CN107562055A - A kind of steering strategy of bionical quadruped robot - Google Patents
A kind of steering strategy of bionical quadruped robot Download PDFInfo
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- CN107562055A CN107562055A CN201710780850.1A CN201710780850A CN107562055A CN 107562055 A CN107562055 A CN 107562055A CN 201710780850 A CN201710780850 A CN 201710780850A CN 107562055 A CN107562055 A CN 107562055A
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Abstract
The invention discloses one kind to turn to strategy, and applied to bionical quadruped robot, methods described includes：Interior parapodum and the mathematical modeling of outer parapodum motion in steering procedure；Overall stabilization is kept in steering procedure；The single processing mode turned to when flow can not complete expected turn.Strategy is turned to by following this, quadruped robot can be made to keep preferable stable in steering procedure, it is unbalance in fast steering to avoid high center of gravity robot.
Description
Technical field：
The present invention relates to steering and the control plan of a kind of course changing control strategy, more particularly to a kind of bionical quadruped robot
Slightly.
Technical background：
The four-footed of this steering strategy uses similar mechanical structure, largely improves body and is walked in high speed
And the stability turned to.It is most widely that front-wheel is based on trapezoidal bar linkage steering engine in Hyundai Motor that it is most long, which to turn to strategy use,
Structure, invented in 19 end of the centurys by Ai Keman.Later on the basis of front-wheel steer, four-wheel drive strategy has been derived.Front-wheel steer
Structure is set to have obtained greatly simplifying, four-wheel steering preferably improves steering stability and the mobility of vehicle.It is and bionical
The steering strategy of quadruped robot is to be based on this principle, with reference to bionics principle, is correspondingly improved and is innovated.
Chinese invention patent application the CN201010510036.6th is retrieved, on May 4th, 2011, disclosure (called contrast in the following text
File 1), a kind of autonomous parking strategy of rear-wheel steering vehicle is disclosed, to tackle to the more difficult Self-sustained Sequence of driver
Formula is parked the new rear-axle steering strategy of situation, and details are referring to Fig. 4.
When turning to tactful using this slip, its strategy step is excessively cumbersome, fault-tolerant to being had certain limitations using object
Property is poor, and economic serviceability is low；When turning to tactful using this rear wheel drive, complex steps, stability is poor, and economic serviceability is low.
The content of the invention：
It is an object of the invention to overcome above-mentioned deficiency, there is provided a kind of stability is higher, the higher steering of economic serviceability
Strategy so that quadruped robot can keep good stability under fair speed operating.
By the technical characteristic of the present invention compared with documents 1, the complexity of strategy is reduced, by the cumbersome step of steering
It is rapid to show code aspect, and by its modularization, reduce the complexity of operation.
Concrete operation step is as follows：
After S1 systems send steering order, quadruped robot receives the signal of turning by bluetooth, then inner side both feet
Take a step forward, land simultaneously.
On the inside of S2 after the steady landing of both feet, body centre-of gravity shift, outside both feet lift, and adjust to parallel with inner side biped
Pin successively rotates certain radian around interior parapodum pivot before and after on the outside of S3, wherein the maximum of front lateral crus turns
To meeting certain critical value.
S4 lateral crus lands.After treating body stable equilibrium, judge whether to complete to be expected steering, if completing, perform S5；
If not completing, S1-S3 process is repeated, until completing expected steering, performs S5；
Then S5 feedback signals adjust posture and keep straight trip to end is remotely controlled
Brief description of the drawings：
Fig. 1：Mechanical camel four-footed relative position and size marking schematic diagram under straight-going state
Fig. 2：Four-footed relative position Angular Dimension relation and mark schematic diagram under turn condition
Fig. 3：" to cut for arc " turning principle schematic
Fig. 4：The similar structure chart of patent one
A is sole horizontal maximum size in Fig. 1, and b is the full-size of sole longitudinal direction, d be two soles choose reference point it
Between, the respectively horizontal midpoint of both sides sole.
It is respectively the angle that turns of two soles before and after each partial circulating in Fig. 2.
It is to cut the continuous broken line for arc in Fig. 3, is the arc section of continuous and derivable, for the required angle turned
Specific embodiment：
Scheme is described further below in conjunction with the accompanying drawings：
1. as shown in figure 1, the quadruped robot current kinetic moment is located at the close turn curvature center in front in direction of advance
Pin be crus mediale, the leg on side is lateral crus；When system sends turn command, the crus mediale of robot front and back
Lift simultaneously, move forward a small distance, and land, it is a bit of that now front and rear outer legs also lift forward movement simultaneously
Distance, make interior lateral crus parallel, but lateral crus does not land.
2. now outer legs sole does not land after having performed 1., then the lateral crus has selected in being slapped with crus mediale
Fixed reference point E1For the center of circle, two soles select reference point E1E2The distance between d be radius, painting folder angle is α1, arc length
Circular arc after land, meanwhile, outside sole below is with E '1For the center of circle, two soles select reference point E '1E′2The distance between d
For radius, painting folder angle is α2, arc length isCircular arc.Wherein,
α1=1.5 α2, (1)
Wherein, the outside sole angle of turn α in front1There is a maximum critical value α0, meet condition
Calculated with Matlab
Wherein, a, b are respectively the wide and long of the foot of quadruped robot one, and reference distances of the d between metapedes, i is imaginary number list
Position, the result actually calculated is positive number.
3. β is target angle of turn, step " (1)-(2) " is a partial circulating, requires, repeats if not completing to turn
Step " (1)-(2) " (as shown in Figure 3) is performed, the number that front and rear sole performs circulation is respectively N1With N2, N1With N2It can pass through
Program is obtained.L1For to cut the continuous broken line for arc, L '1For the arc section of continuous and derivable.Turn curvature radius is:
Until completing angle of turn β demands.
Wherein, L2For the length of camber line drawn by outer parapodum.In practical operation, because d α1, d α2Very little, so automatic full
Foot (7).We are replaced with small angle approximation, and it is summed, and integral operation thus is converted into summation.
Claims (3)
1. a kind of course changing control strategy for bionical quadruped robot, summation and the principle of stable triangular are make use of, will be held
The arc track of the interior parapodum motion of the quadruped robot of row turning strategy is refined into some straight lines, and spatially accumulation is into closely
As circular arc, outer parapodum with interior parapodum take a step do movement in a curve in the air with centre-of gravity shift, reach and smoothly turn to effect.
2. course changing control strategy as claimed in claim 1, the front and rear angular relationship for turning to foot meets：
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Wherein, α1The angle of central angle, α are corresponded to for circular arc drawn by the step of inner side metapedes one2It is corresponding for circular arc drawn by the step of inner side metapedes one
The angle of central angle.
3. course changing control strategy as claimed in claim 1, in steering procedure, the steering angle of outside metapedes meets
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Wherein, a, b are respectively the wide and long of the foot of quadruped robot one, and reference distances of the d between metapedes, i is imaginary unit, real
The result that border calculates is positive number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710780850.1A CN107562055A (en) | 2017-09-01 | 2017-09-01 | A kind of steering strategy of bionical quadruped robot |
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| CN201710780850.1A CN107562055A (en) | 2017-09-01 | 2017-09-01 | A kind of steering strategy of bionical quadruped robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108614421A (en) * | 2018-05-17 | 2018-10-02 | 长安大学 | A kind of quadruped robot motion control method based on central pattern generator (cpg) |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108614421A (en) * | 2018-05-17 | 2018-10-02 | 长安大学 | A kind of quadruped robot motion control method based on central pattern generator (cpg) |
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Application publication date: 20180109 |