Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Central pattern generator of key parameter decoupling oscillator

A mode generator and key parameter technology, applied in the field of bionic robots, can solve the problems of complex parameter setting and dynamic analysis, and the inability to control the trajectory of the robot's foot well, so as to achieve the effect of reducing complexity and flexible movement

Inactive Publication Date: 2018-11-02
CHANGAN UNIV
View PDF5 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide a central mode generator of a key parameter decoupling oscillator, which solves the problem that the parameter setting and dynamic analysis of the bionic model differential equation in the prior art are complicated and difficult The problem of good control of robot foot trajectory

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Central pattern generator of key parameter decoupling oscillator
  • Central pattern generator of key parameter decoupling oscillator
  • Central pattern generator of key parameter decoupling oscillator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] Such as figure 1 As shown, the present embodiment provides a central mode generator of a key parameter decoupling oscillator, and the mathematical model of the central mode generator is established by formula (1):

[0032]

[0033] In formula (1), x, y are the output signals of the central mode generator; are the differentials of x and y respectively; μ 1 , μ 2 is the external feedback item; T is the oscillation period of the oscillator; κ is the lifting ratio, 01 and σ are intermediate parameters.

[0034] In this embodiment, both x and y are the output signals of the central generator, and there is a fixed phase difference between x and y, such as figure 1 As shown, both x and y are sine or cosine signals, and the phase difference between x and y is cycle.

[0035] In this embodiment, the two gaits of the robot are the suspended state and the grounded state, and the output signal x is switched between the rising state and the falling state. When the output s...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a central pattern generator of a key parameter decoupling oscillator. The central pattern generator of the key parameter decoupling oscillator is obtained through the improvement on a mathematics model of a harmonic oscillator, decoupling treatment is conducted on originally coupled parameters, and in this way, the features of an output signal can be independently controlled. The central pattern generator is used for control over a walking motor, and the walking state, the land occupation coefficient and the movement period of the robot can be independently controlled; and in this way, motion of the robot is more flexible, the complexity of control over the robot is lowered, and the adaptability to the natural environment and the motion stability of the walking robotcan be improved.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and relates to motion control of a bionic walking robot, in particular to a central mode generator of a key parameter decoupling oscillator. Background technique [0002] With the development of science and technology, human beings are gradually expanding the field of exploration of the natural world. Some fields that humans cannot enter or will cause great harm to the human body can rely on robots to conduct on-the-spot exploration of these fields. The legged robot has a strong ability to adapt to the environment, and its movement is relatively flexible. These characteristics it has are unmatched by other robots. Due to the particularity of these special environments, there are higher requirements for the motion control of the robot. [0003] Under the traditional model-based control idea, the gait generation and transformation of the robot requires precise manual planning for every detai...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/161B25J9/1628
Inventor 朱雅光秦瑞刘琼吴永胜郭童
Owner CHANGAN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com