CN107416064A - A kind of domatic motion barycenter method of adjustment of quadruped robot - Google Patents
A kind of domatic motion barycenter method of adjustment of quadruped robot Download PDFInfo
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- CN107416064A CN107416064A CN201710334775.6A CN201710334775A CN107416064A CN 107416064 A CN107416064 A CN 107416064A CN 201710334775 A CN201710334775 A CN 201710334775A CN 107416064 A CN107416064 A CN 107416064A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The present invention proposes a kind of domatic motion barycenter method of adjustment of quadruped robot, i.e., the three kinds methods for adjusting leg shank leg length before and after quadruped robots.The shank of quadruped robot designed by the present invention uses hydraulic cylinder.Realize that barycenter adjusts by increasing the method for robot back leg shank leg length and reduction foreleg shank leg length.For the method for this regulation leg length compared with other method, control is simple, can realize the adjustment of two aspects simultaneously：On the one hand it is the barycenter reach of adjustment robot, barycenter is entered in projected area inside support polygon；On the other hand it is adjustment robot trunk attitude angle, increases robot stabilized nargin.
Description
Technical field
The invention discloses a kind of domatic motion barycenter method of adjustment of quadruped robot.
Background technology
Clinoform is one of landform most commonly seen in natural environment.Quadruped robot is stable when being moved on inclined-plane
The control ratio of property is more difficult on level land, mainly has two big difficult points, first, sufficient end is easily skidded, second, robot easily turns over
, this results in robot stabilization and is greatly reduced.
The content of the invention
In order to solve technical problem present in prior art, the present invention proposes a kind of new quadruped robot barycenter and adjusted
Adjusting method, that is, the method for adjusting leg shank leg length before and after quadruped robot.
The technical solution adopted by the present invention is as follows：
The first scheme provided by the invention is as follows：
A kind of domatic motion barycenter method of adjustment of quadruped robot, four shanks of quadruped robot are using hydraulic cylinder-controlled
Make, control hydraulic cylinder increase robot back leg shank leg long by controller and reduce the method for foreleg shank leg length to realize matter
The heart adjusts.
Further, when the four-footed of described quadruped robot is circular, after the adjustment of described barycenter, quadruped robot
Barycenter subpoint in the horizontal plane fall in stable circle, the central point of described stable circle is four support foots in horizontal plane
Diagonal intersection point, radius is that sufficient end contacts circular radius with ground.
Further, when the four-footed of described quadruped robot is non-circular, after the adjustment of described barycenter, four-footed machine
The subpoint of the barycenter of people in the horizontal plane falls in stable circle, and described stable round central point is four support foots in level
The diagonal intersection point in face, radius are the width for the support polygon that two support foots on diagonal are formed in the horizontal plane
Half.
Second scheme provided by the invention is as follows：
A kind of domatic motion barycenter method of adjustment of quadruped robot, four shanks of quadruped robot are using hydraulic cylinder-controlled
System, control hydraulic cylinder to shorten robot foreleg shank leg by controller and grow, back leg shank leg grows constant method to realize matter
The heart adjusts.
Further, when the four-footed of described quadruped robot is circular, after the adjustment of described barycenter, quadruped robot
Barycenter subpoint in the horizontal plane fall in stable circle, the central point of described stable circle is four support foots in horizontal plane
Diagonal intersection point, radius is that sufficient end contacts circular radius with ground.
Further, when the four-footed of described quadruped robot is non-circular, after the adjustment of described barycenter, four-footed machine
The subpoint of the barycenter of people in the horizontal plane falls in stable circle, and described stable round central point is four support foots in level
The diagonal intersection point in face, radius are the width for the support polygon that two support foots on diagonal are formed in the horizontal plane
Half.
The third scheme provided by the invention is as follows：
A kind of domatic motion barycenter method of adjustment of quadruped robot, four shanks of quadruped robot are using hydraulic cylinder-controlled
System, control hydraulic cylinder to extend robot back leg shank leg by controller and grow, foreleg shank leg grows constant method to realize matter
The heart adjusts.
