Four-feet type bionic robot control device

Abstract

The invention discloses a quadruped bionic robot control device, which establishes upper and lower control layers, each sensor provides environmental information to the robot control layer, the upper and lower layer calculators process the collected information, and issue decision-making instructions to the servo After the motor rotates to drive the robot body to move, the state of the robot changes, and the sensor measures new environmental data. The upper control layer determines the orientation adjustment and conversion of the robot, and the lower control layer uses the dynamic neural network algorithm to fuse sensor data, and at the same time transmits joint control signals to the motor controller to drive the servo motor. The invention establishes a quadruped bionic robot control device that can realize self-perception, self-adaptation and self-regulation motion, and the robot can have rich information sources and intelligently adjust poses to adapt to complex environments.

Description

technical field [0001] The invention relates to a quadruped bionic robot control device moving under the control of a dynamic neuron network mode, belonging to the technical field of robot motion control. Background technique [0002] At present, all countries in the world are developing quadruped bionic robots, but conventional control methods can only ensure that the robot moves under a preset model, and environmental changes have a greater impact on its movement. Therefore, the four-legged bionic robot that can self-perceive the environment, self-adjust the pose, and be minimally constrained by the environment is at the forefront of this technology field. [0003] The quadruped robot developed by the Brooks research team of MIT in the United States uses some local conditioned reflex units in the basic biological behavior as the main basis for its robot motion control. This method focuses on the local control of the lower layer of the robot, without the dynamics of the upp...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the problem that existing quadruped robots cannot autonomously adjust their own movement through self-perception of the external environment, the present invention proposes a quadruped bionic robot control device and system based on dynamic neuron network mode, so that the robot can move through its own The sensing device perceives the external environment, and adjusts and controls the robot to move flexibly and agilely through the dynamic neuron network mode

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