Motion controller of four-leg robot

Abstract

The invention discloses a motion controller of a four-leg robot with a CANOpen (Control Area Network Open) bus structure. The motion controller comprises an operation table, a main controller, a vision system, a gesture measurement system, a leg sub-controller, a head sub-controller, a leg driver, a head driver, a leg joint motor, a head joint motor, a leg position sensor, a head position sensor and a foot force sensor, wherein the leg sub-controller comprises a right front sub-controller, a left rear sub-controller, a left front sub-controller and a right rear sub-controller. By using the main controller to process the gesture information and the vision information, the motion gait and the motion path of the robot are programmed at real time; at the same time, a motion command is transmitted to the leg sub-controller and the head sub-controller; the leg sub-controller and the head sub-controller achieve the real-time control and the accurate control of a bottom-layer motor by the feedback information of a sensor, so that the self-adapting walk of the four-leg robot is achieved under a complicate environment.

Description

technical field [0001] The invention relates to the field of quadruped robots, in particular to a motion controller of a quadruped robot with a CANOpen bus structure. Background technique [0002] Quadruped robot is a footed mobile mechanism imitating natural quadruped animals. It has the ability to adapt to walking under non-structural complex environmental conditions, high stability, strong carrying capacity, relatively simple structure design, and flexible movement. Disaster relief, entertainment, exploration and other fields have broad application prospects. [0003] In recent years, various countries in the world have carried out extensive research on quadruped robots, and the research hotspots mainly focus on the environment adaptation of quadruped robots to walk. To realize the environment-adaptive walking of quadruped robots, on the one hand, it is necessary to realize the understanding of the environment scene and its own posture through the perception of the envir...

AI Technical Summary

Problems solved by technology

[0004] At present, the quadruped robot control system is mainly divided into two types: the control system based on single DSP or industrial computer. The main problem of these two control systems is that the processing capacity is limited, the real-time control cannot be guaranteed, and it is difficult to deal with the quadruped robot environment. To adapt to the large amount of sensor information required for walking, it cannot effectively plan the task of the entire control system, which seriously affects the real-time and accuracy of the quadruped robot's movement

In addition, the control system based on industrial computer consumes a lot of energy and has poor portability, which is not conducive to the environment of quadruped robots to adapt to walking.

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