Real-time interactive quadruped robot multi-gait dynamic modeling method and system
A quadruped robot and dynamics modeling technology, applied in instruments, special data processing applications, electrical digital data processing, etc., can solve problems such as difficult real-time performance, poor scalability, inconvenient secondary development, etc.
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Embodiment 1
[0097] The invention provides an object-oriented real-time interactive quadruped robot multi-gait dynamics modeling method, including the construction of the dynamic system, the embedding of the multi-gait model, the execution of the multi-gait expected dynamic behavior, and the dynamic behavior The multi-gait control model produces the desired walking action. Based on the single-leg model, the real-time dynamic calculation and iteration of the built-in collision detection module of Vortex is used to obtain the joint angle and force. On this basis, the joint controller drive is constructed to realize The expected dynamic behavior of the quadruped robot will be reproduced in the graphical model, and it can be called a virtual prototype of the quadruped robot with dynamic behavior.
[0098] S1, build the multi-gait dynamic system of quadruped robot, the graphic visualization model of quadruped robot and terrain; Described step S1 further comprises:
[0099] Step 1, build a quadr...
Embodiment 2
[0142] Based on the same inventive concept, the present invention also provides a real-time interactive quadruped robot multi-gait dynamics modeling system, its structure diagram is as follows Figure 5 shown, including:
[0143] Building blocks for constructing multi-gait dynamic systems for quadruped robots, graphical visualization models of quadruped robots and terrain;
[0144] The information transmission module is used for information transmission between the multi-gait dynamic system and the quadruped robot and the graphical visualization model of the terrain by using multi-thread communication.
[0145] Further, the building blocks include:
[0146] The first construction sub-module is used to construct the multi-gait dynamic system of the quadruped robot;
[0147] The second construction sub-module is used to construct the graphic visualization model of the quadruped robot and terrain;
[0148] Preferably, the first construction submodule further includes:
[0149...
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