Further, when the four-footed of described quadruped robot is circular, after the adjustment of described barycenter, quadruped robot
Barycenter subpoint in the horizontal plane fall in stable circle, the central point of described stable circle is four support foots in horizontal plane
Diagonal intersection point, radius is that sufficient end contacts circular radius with ground.
Further, when the four-footed of described quadruped robot is non-circular, after the adjustment of described barycenter, four-footed machine
The subpoint of the barycenter of people in the horizontal plane falls in stable circle, and described stable round central point is four support foots in level
The diagonal intersection point in face, radius are the width for the support polygon that two support foots on diagonal are formed in the horizontal plane
Half.
Beneficial effects of the present invention are as follows：
The present invention discloses the method for the three of the above regulation leg length come compared with other existing methods, and control is simple, can
To realize the adjustment of two aspects simultaneously：On the one hand it is the barycenter reach of adjustment robot, makes barycenter more into supporting in projected area
Inside the shape of side；On the other hand it is adjustment robot trunk attitude angle, increases robot stabilized nargin.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not form the improper restriction to the application.
Fig. 1 hydraulic cylinder shank robot models；
Fig. 2 original state lower bodies barycenter projects and view field；
The projection of body barycenter and view field after the length adjustment of Fig. 3 legs；
Fig. 4 foots end forms support polygon with ground and justified with stable；
In figure：1 body, 2 knee joints, 3 hydraulic cylinder shanks, 4 side-sway hip joints, 5 forward swing hip joints.
Embodiment
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As the volume that background section is introduced, the application in order to realize quadruped robot it is domatic barycenter adjustment, if
A kind of quadruped robot that can adjust leg length is counted, i.e. robot shank uses hydraulic cylinder shank 3, as shown in Figure 1.The machine
People is made up of body 1 and four legs, and every leg has 3 rotary joints, is side-sway hip joint 4, forward swing hip joint 5 and knee respectively
Joint 2；The robot shank is made up of hydraulic cylinder, and the hydraulic cylinder shank can be by adjusting leg before and after hydraulic stem length adjustment
Shank leg length.During robot ambulation, the swing of thigh and shank is driven with other hydraulic cylinder.
Barycenter method of adjustment of the robot in domatic walking：
Embodiment 1
According to ZMP stability criterias, subpoint of the robot barycenter on ground falls the support polygon at sufficient end and ground
It is interior to can reach stabilization.It is assumed that the contact surface on sufficient end and ground is the circle that radius is r, robot is walked with trot
State is moved, and when sufficient end I and sufficient end III are supporting leg, the support polygon that sufficient end is formed with ground is support polygon I；Sufficient end
When II and sufficient end IV is supporting leg, the support polygon that sufficient end is formed with ground is support polygon II.During due to trot gaits,
Two diagonal strut line checkers, if adjusting barycenter subpoint and two cornerwise distances of support respectively, barycenter can make it that
Subpoint is beated back and forth between two support polygons, is unfavorable for the stabilized walking of robot.In order that robot barycenter projection
Point is origin in two support polygon overlapping regions using diagonal intersection point simultaneously in two cornerwise support polygons of support
Make the stable circle that radius is R, when robot barycenter subpoint falls in the region of stable circle, it meets in two supports simultaneously
Polygonal internal, it is ensured that the stability of robot motion, and frequently need not adjust barycenter between two support polygons
Position.Here it is the radius r that sufficient end contacts circle with ground to stablize radius of circle R values.
Robot when on domatic with trot gait motions, original state as shown in Fig. 2 body parallel to inclined-plane, with matter
The heart refers to as ZMP stability, it is assumed that body barycenter overlaps with body axis system origin, and now body barycenter is in horizontal plane
Projection, which falls, is supporting sufficient diagonal side to the rear, and when domatic inclination angle is larger, subpoint falls outside support polygon, causes machine
People's unstability overturns；Subpoint is with supporting the distance between sufficient diagonal crosspoint S1,
Robot foreleg shank is shortened into δ, while back leg shank is extended into δ, as shown in figure 3, robot barycenter reach, matter
Heart subpoint falls in stable circle, in motion process, no matter which two diagonal leg supports, can ensure that barycenter subpoint falls
Inside support polygon.
