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Gait planning method for leg movement of four-legged robot

A quadruped robot, gait planning technology, applied in the direction of instruments, simulators, attitude control, etc., can solve the lack of adaptive quadruped robot gait planning methods and other problems

Active Publication Date: 2020-02-07
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Application Information

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Problems solved by technology

[0006] In order to solve the problem of lack of an adaptive quadruped robot gait planning method in the prior art, the present invention provides a gait planning method for quadruped robot leg movement

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  • Gait planning method for leg movement of four-legged robot
  • Gait planning method for leg movement of four-legged robot
  • Gait planning method for leg movement of four-legged robot

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Embodiment Construction

[0032] In order to make the technical problems, technical solutions and beneficial effects to be solved by the embodiments of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0033] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be used for both fixing function and circuit communication function.

[0034] It is to be understood that the terms "length", "width", "top", "bottom", "front"...

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Abstract

The invention provides a gait planning method for leg movement of a four-legged robot. The gait planning method comprises the following steps that S1, models of legs of the four-legged robot are constructed under a robot simulation platform; S2, enhanced learning strategies for training the models by a neural network are screened; S3, reward and punishment functions, state input and training conditions of the enhanced learning strategies are set and sounded out; and S4, the models are trained on the basis of the reward and punishment functions, state input and the training conditions, and themotion effects of swing phases and supporting phases of the models are displayed respectively to display training results of the neural network. By adopting an enhanced learning algorithm and utilizing a heuristic learning training scheme, leg kinematics is planned, and the robot can be made to adaptively adjust gaits under the algorithm network.

Description

technical field [0001] The invention relates to the technical field of legged robots, in particular to a gait planning method for leg motion of a quadruped robot. Background technique [0002] In the traditional quadruped robot model, the quadruped robot generally has the same or mirrored four legs, each leg has three degrees of freedom, and is controlled by three drivers respectively, namely the hip joint cross-section driver, the hip joint sagittal plane Actuator with knee sagittal plane actuation. [0003] In the early field of motion planning, the single-foot Jacobi matrix was generally established to solve the end position of the footed robot or use the matrix to solve its inverse kinematics. However, this method has the following disadvantages: 1. The establishment of the Jacobi matrix is ​​relatively cumbersome, which is not conducive to manual solution and computer calculation. 2. According to this method, the inverse kinematics solution will cause the arm shape to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05B13/02G05B17/02G05D1/02G05D1/08
CPCG05B13/042G05B13/027G05B17/02G05D1/0088G05D1/0221G05D1/0225G05D1/0891
Inventor 刘厚德于天宁王学谦梁斌朱晓俊高学海
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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