by balancing an upturned broomstick on the end of one's finger.
Humanoid robot reinforcement learning gait control method and system
The invention discloses a humanoid robot reinforcement learning gait control method and system, and belongs to the technical field of robot control. Comprising the following steps: constructing a model prediction control optimization problem based on a linear inverted pendulum model, and generating a robot mass center track and a foothold sequence; collecting state-action pair data of model prediction control, and training a neural network model by adopting supervised learning; designing a reinforcement learning strategy network, taking the output of the neural network model as a physical guidance reference, calculating a training reward based on the constructed composite reward function, training the strategy network in a high-concurrency simulation environment by adopting a near-end strategy optimization algorithm, and outputting a joint action instruction; and verifying the trained strategy and the joint action instruction output by the trained strategy in a plurality of simulation environments, and deploying the trained strategy and the joint action instruction to a real machine for dynamic gait control. According to the method, the stability and adaptability of gait control of the humanoid robot are improved through a method of combining model predictive control and reinforcement learning.
Owner:INST OF AUTOMATION CHINESE ACAD OF SCI
Biped wheel-legged robot pose control method and device based on hierarchical cooperative control, medium and product
The invention discloses a double-foot wheel-legged robot pose control method and device based on hierarchical cooperative control, a medium and a product, and relates to the field of robot control, and the method comprises the steps that a hierarchical cooperative control framework is constructed; the layered cooperative control framework comprises a balance controller and a whole body attitude controller; the balance controller determines a reference wheel joint driving torque based on a simplified inverted pendulum dynamic model according to the pose information of the upper mass center of the biped wheel-leg robot; the whole-body attitude controller performs optimization control on all joints of the biped wheel-leg robot by adopting an incremental model prediction control algorithm combined with a reference wheel joint driving moment based on a whole-body dynamic model; state information of the biped wheel-legged robot is obtained; according to the state information, a driving torque instruction of each joint is obtained based on a hierarchical cooperative control framework; and driving the double-foot wheel-leg robot to move according to the driving torque instruction of each joint. The precision, robustness and real-time performance of robot motion control can be improved.
Owner:BEIJING UNIV OF TECH
Multi-pump zero-displacement hydraulic agile control system and control method thereof
The invention provides a multi-pump zero-displacement hydraulic agile control system and a control method thereof. The system is composed of a hydraulic system, a mechanical system and an electric control system. According to the control method, a multi-pump zero-displacement switching mechanism and a deep reinforcement learning strategy based on an Actor-Critic architecture are fused, the effective oil supply amount is adjusted by dynamically starting and stopping part of hydraulic pumps, a servo motor rotating speed instruction is output in real time in combination with a neural network, and the strong coupling dynamic relation between sliding block displacement and the angle of a swing rod is coordinated. The system switches part of the pumps to a bypass state when approaching balance so as to reduce energy consumption, and starts all the pumps to guarantee recovery capacity when greatly deviating. According to the technical scheme, on the premise of not depending on an accurate mathematical model, agile, stable and energy-saving control over the inverted pendulum type under-actuated system can be achieved.
Owner:TONGJI UNIV
Balance control algorithm for gravity center trajectory planning and real-time tracking of humanoid robot
The invention relates to a balance control algorithm for gravity center trajectory planning and real-time tracking of a humanoid robot, in particular to the technical field of robot control, and realizes dynamic balance control through a closed-loop process of state sensing, online gravity center trajectory re-planning, hierarchical control law calculation and joint torque output and execution. A layered dynamic modeling and control framework is constructed, a variable-height inverted pendulum model is combined with model prediction control, and a gravity center and zero moment point track feasible in dynamics is generated online; virtual restoring force is generated through a gravity center impedance controller, a task priority inverse dynamics solver is used, multi-task execution is coordinated on the premise that balance tasks are guaranteed to be absolutely preferential through a null-space projection technology, theoretical torque is converted into current instructions to drive joints to move, and through efficient collaboration and real-time updating of dynamic models of all levels, the balance tasks are optimized. According to the invention, deep collaboration of various technical features is realized, and the problems of poor adaptability, slow response and poor balance capability of a traditional method in a dynamic environment are effectively solved.
