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A method for a quadruped robot to dynamically cross concave obstacles

A quadruped robot and robot technology, which is applied in motor vehicles, transportation and packaging, etc., can solve problems such as low efficiency, robots falling into concave obstacles, and lack of research on local autonomous planning of foot landings, so as to improve stability and flexibility. , Improve walking efficiency and achieve the effect of dynamic self-adaptation

Active Publication Date: 2021-05-28
CHINA NORTH VEHICLE RES INST
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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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  • A method for a quadruped robot to dynamically cross concave obstacles
  • A method for a quadruped robot to dynamically cross concave obstacles
  • A method for a quadruped robot to dynamically cross concave obstacles

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Embodiment Construction

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

[0029] The invention provides a method for dynamically crossing a concave obstacle for a quadruped robot. The steps of the method are as follows figure 1 shown:

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

[0031] Step 11: Integrate multi-sensors such as airborne cameras and lidars to establish an elevation map of the landing area, and obtain the elevation information x of the landing area, as shown in the appendix figure 2 shown.

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

[0033]

[0034] where N is the number of elevation grids, x i is the elevation value of the i-th grid, is the mean elevation of N grids.

[0035] Step 13: Set the terrain relief informatio...

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Abstract

The invention discloses a method for a quadruped robot to dynamically cross concave obstacles, and belongs to the technical field of robot motion control. The implementation steps of the method are as follows: firstly, the safety area of ​​the robot's footing in the face of concave obstacles is detected; secondly, the swing leg trajectory is replanned; The invention realizes the leaping over concave obstacles by establishing a dynamic obstacle-surmounting stable controller for the robot, and improves the walking efficiency of the quadruped robot on complex obstacle road surfaces.

Description

technical field [0001] The invention relates to the technical field of robot motion control, in particular to a method for dynamically crossing concave obstacles for a quadruped robot. Background technique [0002] Compared with traditional wheeled and tracked vehicles, quadruped robots can adapt to complex terrains such as plateaus and mountains by selecting discrete swing legs to land on their feet. At present, quadruped robots mainly focus on self-sensing-based For body control, the stride range of the swinging leg is set according to the speed of the manual remote control. Therefore, for large-span concave obstacles: 1) rely on the operator to control the robot to select the detour; 2) use the operator to determine the size of the concave obstacle Judgment to artificially adjust the swing trajectory of the swing 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 fall int...

Claims

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Application Information

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Patent Type & Authority Patents(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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