Method for dynamically spanning protruding obstacle for four-foot robot

Abstract

The invention discloses a method for dynamically spanning a protruding obstacle for a four-foot robot, and belongs to the technical field of robot motion control. The implementation steps of the method are as follows, firstly, a footing safety area is detected when the robot faces the protruding obstacle, secondly, the swing leg track is re-planned, and finally, a robot dynamic protruding obstaclespanning stabilization controller is established. According to the method, by establishing the robot dynamic protruding obstacle spanning stabilization controller, spanning of the protruding obstacleis achieved, and the travelling efficiency of the four-foot robot to the complex obstacle pavement is improved.

Description

technical field [0001] The invention relates to the technical field of robot motion control, in particular to a method for a quadruped robot to dynamically cross convex obstacles. Background technique [0002] Compared with traditional wheeled and tracked vehicles, quadruped robots can choose discrete footholds for swinging legs, so they can adapt to complex terrains such as plateaus and mountains. At present, quadruped robots mainly focus on self-sensing based Body control, the stride height of the swinging leg is fixed or artificially set, therefore, for large-sized convex obstacles: 1) rely on the operator to control the robot to choose a detour; 2) use the operator to judge the size of the convex obstacle Artificially adjust the swing trajectory of the swing leg to cross convex obstacles. The former can successfully avoid convex obstacles, but the efficiency is low; the latter may cause the movement of the robot to be blocked due to the inaccurate judgment of the operat...

AI Technical Summary

Problems solved by technology

The former can successfully avoid convex obstacles, but the efficiency is low; the latter may cause the movement of the robot to be blocked due to the inaccurate judgment of the operator on the convex obstacles, or even the danger of overturning

Although some universities and research institutions have carried out research on the autonomous walking of robots, they mainly focus on the autonomous behavior of the body such as people following, and the research on local autonomous planning is relatively lacking.

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