CN108454724A - Biped robot with multi-motion modes and its control method - Google Patents
Biped robot with multi-motion modes and its control method Download PDFInfo
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- CN108454724A CN108454724A CN201810359947.XA CN201810359947A CN108454724A CN 108454724 A CN108454724 A CN 108454724A CN 201810359947 A CN201810359947 A CN 201810359947A CN 108454724 A CN108454724 A CN 108454724A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 210000002683 foot Anatomy 0.000 claims abstract description 27
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000000712 assembly Effects 0.000 abstract description 2
- 238000000429 assembly Methods 0.000 abstract description 2
- 230000009466 transformation Effects 0.000 abstract description 2
- 230000007547 defect Effects 0.000 abstract 1
- 230000036544 posture Effects 0.000 description 16
- 230000007306 turnover Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000000386 athletic effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009514 concussion Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000000306 recurrent effect Effects 0.000 description 1
Classifications
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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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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
This specification embodiment is related to a kind of biped robot with multi-motion modes and its control method, the biped robot includes robot body and two semicircular legs foots, the robot body includes motor drive module and pedestal, and control module and power module are additionally provided on the robot body；Each semicircular legs foot structure is identical, including integrally formed semicircular part and radial extension, two semicircular legs are symmetrically disposed on the robot body both sides enough, are connected to the shaft both ends of the motor drive module.The robot of the present invention is only applicable at least six kinds of motor pattern machine assemblies that biped can be realized, and motor pattern transformation can be realized as by the velocity of rotation and rotation direction of regulation motor shaft, the fillet connection Machine Design of the pedestal of robot is anti-tipping design, and completely new robot overall dimensions parameter designing, traditional robot machinery can be overcome to bear, and miscellaneous, size is larger and the higher defect of cost.
Description
Technical field
This specification embodiment is related to mobile robot field, especially a kind of biped machine with multi-motion modes
People and its control method.
Background technology
Application of the mobile robot in the working environment of extreme terrain is more and more extensive.And only has multi-motion
The robot of pattern just adapts to complicated landform.Existing foot formula mobile robot has two foots, four-footed or six foots etc., motor pattern
Single, control is complicated, and general to have negative miscellaneous machinery, the designs such as electronics, overall structure size is larger, and cost is higher.
As a result, there is an urgent need for finding a kind of novel robot, the variation of multi-motion modes may be implemented, adapt to different ground
Face ring border and function, to overcome the above problem.
Invention content
This specification embodiment provides a kind of biped robot, and the biped robot includes robot body and two and half
Circle leg foot, the robot body includes motor drive module and pedestal, and control module is additionally provided on the robot body
And power module；Each semicircular legs foot structure is identical, including integrally formed semicircular part and radial extension, two institutes
It states semicircular legs and is symmetrically disposed on the robot body both sides enough, be connected to the shaft both ends of the motor drive module；It is described
The shape for the robot body that motor drive module and pedestal are constituted includes ship shape portion and rectangular extension.
Further alternative, the bottom in ship shape portion is horizontal linear lower edge, water at the vertical projection of rectangular extension
Flat line lower edge to ship shape portion both sides of the edge be radiused edges.
Further alternative, it is outside the T-type with hollow out that the pedestal of the robot body, which is two side external surfaces,
Surface, the interconnecting piece between the both sides of two T-type outer surfaces are the interconnecting piece of rounded structure.
Further alternative, the size relationship of the semicircular legs foot and the robot body meets the following conditions：
(1)
(2)
(3)
(4)Ae2+ Be+C=0
(5)
(6)
(7)
(8)
Wherein, the thickness of the semicircular legs foot radial extension is h, and the length on the outside of motor axis hole to radial extension is
The thickness of e, semicircular part are t, and the length on the left of the center of circle to radial extension of semicircular part is r；
The rectangular extension left side edge is l, extension right side edge and ship shape at a distance from ship shape portion left side edge
The distance of portion's right side edge is also l, and the width of the rectangular extension is d,
The distance of machine shaft to extension top edge is i, and the distance of machine shaft to ship shape portion horizontal upper edge is n,
The distance of machine shaft to ship shape portion horizontal lower edge is j, and the length of machine shaft to ship shape portion radiused edges is also r.
Further alternative, control module is embedded in remote control unit, it can be achieved that remote handle is remotely controlled, and change semicircular legs are sufficient
Velocity of rotation and rotation direction.
Further alternative, control module can manually control, and change the velocity of rotation and rotation direction of semicircular legs foot.
This specification embodiment provides a kind of control method of biped robot, and the electricity is controlled by the control module
Machine drive module so that the machine shaft of the motor drive module rotates, and is rotated by machine shaft so that robot is not with
Same pattern work.
It is further alternative, it is rotated by machine shaft so that robot is operated in different modes and specifically included：
A. when machine shaft rotates clockwise, if the initial attitude of robot is walking, the motor pattern of robot
Five kinds of different motor patterns can be undergone successively with the rotation of machine shaft：Steady pattern shakes step mode, skipping mode three
Type Walking Mode enters back into dancing mode and rear overmolded formula；
B, when machine shaft rotates clockwise, if the initial attitude of robot is take-off posture, the motor pattern of robot
As midstance is first undergone in the rotation of machine shaft, above-mentioned five kinds of different motor patterns are then realized successively；
C, when machine shaft rotates counterclockwise, robot enters preceding overmolded formula.