Owner:诚芯智联(武汉)科技技术有限公司
Robot control method, device and equipment and storage medium
PendingCN121756342AImplement control methodsimprove accuracyProgramme-controlled manipulatorSimulationNetwork model
The invention provides a robot control method and device, equipment and a storage medium. The method comprises the steps that based on the current actual motion state of the robot and foothold information in a control instruction, the expected motion state of the robot is obtained through prediction of an inverted pendulum model; on the basis of the actual speed in the actual motion state and the expected speed in the expected motion state, the speed variation of the robot is obtained through prediction of a speed response model; based on the actual motion state and the expected motion state, predicting a residual speed through a neural network model; determining the execution speed of the robot based on the actual speed, the speed variation and the residual speed; and integral processing is carried out on the execution speed to obtain a motion trail of the robot, and the robot is controlled to move according to the motion trail. According to the invention, the accuracy and stability of robot control can be improved.
Owner:UBTECH ROBOTICS CORP LTD
An asynchronous non-fragile h-infinity control method and system for a rotating inverted pendulum
This invention discloses an asynchronous, non-fragile H∞ control method and system for a rotating inverted pendulum, belonging to the field of robust control technology for DC motor rotating inverted pendulums. Addressing the problems of modal asynchrony, controller gain perturbation, time-varying delay, and quantization error in DC motor rotating inverted pendulum systems, this invention proposes an asynchronous, non-fragile H∞ control framework. The main steps include: constructing a Markov jump singular perturbation system model with time-varying delay and variable quantization density; designing an asynchronous, non-fragile output feedback controller for the rotating inverted pendulum, compatible with controller gain perturbation and quantization uncertainty; and deriving the linear matrix inequality conditions through modal-dependent Lyapunov functions to ensure the system's exponential stability in finite time and to meet the preset H∞ performance index. This invention can effectively improve the robustness and stability of DC motor rotating inverted pendulums under attack and parameter perturbation scenarios.
Owner:GUILIN UNIV OF ELECTRONIC TECH
A safe navigation and localization method for bipedal robots based on discrete control barrier functions and hierarchical architecture
This invention discloses a safe navigation and localization method for bipedal robots based on discrete control barrier functions and a hierarchical architecture, belonging to the field of robot control technology. The method employs the Relative Dynamics Test (RRT) algorithm to generate a global path and combines it with a Linear Inverted Pendulum Model (LIPM) to generate a stable gait. A discrete control barrier function (D-CBF) is used to ensure obstacle avoidance in dynamic environments, and the safe control input is solved through an optimization problem. Sensor fusion technology is used for real-time localization, and moving average filtering is applied to eliminate oscillation errors caused by gait. This invention, by combining discrete control barrier functions (D-CBF) with hybrid zero dynamics (HZD), achieves high-precision navigation and safe obstacle avoidance for bipedal robots in complex environments, effectively solving the problems of insufficient stability and lack of safety in traditional methods.
Owner:PEKING UNIV SHENZHEN GRADUATE SCHOOL
Attitude control method and system of discrete gravity center double-wheel-foot robot and storage medium
PendingCN122058344AProgramme-controlled manipulatorVehicle position/course/altitude controlAttitude controlRegulator
The invention discloses a posture control method and system of a discrete gravity center double-wheel-foot robot and a storage medium, and relates to the technical field of gravity center control. Discrete configuration and rapid switching of the gravity center position are achieved by actively adjusting hip joints and knee joints, and a robot model is established based on multi-rigid-body dynamics; simplifying the model into an inverted pendulum linear model family with parameters changing along with the gravity center in the front-back direction; a plurality of discrete gravity center working conditions are preset, each working condition corresponds to a specific joint target angle and model parameters, and the optimal working condition is selected for switching according to the real-time posture and the motion state; and designing a cooperative control law by adopting a linear quadratic regulator, and finally, realizing stable attitude control of the robot under complex terrains and disturbances through multi-joint cooperative execution. According to the method, the disturbance rejection capability and the attitude stability margin are remarkably improved through discrete gravity center configuration, meanwhile, the model complexity and the real-time calculation burden of continuous gravity center adjustment are avoided, and control performance and engineering realizability are achieved at the same time.
