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Dynamic concave obstacle crossing method for quadruped robot

A quadruped robot and robot technology, applied in motor vehicles, transportation and packaging, etc., can solve problems such as low efficiency, robots sinking into concave obstacles, and lack of research on local autonomous planning of feet, so as to improve stability and compliance , improve walking efficiency, and realize the effect of dynamic self-adaptation

Active Publication Date: 2020-02-25
CHINA NORTH VEHICLE RES INST
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  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

The former can successfully avoid the concave obstacle, but the efficiency is low; the latter may cause the robot to fall into the concave obstacle due to the inaccurate judgment of the operator on the concave obstacle, and even cause 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.

Method used

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  • Dynamic concave obstacle crossing method for quadruped robot
  • Dynamic concave obstacle crossing method for quadruped robot
  • Dynamic concave obstacle crossing method for quadruped robot

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Embodiment Construction

[0028] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0029] The invention provides a method for a quadruped robot to dynamically cross concave obstacles. The steps implemented by the method are as follows: figure 1 Shown:

[0030] Step 1, robot concave obstacle landing safety area detection. Specifically include:

[0031] Step 11: Multi-sensor integration such as airborne camera and laser radar establishes the elevation map of the foothold area, and obtains the elevation information x of the foothold area, as shown in the attached figure 2 shown.

[0032] Step 12: Calculate the terrain relief information σ of the foothold area according to the elevation information of the foothold area, and σ is calculated as follows:

[0033]

[0034] In the formula, N is the number of elevation grids, x i is the elevation value of the i-th grid, is the elevation average of N grids.

[0035] Step 13: Set the ter...

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Abstract

The invention discloses a dynamic concave obstacle crossing method for a quadruped robot, and belongs to the technical field of robot motion control. The method comprises the following implementationsteps that firstly, the dropping safety area aiming at a concave obstacle encountered by the robot is detected; secondly, the swinging leg track is re-planned; and finally a robot dynamic concave obstacle crossing stabilization controller is established by using the terrain attitude angle as an input. According to the method, the robot dynamic concave obstacle crossing stabilization controller isestablished, so that crossing of the concave obstacle is realized, and the walking efficiency of the quadruped 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 concave 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 range of the swinging leg is set according to the speed of the manual remote control, therefore, for a large-span concave obstacle: 1) rely on the operator to control the robot to choose to go around; 2) use the operator to determine the size of the concave obstacle Judging and artificially adjusting the swinging trajectory of the swinging leg to cross the concave obstacle. The former can successfully avoid the concave obstacle, but the efficiency is low; the latter may cause the robot to fa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032B60W50/00
CPCB60W50/00B62D57/032
Inventor 许鹏苏波江磊姚其昌党睿娜许威蒋云峰慕林栋降晨星邓秦丹梁振杰汪建兵郭亮卢玉传赵建新
Owner CHINA NORTH VEHICLE RES INST
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