Multi-foot robot gait optimization control method based on multidimensional workspace coupling algorithm

Abstract

Disclosed a multi-foot robot gait optimization control method based on the multidimensional workspace coupling algorithm. The method comprises the following steps: step 1, solving a virtual constraint radius and parsing robot body swing leg movement constraint K space according to the virtual constraint radius; step 2, solving the swing leg ideal foothold constraint R space and the robot body stability constraint B space, coupling the robot body swing leg movement constraint K space, the swing leg ideal foothold constraint R space and the robot body stability constraint B space, solving the multidimensional robot body workspace W, and then putting forward the robot body 'dead-lock' instability situation and countermeasures; step 3, parsing the mapping relation between the standing leg joint output position and the robot body workspace according to the multidimensional robot body workspace obtained in step 2, and finally, making polynomial interpolation calculation on the joint rotation angle, and finishing a gait plan for the robot in a non-structural environment. The method guarantees the gait stability and gait high-efficiency of the robot in the non-structural environment.

Description

technical field [0001] The invention relates to the fields of multi-dimensional fuselage workspace coupling and gait optimization in the unstructured environment of multi-legged robots, in particular to a multi-legged robot gait optimization control method based on a multi-dimensional workspace coupling algorithm. Background technique [0002] Multi-legged robots have rich drive redundancy and discrete gait points, can realize complex gait patterns, and have strong terrain adaptability. According to statistics, more than 90% of the earth's surface is rough. To make a multi-legged robot work in an outdoor environment, it is necessary to plan its gait in an unstructured environment to achieve gait stability and efficiency. sex. [0003] In an unstructured environment, a gait cycle of a multi-legged robot includes three processes: (1) the center of gravity of the robot body moves to a designated point in the work space; (2) the swing leg lifts up and falls to the ideal foothol...

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Problems solved by technology

[0005] In view of the low efficiency of existing analytical methods for solving the working space of multi-legged robot fuselages in unstructured environments, the present invention proposes a method for solving the working space of multi-dimensional coupled fuselages, which mainly consists of three constrained subspaces. The three constraint subspaces are the K space constrained by the swing leg motion, the R space constrained by the ideal foothold of the swing leg, and the B space constrained by the stability of the body. Finally, the space after the coupling of these three body constrained subspaces is the multi-legged robot Multi-dimensional workspace in the unstructured environment of the fuselage; in view of the importance of the fuselage workspace for the gait planning of multi-legged robots in unstructured environments, the multi-dimensional coupled fuselage workspace solution algorithm proposed in this paper is applied to multi-legged robots Gait Planning in Unstructured Environments of Robots, Finally, a Terrain Adaptive and Efficient Gait Planning Method

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