The determination of above-mentioned stable circle is not limited to sufficient end as circle because many times sufficient end be it is non-circular, therefore,
When sufficient end is other shapes, it is necessary to determine the width of support polygon according to sufficient end size, take the half of width as steady
Surely round radius.
Embodiment 2
A kind of domatic motion barycenter method of adjustment of quadruped robot, four shanks of quadruped robot are using hydraulic cylinder-controlled
System, control hydraulic cylinder to shorten robot foreleg shank leg by controller and grow, back leg shank leg grows constant method to realize matter
The heart adjusts.
Robot barycenter reach, barycenter subpoint falls in stable circle, in motion process, no matter which two diagonal leg branch
Support, can ensure that barycenter subpoint falls inside support polygon.
The determination method of specific stable circle is as follows：
When the four-footed of described quadruped robot is circular, after the adjustment of described barycenter, the barycenter of quadruped robot exists
Subpoint in horizontal plane falls in stable circle, and the central point of described stable circle is diagonal of four support foots in horizontal plane
Intersection point, radius are the radius that sufficient end contacts circle with ground.
When the four-footed of described quadruped robot is non-circular, after the adjustment of described barycenter, the barycenter of quadruped robot
Subpoint in the horizontal plane falls in stable circle, and described stable round central point is four support foots in the diagonal of horizontal plane
Line intersection point, radius are the half of the width for the support polygon that two support foots on diagonal are formed in the horizontal plane.
Embodiment 3
A kind of domatic motion barycenter method of adjustment of quadruped robot, four shanks of quadruped robot are using hydraulic cylinder-controlled
System, control hydraulic cylinder to extend robot back leg shank leg by controller and grow, foreleg shank leg grows constant method to realize matter
The heart adjusts.
Robot barycenter reach, barycenter subpoint falls in stable circle, in motion process, no matter which two diagonal leg branch
Support, can ensure that barycenter subpoint falls inside support polygon.
The determination method of specific stable circle is as follows：
When the four-footed of described quadruped robot is circular, after the adjustment of described barycenter, the barycenter of quadruped robot exists
Subpoint in horizontal plane falls in stable circle, and the central point of described stable circle is diagonal of four support foots in horizontal plane
Intersection point, radius are the radius that sufficient end contacts circle with ground.
When the four-footed of described quadruped robot is non-circular, after the adjustment of described barycenter, the barycenter of quadruped robot
Subpoint in the horizontal plane falls in stable circle, and described stable round central point is four support foots in the diagonal of horizontal plane
Line intersection point, radius are the half of the width for the support polygon that two support foots on diagonal are formed in the horizontal plane.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, model not is protected to the present invention
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deformation that creative work can make still within protection scope of the present invention.
Claims (9)
1. a kind of domatic motion barycenter method of adjustment of quadruped robot, it is characterised in that four shanks of quadruped robot are adopted
Controlled with hydraulic cylinder, control hydraulic cylinder to increase robot back leg shank leg length by controller and reduce the side of foreleg shank leg length
Method come realize barycenter adjust.
2. the domatic motion barycenter method of adjustment of quadruped robot as claimed in claim 1, it is characterised in that when described four-footed
The four-footed of robot for it is circular when, after the adjustment of described barycenter, the subpoint of the barycenter of quadruped robot in the horizontal plane falls
In stabilization is round, the central point of described stable circle supports the sufficient diagonal intersection points in horizontal plane for four, and radius is sufficient end and ground
The circular radius of face contact.
3. the domatic motion barycenter method of adjustment of quadruped robot as claimed in claim 2, it is characterised in that when described four-footed
The four-footed of robot for it is non-circular when, after the adjustment of described barycenter, the subpoint of the barycenter of quadruped robot in the horizontal plane falls
In stabilization is round, the central point of described stable circle supports the sufficient diagonal intersection points in horizontal plane for four, and radius is two positions
In the half of the width for the support polygon that the support foot on diagonal is formed in the horizontal plane.
4. a kind of domatic motion barycenter method of adjustment of quadruped robot, it is characterised in that four shanks of quadruped robot are adopted
Controlled with hydraulic cylinder, control hydraulic cylinder to shorten robot foreleg shank leg by controller and grow, back leg shank leg grows constant side
Method come realize barycenter adjust.
