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Self-adaptive control method for diagonal gait of four-footed robot

A quadruped robot, adaptive control technology, applied in the direction of control without feedback, can solve the problem of not considering quadruped robot and so on

Inactive Publication Date: 2011-08-17
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the shortcomings in the prior art that do not consider the gait planning problem in the complex terrain environment when the quadruped robot walks with a diagonal gait, the present invention proposes an adaptive control of the quadruped robot's diagonal gait method

Method used

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Embodiment Construction

[0041] This embodiment is an adaptive control method for a quadruped robot with a diagonal gait as a walking mode in an unstructured environment. This embodiment is based on the fuzzy inference learning algorithm and the real-time correction algorithm of the foot trajectory, and uses the diagonal gait as the movement mode to comprehensively control the quadruped robot body to adapt to various complex terrains.

[0042] Such as figure 1 shown. First, obtain useful information from the environment in real time by combining sensors, including the distance information from the forefoot of the quadruped robot to the front of the obstacle and the height information of the obstacle, and then obtain the position information of the diagonal foot landing point according to the foot trajectory fuzzy inference learning algorithm, and then fit the Diagonal foot trajectory gait. However, the quadruped robot has poor stability when adapting to variable gait walking in an unstructured envi...

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Abstract

The invention discloses a self-adaptive control method for diagonal gait of a four-footed robot, which is used for self-adaptively controlling the walking of the four-footed robot in the nonstructural terrain with the diagonal gait. The self-adaptive control method bases on a fuzzy reasoning learning method and a foot trajectory real-time correction method and takes the diagonal gait as the motion mode so as to comprehensively control a robot body to adapt for the nonstructural environment. The gait planning is carried out on the environmental information collected by the sensor through the fuzzy reasoning learning method; the stability judgment is carried out on the gait planning information; if the planned four-footed robot has stable diagonal gait, the joint corner information is sent to a control system; if not, the supporting time of the diagonal feet is corrected by the foot trajectory real-time correction method so that the four-footed robot has better stability when walking under the changed gait in the nonstructural terrain. The self-adaptive control method is used for correcting foot trajectory planning and walking stability under changed gait when the four-footed robot walks diagonally in a dynamic way, thus realizing the self-perception, self-correction and self-adjustment of the four-footed robot.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method for controlling the diagonal gait of a quadruped robot. Background technique [0002] Because of its simple and flexible mechanism, strong carrying capacity and good stability, quadruped robots have good application prospects in many aspects such as emergency rescue and disaster relief, military affairs, etc., and are valued by researchers of quadruped robots in various countries. Quadruped robot is a multivariable and strongly coupled dynamic model. Its self-adaptation of unstructured terrain under variable gait and stability adjustment of variable gait are of great significance to the research of control theory and the design of real-time control system. Very challenging. [0003] Researchers first conducted research on static walking and achieved certain results. However, from the perspective of improving walking speed, dynamic walking has certain advantages, but the te...

Claims

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Application Information

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IPC IPC(8): G05D3/10
Inventor 于薇薇陈自立王靖宇秦现生王润孝徐娅萍冯华山谭小群
Owner NORTHWESTERN POLYTECHNICAL UNIV
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