Owner:FIMA TECHNOLOGY (SUZHOU) CO LTD
Active hopping wheel-legged balancing robot and control method thereof
The application discloses a wheel-leg balance robot design capable of active jumping and a control method thereof. The wheel-leg balance robot design is based on a planar parallel five-bar mechanism, and comprehensively considers the leg structure design and wheel train structure design of the wheel-leg balance robot suitable for active jumping. A plurality of sensor modules are adopted for sensing, so that the robot can autonomously perform the jumping function on a complex obstacle road section. Meanwhile, the wheel diameter and the motor torque are matched and designed, so that the robot has strong passability. The joint motor connection structure is improved to improve the design strength of the leg structure. An inverted pendulum model containing a wheel-leg hybrid structure is used to fit the robot movement, an LQR control algorithm is adopted to process the nonlinear system through piecewise linearization, and reference input is added to realize trajectory tracking.
Owner:TONGJI UNIV
Robot balance control method, device, readable storage medium and robot
ActiveCN115903874BElectric energy managementVehicle position/course/altitude controlDynamic modelsSimulation
The application belongs to the technical field of robots, and particularly relates to a robot balance control method and device, a computer readable storage medium and a robot. The method comprises the following steps: simplifying a leg part and a trunk of the double-wheel-foot robot, and establishing a double-wheel-foot flywheel inverted pendulum model of the double-wheel-foot robot; performing dynamics analysis on the double-wheel-foot flywheel inverted pendulum model, and determining a dynamics model expression of the double-wheel-foot robot; and performing model predictive control on the double-wheel-foot robot according to the dynamics model expression, so as to maintain the balance of the double-wheel-foot robot. Through the above method, dynamics analysis can be performed on the established double-wheel-foot flywheel inverted pendulum model to obtain a dynamics model expression, and model predictive control can be performed on the double-wheel-foot robot according to the model expression, so that the control amount constraint of the double-wheel-foot robot is realized, and the robustness of the balance control of the double-wheel-foot robot is improved.
Owner:UBTECH ROBOTICS CORP LTD
A parameter optimization-based robust constraint tracking control method for biped robots
The present application relates to biped robot control technical field, especially relate to a kind of robust constraint tracking control method of biped robot based on parameter optimization.The present application uses improved inverted pendulum model, while making full use of the advantages of single mass model, still can reflect the important characteristics of biped robot, avoid a series of errors and interference problems due to model oversimplification.The key parameters of the improved inverted pendulum model are set to be variable in the present application, which is convenient for adjusting its dynamic characteristics.The present application designs a kind of robust constraint control method, considers the motion equation of the limited mechanical system of equality constraint and inequality constraint, and makes the control input satisfy Gauss principle and d'Alembert principle, so as to produce moderate control force in the real world to meet system performance.
Owner:HEFEI UNIV OF TECH
A humanoid robot obstacle-crossing reinforcement learning control method based on DCM constraint
The application discloses a humanoid robot obstacle-crossing reinforcement learning control method based on DCM constraint, an external force observer based on hyperbolic tangent sliding mode compensation is designed for quickly estimating external force impact, and is used for estimating external force impact suffered by the robot; a motion divergence quantity (DCM) model considering external force influence is established based on a traditional linear inverted pendulum model, and a reward function based on DCM optimization is designed to improve stability. On this basis, a multi-dimensional reward function covering dynamic leg lifting height reward, foot landing area reward, obstacle-crossing reward and the like is designed to prevent training from falling into local optimum. In view of the problems of slow training speed and excessively high calculation cost in the simulation environment where a visual sensor is used to identify the terrain, a sampling point grid based on terrain height is designed to improve the perception accuracy and real-time performance of the system on complex obstacle terrains.
Owner:GUANGDONG UNIV OF TECH +2
A distributed elastic fusion filtering method based on generalized inverted pendulum system
The application relates to a distributed elastic fusion filtering method based on a generalized inverted pendulum system and relates to the technical field of information fusion filtering. A dynamic model of a generalized inverted pendulum system under a multi-sensor network with colored measurement noise is constructed, the dynamic model is converted into a dynamic model of a non-generalized inverted pendulum system, a local elastic filter is designed according to the measurement information of each node to filter the state of the system, a correction parameter matrix is calculated and substituted into the local elastic filter, the local state filtering of the generalized inverted pendulum system and the upper bound of the filtering covariance are obtained, and finally, an inverse covariance cross fusion method is used to obtain the best fusion filtering process. The application can effectively solve the fusion filtering problem of the generalized inverted pendulum system under the multi-sensor network affected by the colored measurement noise and the change of the filter parameters, can objectively fit the real engineering scene, is easy to realize online iterative calculation, and can improve the state estimation precision and the filtering algorithm performance.