5. the domatic motion barycenter method of adjustment of quadruped robot as claimed in claim 4, it is characterised in that when described four-footed
The four-footed of robot for it is circular when, after the adjustment of described barycenter, the subpoint of the barycenter of quadruped robot in the horizontal plane falls
In stabilization is round, the central point of described stable circle supports the sufficient diagonal intersection points in horizontal plane for four, and radius is sufficient end and ground
The circular radius of face contact.
6. the domatic motion barycenter method of adjustment of quadruped robot as claimed in claim 4, it is characterised in that when described four-footed
The four-footed of robot for it is non-circular when, after the adjustment of described barycenter, the subpoint of the barycenter of quadruped robot in the horizontal plane falls
In stabilization is round, the central point of described stable circle supports the sufficient diagonal intersection points in horizontal plane for four, and radius is two positions
In the half of the width for the support polygon that the support foot on diagonal is formed in the horizontal plane.
7. a kind of domatic motion barycenter method of adjustment of quadruped robot, it is characterised in that four shanks of quadruped robot are adopted
Controlled with hydraulic cylinder, control hydraulic cylinder to extend robot back leg shank leg by controller and grow, foreleg shank leg grows constant side
Method come realize barycenter adjust.
8. the domatic motion barycenter method of adjustment of quadruped robot as claimed in claim 7, it is characterised in that when described four-footed
The four-footed of robot for it is circular when, after the adjustment of described barycenter, the subpoint of the barycenter of quadruped robot in the horizontal plane falls
In stabilization is round, the central point of described stable circle supports the sufficient diagonal intersection points in horizontal plane for four, and radius is sufficient end and ground
The circular radius of face contact.
9. the domatic motion barycenter method of adjustment of quadruped robot as claimed in claim 7, it is characterised in that when described four-footed
The four-footed of robot for it is non-circular when, after the adjustment of described barycenter, the subpoint of the barycenter of quadruped robot in the horizontal plane falls
In stabilization is round, the central point of described stable circle supports the sufficient diagonal intersection points in horizontal plane for four, and radius is two positions
In the half of the width for the support polygon that the support foot on diagonal is formed in the horizontal plane.
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| CN201710334775.6A CN107416064B (en) | 2017-05-12 | 2017-05-12 | A kind of quadruped robot slope surface movement mass center method of adjustment |
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| CN201710334775.6A CN107416064B (en) | 2017-05-12 | 2017-05-12 | A kind of quadruped robot slope surface movement mass center method of adjustment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108426673A (en) * | 2018-04-19 | 2018-08-21 | 燕山大学 | A kind of emergency management and rescue vehicle centroid position measures and method of adjustment |
| CN111714208A (en) * | 2020-06-30 | 2020-09-29 | 深圳市精锋医疗科技有限公司 | Surgical robot, and control device and control method thereof |
| CN111891252A (en) * | 2020-08-06 | 2020-11-06 | 齐鲁工业大学 | Body posture slope self-adaptive control method of four-footed bionic robot |
| CN114115295A (en) * | 2021-12-28 | 2022-03-01 | 深圳市优必选科技股份有限公司 | Robot motion planning method and device, robot control equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108426673A (en) * | 2018-04-19 | 2018-08-21 | 燕山大学 | A kind of emergency management and rescue vehicle centroid position measures and method of adjustment |
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| CN111891252A (en) * | 2020-08-06 | 2020-11-06 | 齐鲁工业大学 | Body posture slope self-adaptive control method of four-footed bionic robot |
| CN111891252B (en) * | 2020-08-06 | 2021-11-05 | 齐鲁工业大学 | Body posture slope self-adaptive control method of four-footed bionic robot |
| CN114115295A (en) * | 2021-12-28 | 2022-03-01 | 深圳市优必选科技股份有限公司 | Robot motion planning method and device, robot control equipment and storage medium |
| CN114115295B (en) * | 2021-12-28 | 2023-08-18 | 深圳市优必选科技股份有限公司 | Robot motion planning method and device, robot control equipment and storage medium |
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