Method and device for controlling bionic jumping action of quadruped robot

A quadruped robot, jumping action technology, applied in torque/mechanical power control, non-electric variable control, control/regulation system and other directions, can solve the problem of limited jump height and distance of robots

Inactive Publication Date: 2020-07-03
HANGZHOU YUNSHENCHU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a control method and device for the bionic jumping action of a quadruped robot, to solve the problem of the robot's effective jumping height and distance due to the fact that the robot's leg retraction and leg extension actions in the air need a certain amount of time to complete in the related art. limited questions

Method used

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  • Method and device for controlling bionic jumping action of quadruped robot
  • Method and device for controlling bionic jumping action of quadruped robot
  • Method and device for controlling bionic jumping action of quadruped robot

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Embodiment 1

[0044] According to an embodiment of the present invention, a method embodiment of a method for controlling a jumping action of a quadruped robot is provided. It should be noted that the steps shown in the flow chart of the accompanying drawings can be implemented in a computer system such as a set of computer-executable instructions and, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0045] figure 1 It is a flow chart of a control method for a quadruped robot bionic jump action according to an embodiment of the present invention, as figure 1 As shown, the method includes the following steps:

[0046] Step S101, simplifying the quadruped robot into a rigid body model;

[0047]Step S102, according to the simplified rigid body model, using the gyroscope data combined with the state of the foot to calculate the actual state of the body center of mass; ...

Embodiment 2

[0069] Figure 4 It is a structural schematic diagram of a control device for a bionic jumping action of a quadruped robot provided by an embodiment of the present invention. The device can execute any control method for a bionic jumping action of a quadruped robot provided in any embodiment of the present invention, and has the ability to execute the The corresponding functional modules and beneficial effects of the method. Such as Figure 4 As shown, the device includes:

[0070] The simplified module 91 is used to simplify the quadruped robot into a rigid body model;

[0071] The first calculation module 92, according to the simplified rigid body model, calculates the actual state of the body center of mass by using the gyroscope data combined with the state of the foot;

[0072] The second calculation module 93 plans the centroid curve in three stages, and calculates the virtual force and moment required at the centroid by considering the closed loop of the actual state...

Embodiment 3

[0076] An embodiment of the present invention provides a device, including a memory and a processor, the memory stores a computer program that can run on the processor, and it is characterized in that, when the processor executes the computer program, the A control method for the bionic jumping motion of a quadruped robot.

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Abstract

The invention discloses a method and a device for controlling bionic jumping action of a quadruped robot. The method comprises the following steps: simplifying the quadruped robot into a rigid body model; according to the simplified rigid body model, obtaining the actual state of the mass center of the body through calculation by combining gyroscope data with the foot end state; considering the closed loop of the actual state and the expected state, and calculating the virtual force and moment required by the mass center; obtaining the moment of each joint of the supporting leg according to the obtained virtual force and moment required by the centroid; and executing the moment of each joint of the supporting leg by a motor to jump. According to the technical scheme, the leg power generation mode of the robot is optimized, that is, the leg power generation mode is divided into three stages, the mode that the front leg and the rear leg respectively exert force according to stages is adopted, the torque output capacity of a leg control motor of the robot is almost utilized to the limit, the retention time of the robot in the air is more reasonably utilized, the jumping distance and the obstacle clearing height which are obviously superior to those of Pronk actions are obtained, and the crossing distance reaches about 1.5 m.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a control method and device for the bionic jumping action of a quadruped robot. Background technique [0002] At present, existing robots can perform simple actions such as walking, running and jumping, and have a certain ability to pass through some grasslands, slopes and steps. In the real world, in addition to the regular road surfaces above, there are also a large number of irregular obstacles, such as stone steps or pipes that cross the road. Compared with wheeled robots, quadruped robots have an essential advantage in the ability to cross obstacles due to their different movement modes. It is difficult for wheeled robots to overcome obstacles with a certain height and width. [0003] Jumping is a common movement method of quadrupeds. According to the sequence of leg exertion, it can be divided into four-legged simultaneous take-off ("Pronk") and the way of kicking off with bo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D17/02
CPCG05D17/02
Inventor 刘静宇李超储振张江元赵逸栋朱秋国
Owner HANGZHOU YUNSHENCHU TECH CO LTD
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