Owner:JINING NORMAL UNIV
Balance control method, system and equipment for double-wheel-leg robot and medium
The invention provides a balance control method, system and equipment for a double-wheel-leg robot and a medium, and relates to the technical field of robots, the mass center dynamics of the double-wheel-leg robot is equivalent to a wheel type inverted pendulum model, a dynamic model is established through a Lagrange method, and the movement and mass center balance of the double-wheel-leg robot can be accurately described; the dynamic constraints of the driving wheel and the centroid inclination angle in the dynamic model are solved, and the centroid dynamics can be effectively simplified; through the centroid trajectory planning model, the expected driving wheel position and speed can be fused into centroid trajectory planning, the advancing position and the advancing speed are tracked while centroid balance control is achieved, the under-actuated characteristic of the robot is met, meanwhile, the design of a controller is simplified, the tracking precision is improved, and the performance of a control system is guaranteed.
Owner:SOUTHERN UNIVERSITY OF SCIENCE AND TECHNOLOGY
Two-dimensional stable motion control method for a multi-degree-of-freedom wheeled inverted pendulum robot
The present invention discloses a two-dimensional stable movement control method for a multi-degree-of-freedom wheeled inverted pendulum type robot, belonging to the field of robotics. The present invention divides the multi-degree-of-freedom wheeled inverted pendulum into an equivalent wheeled inverted pendulum and a multi-link part, and designs controllers separately. The first two lines of the dynamic equation of the multi-degree-of-freedom wheeled inverted pendulum are the dynamics-related terms of the equivalent wheeled inverted pendulum. The partial feedback linearization method is used to process the first two lines of the dynamic equation to obtain a new system with the angular acceleration of the driving wheel as the control input and a feedforward equation with the control torque of the driving wheel as the output. The controller of the new system is designed using a linearization or nonlinear method to calculate the angular acceleration of the driving wheel. Substituting it into the feedforward equation obtains the desired torque of the final driving wheel. The desired center of mass position or velocity is calculated by solving inverse kinematics to calculate the motion angle or angular velocity of the joint. The control method proposed by the present invention still has strong adaptability to large acceleration and deceleration motions and uneven road movement conditions.
Owner:ZHEJIANG LAB
Three dimensional log spiral structures for improving transportation
A system and method for a transportation device that utilizes an alternative biomechanics framework for the human lower body that may be used in any transportation vehicle in conjunction or as an alternative to wheels whereby the bones, muscles, and connective tissue of the lower body function together to produce the mechanics of a single wheel rather than the conjoined pendulums of the leading inverted pendulum model of biomechanics.
Owner:GLAZER YARON Y
Hierarchical disturbed recovery control method for humanoid robot based on motion divergence
ActiveCN120406159AComplex mathematical operationsAdaptive controlHumanoid robot naoClassical mechanics
The invention discloses a humanoid robot hierarchical disturbance recovery control method based on motion divergence, and the method comprises the steps: detecting the mass center position and speed of a robot in real time through an IMU (Inertial Measurement Unit) and a state signal to estimate external force interference, and carrying out the dead-zone filtering and memory attenuation processing of the estimated external force; the method comprises the steps of calculating a current motion divergence # imgabs0 # based on a linear inverted pendulum model, correcting the actual offset direction of the motion divergence # imgabs1 # according to an estimated external force, calculating the offset of the motion divergence # imgabs1 # relative to a zero moment point # imgabs2 #, dividing the disturbance degree into a slight level, a medium level and a serious level by calculating the maximum safety threshold of the offset, and adopting corresponding recovery strategies for different levels. And finally, according to the corrected landing point, planning a real-time swing leg path for the robot to track and control, thereby realizing adaptive disturbance recovery of the robot.
