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Jump gait planning method of multi-legged robot

A multi-legged robot and gait planning technology, applied in the field of bionic robots, to achieve the effect of enriching movement modes and gait patterns

Active Publication Date: 2021-04-13
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problem of how a rigid body robot without a bouncing structure performs complex jumping motions, the present invention proposes a method for instructing and realizing the jumping gait of a multi-legged robot by decomposing and imitating human standing long jump motions

Method used

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  • Jump gait planning method of multi-legged robot
  • Jump gait planning method of multi-legged robot
  • Jump gait planning method of multi-legged robot

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Embodiment Construction

[0053] The technical solution proposed by the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0054] Such as figure 1 As shown, a jumping gait planning method for a multi-legged robot includes: observing and decomposing the human standing long jump movement, clarifying the position of the center of gravity and the change of the position of the foot relative to the center of mass, establishing a mathematical model of the position change of the foot, the multi-legged robot Based on kinematics modeling, solve the joint rotation angles based on kinematics and filter and smooth them to control the movement of the robot.

[0055] The human standing long jump can be decomposed into 6 key states, such as figure 2 As shown, the first state is the initial co...

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Abstract

The invention discloses a jump gait planning method of a multi-legged robot. The method comprises the following steps: observing and decomposing human standing long jump motion, and defining a gravity center position and a position change condition of a foot end relative to a mass center; and establishing a mathematical model of a foot end position change, performing kinematics modeling of the multi-legged robot, solving each joint corner based on kinematics, performing filtering and smoothing processing on each joint corner, and controlling the motion of the robot. The invention discloses the jumping gait planning method of the multi-legged robot from the perspective of motion planning in order to solve a problem that the multi-legged robot with a rigid structure cannot realize jumping motion by virtue of an elastic device, and the method is different from the prior art in which only the elastic structure design and the elastic device optimization of the robot are concerned. According to the mode of observing, decomposing and simulating a human motion process, a new reference direction is provided for the multi-legged robot to enhance complex motion skills through self-learning.

Description

technical field [0001] The invention relates to the field of bionic robots, in particular to a jumping gait planning method for a multi-legged robot. Background technique [0002] With its advantages such as flexible structure, good stability, large load capacity and strong environmental adaptability, bionic multi-legged robots will increasingly replace manpower to complete various complex and dangerous tasks, thereby greatly reducing costs. Greatly improve the efficiency of large-scale operations. However, limited locomotion and gait patterns limit the superior performance of multi-legged robots. Although the design and optimization of most bionic robots are getting closer to natural organisms, their rich gaits have not yet been developed. [0003] As the most basic movement method of natural organisms, jumping can help them to cross larger obstacles or deal with sudden crises, and effectively improve the environmental adaptability of legged organisms. As an important fo...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221
Inventor 高勇魏武蔡中斌
Owner SOUTH CHINA UNIV OF TECH
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