Controllable multi-point ground contact leg structure of quadruped robot and control method

Abstract

The embodiment of the invention provides a controllable multi-point ground contact leg structure of a quadruped robot and a control method. A forearm comprises two or more ground contact points which are separated from each other; the plurality of ground contact points can be independently driven; the structure is simple, the reliability is high, and the possibility of low-cost and large-scale manufacturing is achieved; the leg structure is compatible with high trafficability of a traditional quadruped robot, and traditional control can be directly transplanted to the leg structure; in addition, a traditional quadruped robot belongs to an under-actuated system, the upper body has six degrees of freedom, but only five independent controls can be provided. According to the invention, the quadruped robot can have full-time and continuous six independent control of all six degrees of freedom of the upper body. The quadruped robot can achieve a full-drive system through a simple overall layout, and the stability of the quadruped robot is greatly improved while the high trafficability and high adaptability of a traditional quadruped robot are not affected.

Description

Technical field [0001] Embodiment of the present disclosure relates to the field of robotics, in particular to a multi-controllable quadruped robot leg structure and control method of contacting the ground. Background technique [0002] Quadruped robot currently available high-performance ground-contacting manner with each leg mostly single point (or a single region) in contact. A plurality of independently controllable single leg of the separation point (or separate regions) the quadruped robot rare contact with the ground, such as the current leg of the mechanical structure is too complicated, difficult to drive. Difficult to meet the requirements of high-performance sports. [0003] Deficiencies in the prior art are the following: [0004] Foot single point of contact (1) the traditional four-legged robot is prone to slide, seriously affect the stability of the robot. [0005] (2) a conventional single point contact quadruped robot, for example, a power Spot Boston, or MIT min...

AI Technical Summary

Problems solved by technology

[0006](3) Some existing quadruped robots with single leg and single contact surface, such as CN108001560A, have 6 fully controllable degrees of freedom, but the structure is too complicated

The mass distribution of a single leg is limited by the mechanical structure of the scheme, and the center of gravity of the single leg has to be far away from the body, which is difficult to meet the high-performance dynamics requirements

[0007] Some existing single-leg multi-point contact surface quadruped robots, such as CN113129729A, cannot realize fully controllable 6 independent degrees of freedom

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