Owner:HEYTZ TECH INC
Electro-hydraulic servo building robot and migration learning adaptive control method thereof
The application discloses an electro-hydraulic servo building robot and a migration learning adaptive control method thereof, and belongs to the technical field of intelligent control of building robots. The robot comprises a hydraulic system, a mechanical system and an electric control system. The hydraulic system adopts a double-pump parallel closed driving structure, is matched with an integrated valve block and an accumulator for pressure compensation and current stabilization. The mechanical system adopts an under-actuated inverted pendulum structure with rear wheels on the ground and front wheels in the air. The electric control system collects working condition information by relying on multiple sensors, and realizes working condition discrimination and safety protection through multiple sub-programs. The application introduces a DDPG migration learning algorithm, migrates network parameters and experience data obtained by training a light-load flat ground source task to a heavy-load complex target task, and quickly adapts to hydraulic nonlinear characteristics and complex working condition disturbances through a hierarchical optimization mode of freezing the bottom layer network and fine-tuning the high layer network. The application effectively improves the heavy-load carrying stability and intelligent operation level of the robot.
Owner:TONGJI UNIV
CAN real-time measurement and control platform for loader electric drive system
The utility model provides a CAN real-time measurement and control platform used for a loader electric drive system, which is composed of an inverted pendulum test platform, an angle encoder, a servo motor, a drive swing rod, a motion control card, a CAN bus module, a motor driver and a PC machine, the CAN bus module comprises two CAN nodes, the two CAN nodes are connected in series, the PC machine is in bidirectional connection with the motion control card, and the motor driver is connected with the motion control card. The input end of the motion control card is connected with the output end of the second CAN node through a PCI interface, the motion control card is in bidirectional connection with the motor driver, the motor driver is in bidirectional connection with the servo motor, the servo motor is in bidirectional connection with the inverted pendulum test platform, and the output end of the inverted pendulum test platform and the output end of the driving swing rod are connected with the input end of the angle encoder. And the angle encoder is bidirectionally connected with the first CAN node. According to the utility model, a scientific basis is provided for CAN network control and application of the loader electric drive system, and the loader electric drive system has significant use value and social and economic benefits.
Owner:SHANGHAI TXMEC TECH CO LTD
Centroidal rate estimation for robotic locomotion
A system and method for providing a position and rate of change for a robot that is useful in a robotic control system. The invention uses an inverted pendulum and flywheel model. The model produces a linear momentum parameter and an angular momentum parameter. The inventors have developed a modified velocity measure for the control system that combines both the linear and angular rates of motion for the robot into an equivalent linear rate. This equivalent linear rate captured the same dynamic effects as using both a linear and angular rate does for the prior art systems. The developed equivalent linear rate can be used for a number of purposes, including feedback control during walking, step placement, planning, and measurement of balance conditions.
Owner:FLORIDA INSTITUTE FOR HUMAN & MACHINE COGNITION INC
Control method and device of pool underwater step cleaning robot
ActiveCN120909298BVehicle position/course/altitude controlPosition/direction controlControl engineeringWater entry
The embodiment of the application relates to the technical field of robot control, and provides a control method and device of a pool underwater step cleaning robot. The method comprises the following steps: scanning a step structure in a target step region to construct a three-dimensional step model; generating an initial control strategy according to the three-dimensional step model by a deep deterministic policy gradient algorithm before water entry cleaning, and starting the robot to enter the target step region based on the initial control strategy; collecting motion state data and attitude monitoring data of the robot in real time during the cleaning process; based on an adaptive control model of an inverted pendulum balance theory, the motion state data, the attitude monitoring data and step structure parameters in the three-dimensional step model are cooperatively optimized to obtain a real-time control strategy of the robot; and the motion state of the robot is adjusted based on the real-time control strategy to adapt to the step cleaning process in the target step region, and the environmental adaptability, attitude stability and operation efficiency of the robot in a complex underwater step environment are improved.
Owner:YITUO ELECTRIC CO LTD
Linear motor inverted pendulum experiment box
A linear motor inverted pendulum experiment box comprises an experiment box body and a box cover, the box cover is installed on one side of the experiment box body in a hinged mode, a control mainboard device, a data interface assembly and a motion track assembly are arranged in the experiment box body, a sliding seat structure is installed on the motion track assembly, and the sliding seat structure is connected with the control mainboard device. A supporting vertical pipe is detachably or foldably installed in the middle of the sliding seat structure, a driving device is arranged on at least one side portion of the sliding seat structure and used for driving the sliding seat structure to move on the movement track assembly, an angle encoder is installed on the top of the supporting vertical pipe, and the angle encoder is connected with a swing rod piece. The device is low in manufacturing and use cost, is not limited by site conditions in use, is convenient for experiment demonstration and observation, is easy to move to different experiment sites for demonstration, and is good in reuse effect.
