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Configuration-variable quadruped robot motion control method and system

A quadruped robot and robot movement technology, applied in the control/regulation system, non-electric variable control, attitude control, etc., can solve the problem of reduced environmental adaptability, slow movement speed, no redundant degrees of freedom and variable configuration motion control Combining these issues to achieve the effects of increasing adaptability and stability, increasing utilization efficiency, increasing stability and robustness

Active Publication Date: 2021-02-05
SHANDONG YOUBAOTE INTELLIGENT ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the current quadruped robots cannot realize multi-configuration switching and multi-configuration motion control, which reduces the environmental adaptability.
At the same time, most of them use static gait movement, the movement speed is slow, and the operation efficiency is higher and faster without dynamic gait
[0004] The inventor believes that for a quadruped robot with a redundant structure, the inverse kinematics solution has multiple solutions. The usual processing method is to first specify the value of a certain joint and simplify it to three degrees of freedom for solution. The main method is to use The traditional control method does not combine redundant degrees of freedom with variable configuration motion control, making full use of the advantages of redundant degrees of freedom

Method used

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  • Configuration-variable quadruped robot motion control method and system
  • Configuration-variable quadruped robot motion control method and system
  • Configuration-variable quadruped robot motion control method and system

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Embodiment 1

[0031] In a typical implementation of the present invention, this embodiment discloses a motion control method for a quadruped robot with a variable configuration of redundant degrees of freedom. It should be noted that, in this embodiment, the quadruped robot is a At present, more general robots, such as the electric-driven quadruped bionic robot disclosed in the patent No. ZL 2016100065414, have front legs on both sides of the front torso, and rear legs on both sides of the rear torso. figure 2 In this embodiment, it is simplified to a model with a torso and limbs.

[0032] The method mentioned in this embodiment, concrete steps are as follows:

[0033] (1) Planning the gait of the quadruped robot;

[0034] Taking the trot gait as the motion gait, each gait cycle includes two states of bipedal support and bipedal swing. On the premise of ensuring that the working space constraints of the feet are satisfied, the foothold point of the robot is adjusted to adjust the position...

Embodiment 2

[0072] In a typical implementation of the present invention, this embodiment discloses a quadruped robot motion control system with a variable configuration of redundant degrees of freedom, including the following modules, and cascading actions between modules:

[0073] The first module is configured to establish an integer programming model of a quadruped robot with the foot position and speed of the quadruped robot as input;

[0074] The second module is configured to switch between various configurations of the robot based on redundant degrees of freedom;

[0075] The third module is configured to plan and execute the motion of the robot according to the current configuration.

[0076] The cascading actions between the modules, the cascading action relationship is that when the nth module is completed, the n+1th module is put into action.

[0077] n is an integer greater than or equal to 1.

[0078] Certainly, the above-mentioned first module, second module, and third mod...

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Abstract

The invention discloses a configuration-variable quadruped robot motion control method and system. The method comprises the following steps that: the gait of a quadruped robot is planned; an integer programming model of the quadruped robot is established by taking the current joint position and speed of the robot as input based on differential kinematics of the robot; based on the redundant degreeof freedom, switching among various configurations of the robot is achieved; and the movement of the robot is planned based on a current configuration, and the expected foot end positions of a supporting phase and a swinging phase are planned. Therefore, all-directional movement of the quadruped robot under multiple configurations is achieved, and stability and adaptability are remarkably improved when the quadruped robot confronts complex terrains.

Description

technical field [0001] The invention belongs to the technical field of quadruped robot control methods, and in particular relates to a variable configuration quadruped robot motion control method and system. Background technique [0002] The statements herein merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] Compared with traditional quadruped robots, quadruped robots with redundant degrees of freedom have stronger terrain adaptation and obstacle-surmounting capabilities, and can adapt to complex terrains by changing their configurations. In the prior art, for example, the TITAN-VIII robot developed by Tokyo Institute of Technology has successfully achieved strong terrain and stability by using an insect configuration. However, the current quadruped robots cannot realize multi-configuration switching and multi-configuration motion control, which reduces the environmental adaptability. At the same ti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 荣学文路广林陈腾刘其兵张国腾张帅帅李明李彬
Owner SHANDONG YOUBAOTE INTELLIGENT ROBOTICS CO LTD
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