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Gait planning method of quadruped robot based on central pattern generator, central pattern generator and robot

A quadruped robot, pattern generator technology, applied in the directions of instruments, attitude control, control/regulation systems, etc., to achieve the effects of improving stability, reducing pitch angle, and reducing roll range

Active Publication Date: 2021-04-23
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem of how to improve the stability of quadruped robots in the prior art. The application provides a gait planning method for quadruped robots based on central pattern generators

Method used

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  • Gait planning method of quadruped robot based on central pattern generator, central pattern generator and robot
  • Gait planning method of quadruped robot based on central pattern generator, central pattern generator and robot
  • Gait planning method of quadruped robot based on central pattern generator, central pattern generator and robot

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specific Embodiment approach 1

[0039] The gait planning method of the quadruped robot based on the central pattern generator of this embodiment is as follows: image 3 As shown in the figure, only the 3-way signal flow of the left front leg is drawn, and the signal flow for the other legs is similar.

[0040] The quadruped robot system includes a quadruped robot body, an inertial measurement unit sensor, and a positioning sensor. Among them, the inertial measurement unit IMU (Inertial Measurement Unit) sensor and the positioning sensor GPS (GlobalPosition System) are installed in the quadruped robot body center of mass for measuring four The attitude angle, angular velocity and specific position of the body of the robot during the movement process. The attitude angle includes the pitch angle, yaw angle and roll angle. In order to realize the robot's movement process, the average value of the periodic changes of each attitude angle should be as close as possible. At 0, its amplitude is as small as possible, ...

specific Embodiment approach 2

[0059] In the gait planning method of the quadruped robot based on the central pattern generator of the present embodiment, the control signals of the three types of joints are as follows:

[0060] 1. Side swing joint signal:

[0061]

[0062] Among them, θ lsi Indicates the drive signal of the side swing joint of the i-th leg, A i is a constant, sign(ζ) is a sign function, and when the i-th leg represents the left front or left rear leg, ζ≤0, y i Represents one original output signal of the hopf oscillator network. Numbers 1, 2, 3, and 4 represent the left front leg, right front leg, left rear leg, and right rear leg, respectively.

[0063] Note: y i ≤0, indicating that the leg is in the swing phase.

[0064] 2. Hip joint signal:

[0065]

[0066] where x i is an output of the hopf oscillation network (with the y in the side swing joint signal i different roads), k i is a constant that determines the swing speed of the upper limb of each leg of the quadruped ro...

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Abstract

The invention discloses a gait planning method for a quadruped robot based on a central pattern generator, comprising the following steps: B1, adjusting the reference oscillation signal for different joints; measuring the torso of the quadruped robot during the movement Attitude angle, angular velocity, position, and generate feedback signals accordingly; output the control signals of each joint according to the adjusted oscillation signals and feedback signals; among them, the control signals of the side swing joints include oscillation signals; The control signals in the motion process of phase and standing phase are different; the control signal of the knee joint in the standing phase is adjusted to adjust the knee joint angle; B2. The control signal controls the quadruped robot to a diagonal gait, that is, its left front leg and right The hind legs move together, and the right front leg and left hind leg move together. Different adjustments are made to different joints to reduce the pitch angle and roll angle of the quadruped robot during motion, and improve the stability of the quadruped robot during motion.

Description

technical field [0001] The invention relates to the field of quadruped robots, in particular to a gait planning method of a quadruped robot based on a central pattern generator. Background technique [0002] With the continuous development of human society and the continuous progress of science and technology, the field of human activities has increased sharply, and the desire to explore the unknown world has also increased day by day. However, it is difficult or even impossible to reach many places with complex topographical conditions on the earth only by human's own strength. The current mainstream means of transport are based on wheeled and tracked, and it has to be said that they have played an extremely important role. However, wheeled and tracked vehicles have a major drawback, which is that they require a flat and relatively firm ground, while the fact that the vast majority of land on Earth is uneven and unstructured Greatly limited the use of these tools. In nat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 刘厚德王孝勇朱晓俊王学谦梁斌高学海
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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