Owner:SHANGHAI DROIDUP CO LTD
Sliding mode control method based on random communication protocol for inverted pendulum system with continuous dwell time
The present invention relates to a sliding mode control method for an inverted pendulum system based on a random communication protocol, belonging to the field of automatic control technology. The method combines sliding mode control for an inverted pendulum system based on a continuous dwell time with sliding mode control based on a random communication protocol to construct a coordinated controller. A discrete-time uncertain switching system model with a PDT switching rule is constructed, and combined with a random communication protocol scheduling mechanism, the random switching behavior of nodes accessing the network is described through a Markov chain. A token-dependent sliding mode control law is designed to dynamically adjust control parameters to accommodate SCP scheduling and PDT switching. A sliding mode function and a Lyapunov function are designed to ensure the accessibility of the sliding mode. The present invention effectively utilizes the advantages of a networked control method based on a continuous dwell time switching rule under random communication protocol scheduling, such as strong robustness, resource optimization, and reliable stability, effectively improving the operating efficiency of the inverted pendulum system.
Owner:QINGDAO UNIV OF TECH
Three dimensional log spiral structures for improving transportation
ActiveUS12599532B2Programme-controlled manipulatorChiropractic devicesConnective tissue fiberBiomechanics
A system and method for a transportation device that utilizes an alternative biomechanics framework for the human lower body that may be used in any transportation vehicle in conjunction or as an alternative to wheels whereby the bones, muscles, and connective tissue of the lower body function together to produce the mechanics of a single wheel rather than the conjoined pendulums of the leading inverted pendulum model of biomechanics.
Owner:GLAZER YARON Y
Experimental device for studying non-toppling property of rod
The utility model discloses an experimental device for studying the non-toppling property of a rod, which comprises a wooden base, a supporting frame body is fixedly arranged on the surface of the base, connecting rod mechanisms are arranged on the two sides of the supporting frame body, a swing plate is arranged in the middle of the supporting frame body, the two ends of the swing plate are respectively connected with the connecting rod mechanisms, and the connecting rod mechanisms are connected with the swing plate. A fixing rod is installed in the middle of the swing plate, a rotating shaft is installed on the top of the supporting frame through a supporting cross beam, the middle of the rotating shaft is sleeved with a swing rod in rotating fit with the rotating shaft, the bottom end of the swing rod is connected with the top face of the middle of the fixing rod through a spring, and the top end of the swing rod is detachably connected with a magnet. A steering engine is installed in the center of the bottom of the swing plate, a balancing weight is fixedly connected to a rocker arm of the steering engine, supporting stand columns are further arranged on the two sides of the supporting frame on the base, and an iron plate is installed between the two supporting stand columns. Compared with the traditional inverted pendulum experiment device, the inverted pendulum experiment device provided by the utility model has the advantages of controllable operation and higher precision.
Owner:YANCHENG INST OF TECH
A bipedal robot gait planning method and device for stepped terrain
ActiveCN120215510BVehicle position/course/altitude controlPosition/direction controlComputer graphics (images)Gait planning
The present invention provides a method and device for gait planning of a bipedal robot for stepped terrain, belonging to the technical field of robot gait planning. The method comprises: establishing walking modes for ascending and descending stairs of the bipedal robot based on a linear inverted pendulum model; mapping the linear inverted pendulum model for stepped terrain into a segmented virtual height linear inverted pendulum model for planar terrain based on the walking modes; and utilizing model predictive control based on the segmented virtual height linear inverted pendulum model to implement gait planning for the bipedal robot for stepped terrain. The method and device for gait planning of a bipedal robot for stepped terrain provided by the present invention utilize a linear inverted pendulum model with a virtual center of mass height. The gait mode established based on terrain elevation information and foothold information of the stepped environment can adapt to irregular stepped terrain with variable heights and lengths, thus providing the gait with good terrain adaptability.
