A general gait design and control method of a footed robot

A control method and robot technology, applied in two-dimensional position/channel control, control/regulation system, non-electric variable control and other directions, can solve the problem of insufficient simulation, simplified Hopf oscillator output signal changes, poor stability of quadruped robots, etc. problem, to achieve the effect of accurate control, high control precision and simple control

Active Publication Date: 2022-08-05
广州市威控机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] At present, the central mode generator simply changes the output of the Hopf oscillator, and at the same time, uses the body posture of the foot robot as a simple proportional differential feedback signal, and combines the two as the final gait control signal of the foot robot. It is because the change of the output signal of the Hopf oscillator is too simplified, resulting in large pitching and rolling motions of the footed robot during the movement process, resulting in low stability of the footed robot during the movement process.
[0006] The previous gait controller of the footed robot based on the Hopf oscillator, the gait controller is not enough to simulate the details of the animal's diagonal gait movement, which makes the quadruped robot very poor in stability during the movement process

Method used

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  • A general gait design and control method of a footed robot
  • A general gait design and control method of a footed robot
  • A general gait design and control method of a footed robot

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Embodiment 1

[0069] This embodiment provides a general gait design and control method for a footed robot. In the aspect of gait design, the present invention simplifies the gait design into the setting of gait parameters. A set of gait parameters corresponds to one gait type, and the A set of key locations within a gait cycle. Each gait cycle has 2 states: turning on the ground and swinging in the air, each leg is repeating the same gait cycle, but the starting position is different (with a phase difference). This method can quickly design a variety of gaits for the robot and smoothly switch between different synchronous states; in terms of control, the present invention provides a control method for different robot walking gait, walking speed, leg lift height, body height and other control variables. A set of universal foot robot foot trajectory calculation methods to adapt to various complex terrains.

[0070] The method described takes a hexapod robot as an example, and this embodiment...

Embodiment 2

[0132] This embodiment provides a general gait design and control method for a footed robot. The method takes a hexapod robot as an example. This embodiment uses a triangle 12 gait for description. figure 2 shown, as follows:

[0133] In this embodiment, the following definitions are made:

[0134] StepsInGait=12 There are a total of 12 steps in a gait cycle;

[0135] NrLiftedPos=3 3 steps in a gait cycle are in the air;

[0136] TLDivFactor=8 moves on the ground 8 times in one gait cycle;

[0137] NomGaitSpeed=150 The step size of each step is 150 (unit: mm);

[0138] HalfLiftHeigth=True, the leg lift height of serial numbers 2 and 12 is half of serial number 1;

[0139] LRGaitLegNr=1 The starting sequence number of the left rear leg is 1;

[0140] RFGaitLegNr=3 The starting sequence number of the right front leg is 3;

[0141] LMGaitLegNr=5 The starting sequence number of the left middle leg is 5;

[0142] RRGaitLegNr=7 The starting sequence number of the right hind ...

Embodiment 3

[0198] This embodiment provides a general gait design and control method for a footed robot. The method takes a hexapod robot as an example. This embodiment is described with a triangular 6 gait. image 3 shown, as follows:

[0199] In this embodiment, the following definitions are made:

[0200] StepsInGait=6 There are a total of 6 steps in a gait cycle;

[0201] NrLiftedPos=2 2 steps in a gait cycle are in the air;

[0202] TLDivFactor=3 moves on the ground 3 times in one gait cycle;

[0203] NomGaitSpeed=150 The step size of each step is 150 (unit: mm);

[0204] HalfLiftHeigth=FALSE No. 2 and 1 have the same height of the raised leg;

[0205] LRGaitLegNr=4 The starting sequence number of the left rear leg is 4;

[0206] RFGaitLegNr=1 The starting sequence number of the right front leg is 1;

[0207] LMGaitLegNr=1 The starting sequence number of the left middle leg is 1;

[0208] RRGaitLegNr=1 The starting sequence number of the right hind leg is 1;

[0209] LFGaitLegN...

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Abstract

The invention provides a general gait design and control method of a footed robot. The gait design includes determining the gait parameters: StepsInGait, NrLiftedPos, TLDivFactor, HalfLiftHeigth, and the position parameters of the starting key points of the gait cycle of each leg of the footed robot. These parameters are used to determine a set of key position points in the gait cycle. The control method obtains the position coordinates of the foot end of each step of each leg of the robot in a gait cycle, and solves the rotation angle of each joint of the leg according to the kinematic model and inverse kinematics. The invention simplifies the gait design into the setting of gait parameters, one set of gait parameters corresponds to one gait type, and a set of key position points in the gait cycle is determined; Height, fuselage height and other control variables, provide a set of general foot robot foot trajectory calculation method.

Description

technical field [0001] The invention relates to the technical field of footed robots, in particular to a general design and control method of the gait of a footed robot. Background technique [0002] Compared with other mobile robots, footed mobile robots have higher flexibility and environmental adaptability, and have attracted more and more attention of researchers. Divided according to the number of robot legs, it can be divided into two categories: monopod robots and multi-legged robots. Among them, quadruped robots are the main ones. This is because, on the one hand, from the perspective of bionics , Higher mammals are almost all quadrupeds. On the other hand, from the perspective of the control of antipodal robots, quadruped robots move more smoothly than biped robots. There are also more common hexapod robots. Similar to a quadruped robot, it is simpler to control than a single-group robot. For example, Patent Application Publication No.: CN102267509A, Invention Nam...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223
Inventor 贺培冯嘉鹏李钟
Owner 广州市威控机器人有限公司
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