Owner:HUAZHONG UNIV OF SCI & TECH
Inverted swing type air flotation vibration isolator
The utility model relates to the technical field of air flotation vibration isolators, and particularly discloses an inverted swing type air flotation vibration isolator which comprises an air spring. The hollow cylinder is fixedly mounted at the bottom in the air spring, and the hollow cylinder is filled with second damping liquid; the inverted pendulum extends into the second damping liquid from the upper end of the air spring, and the second damping liquid is used for reducing the swing amplitude of the inverted pendulum to a balance recovery position; a damping liquid groove is vertically formed in the inverted pendulum, and the damping liquid groove is filled with first damping liquid; the movable rod is vertically inserted into the first damping liquid, the bottom end of the movable rod is supported by the bottom of the inverted pendulum in the mode that the movable rod is allowed to swing relative to the groove bottom of the damping liquid groove, and the first damping liquid is used for maintaining the balance state of the movable rod and the inverted pendulum; and the bearing plate is fixed above the movable rod, and equipment needing vibration isolation is installed on the bearing plate. The vibration isolation device has a good vibration isolation effect in the horizontal direction and the vertical direction, and the damping ratio can be flexibly adjusted, so that the requirements of different actual conditions are met.
Owner:SHANGHAI RB RUBBER ISOLATOR TECH
Interval type-2 fuzzy sliding mode control method based on parameter uncertain inverted pendulum system
The application discloses an interval type-2 fuzzy sliding mode control method based on a parameter uncertain inverted pendulum system and belongs to the technical field of nonlinear system control, and comprises the following steps: establishing an interval type-2 T-S fuzzy model of the parameter uncertain inverted pendulum system; constructing a sliding mode controller of the parameter uncertain inverted pendulum system based on the interval type-2 T-S fuzzy model; the sliding mode controller comprises a sliding surface, an equivalent controller, a switching controller and a comprehensive controller; the sliding surface is used as the only input variable of the fuzzy controller, the switching gain is dynamically controlled by using a fuzzy logic rule, and the sliding mode controller is optimized into an interval type-2 fuzzy sliding mode controller. The application solves the problem that the prior art cannot ensure that the parameter uncertain inverted pendulum system is stably operated on a sliding surface and is prone to chattering when parameters change and external disturbances occur.
Owner:NANJING UNIV OF INFORMATION SCI & TECH
A hydraulic drive dynamic performance verification test device and method
PendingCN122170132AFluid-pressure actuator safetyFluid-pressure actuator testingData acquisitionInverted pendulum
This invention discloses a hydraulic drive dynamic performance verification test device and method, belonging to the field of hydraulic robot testing technology. The device includes a hydraulic system, an inverted pendulum hardware system, and a data acquisition and feedback system. The hydraulic system includes a pump station module and a motor module. The pendulum rod and slider in the inverted pendulum mechanism are detachable, allowing switching between full-drive and under-drive test modes by assembling and disassembling the pendulum rod. The data acquisition and feedback system includes a main control computer, a motion control card, and a servo motor driver, responsible for data acquisition and command issuance. This verification method sequentially completes the overall nonlinear modeling of the device, displacement tracking test, pendulum start-up test, steady-state zero-position test, and pulse disturbance rejection test, achieving a comprehensive quantitative evaluation of the device model accuracy, transient agility, steady-state control accuracy, and anti-interference capability. This invention can reproduce the nonlinear characteristics of hydraulic and mechanical coupling, offers convenient switching between operating conditions, and has a complete test system, providing reliable experimental support for optimizing the control strategy of hydraulically driven robots.
Owner:TONGJI UNIV
Posture control method, posture control device, and storage medium
PendingUS20250291352A1Vehicle position/course/altitude controlVehiclesAttitude controlClassical mechanics
A posture control method is a posture control method of a non-linear inverted pendulum model, of which a height of a center of gravity is variable, and a trajectory of the center of gravity is an energy conserving system, using a control device, the posture control method including: obtaining a conservation energy function on the basis of a measured value of the center of gravity; converting the conservation energy function into a curve function; and calculating a set of eigenvectors through approximation as a convergent component and a divergent component without iterative calculation of a controllable area in a phase plot of the converted curve function and feeding back the convergent component and the divergent component that have been calculated.
Owner:HONDA MOTOR CO LTD