It is further alternative, if the initial attitude of robot is walking, when machine shaft rotates clockwise, work as motor
When shaft rotating speed is 0-2.15rad/s, the motor pattern of robot is steady pattern；When machine shaft rotating speed is 2.15-
When 5.85rad/s, the motor pattern of robot is to shake step mode；When machine shaft rotating speed is 5.85-7.12rad/s, robot
Motor pattern be skipping mode；When machine shaft rotating speed is 7.12-17.7rad/s, robot will be by the gradual mistake of skipping mode
It crosses to dancing mode；When machine shaft rotating speed is more than 17.7rad/s, the motor pattern of robot is rear overmolded formula；
If the initial attitude of robot is take-off posture, when machine shaft rotates clockwise, when machine shaft rotating speed is 0-
When 1.27rad/s, robot is in standing pattern；When machine shaft rotating speed is 1.27-2.07rad/s, robot is in steady
Step mode；When machine shaft rotating speed is 2.07-6.06rad/s, the motor pattern of robot is to shake step mode；Machine shaft turns
When speed is 6.06-7rad/s, the motor pattern of robot is skipping mode；When machine shaft rotating speed is 7-17.42rad/s, machine
Device people will be gradually transitions dancing mode by skipping mode；When machine shaft rotating speed is more than 17.42rad/s, the movement of robot
Pattern is rear overmolded formula.
It is further alternative, in the Walking Mode, dancing mode and rear overmolded formula, with the rotation of machine shaft,
The motion process of robot all includes successively：A. robot body does circumference relative to machine shaft while semicircular legs land enough
Ground is moved from, b. semicircular legs foots leave ground simultaneously with robot body；C. robot body lands.
Above-mentioned at least one technical solution that this specification embodiment uses can reach following advantageous effect：
(1) the fillet connection Machine Design of the pedestal of robot is anti-tipping design；
(2) design of semicircle leg foot and robot body enables machine to have multi-motion modes；
(3) completely new robot overall dimensions parameter designing；
(4) motor pattern transformation can be realized as by the velocity of rotation of regulation motor shaft；
(5) at least five kinds of motor pattern machine assemblies achieved by robot；
(6) different ground environment and function are adapted to.
Description of the drawings
In order to illustrate more clearly of this specification embodiment or technical solution in the prior art, below will to embodiment or
Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments described in this specification embodiment are not paying creative labor for those of ordinary skill in the art
Under the premise of dynamic property, other drawings may also be obtained based on these drawings.
Fig. 1 is the overall assembling schematic diagram of the present invention；
Fig. 2 a are the semicircular legs foot design parameter figures of the present invention；
Fig. 2 b are the robot body design parameter figures of the present invention；
Fig. 2 c are the robot jump original states of the present invention；
Fig. 2 d are the robot walking original states of the present invention；
Fig. 3 is the pedestal design example figure of the present invention；
Fig. 4 is the take-off attitude motion pattern analysis figure of the present invention；
Fig. 5 is the walking motor pattern analysis chart of the present invention；
Fig. 6 be the present invention before turn over motor pattern analysis chart；
Fig. 7 is four kinds of main movement mode example figures of the present invention；
Fig. 8 a are the walking mode conversion analysis charts of the present invention；
Fig. 8 b are the take-off gesture mode transform analysis figures of the present invention；
Fig. 8 c are the preceding overmolded formula transform analysis figures of the present invention.
In figure：1, control module；2, semicircular legs foot；3, motor drive module；4, power module；5, pedestal.
Specific implementation mode
Referring to Fig.1, the shaft both ends of motor drive module 3 are fixedly connected with two semicircular leg foot 2, realize motor rotation simultaneously
Two legs are driven to rotate enough.
Power module 4, control module 1 and motor drive module 3 are bound together, and pedestal 5 can partial occlusion control module 1
With power module 4, and with motor drive module 3 by two pins together with.
Two cameras can be arranged in the suitable position of pedestal 5 and motor drive module 3 to realize the functions such as investigation.
Control module 1 is embedded in remote control unit, it can be achieved that remote handle is remotely controlled, to change the rotation speed of semicircular legs foot
The variation of degree and rotation direction.
With reference to Fig. 2 a, semicircular legs foot parameter model includes integrally formed semicircular part and extension, and wherein extension is
Rectangle, mode as shown in the figure are placed, and the thickness of extension is h, and the length on the outside of motor axis hole to extension is e, semicircle
The thickness in portion is t, and the length on the left of the center of circle to extension of semicircular part is r.
With reference to Fig. 2 b, electrically driven module 3 and pedestal 5 are connected and composed into entire robot body, robot body includes
Ship shape portion and extension, wherein extension is rectangular configuration, when ship shape portion is horizontal positioned, level of the extension from ship shape portion
Top edge extends out and perpendicular to the horizontal extension.
Extension left side edge is l, extension right side edge and ship shape portion right edge at a distance from ship shape portion left side edge
The distance of edge is also l, and the width of extension is d, and the bottom in ship shape portion is horizontal lower edge, water at the vertical projection of extension
Flat lower edge to ship shape portion both sides of the edge be radiused edges.
The distance of motor axis hole to extension top edge is i, and the distance of motor axis hole to ship shape portion horizontal upper edge is n,
The distance of motor axis hole to ship shape portion horizontal lower edge is j, and the length of motor axis hole to ship shape portion radiused edges is r.
With reference to Fig. 2 c, Fig. 2 d, configuration again, semicircular legs foot will be carried out after semicircular legs foot and the combination of robot body two parts
Meet geometrical relationship shown in two figures in accumbency and upright state between robot body.
With reference to Fig. 2 a, 2b, 2c, 2d, the relationship in figure between each size meets following equalities.
(1)
(2)
(3)
(4)Ae2+ Be+C=0
(5)
(6)
(7)
(8)
With reference to Fig. 3, pedestal of the invention is related to including two types, and the pedestal in left side is designed as plain edition design, side
Angle is designed to straight flange；The pedestal on right side is designed as anti-tipping design, it is characterized in that corner is designed as fillet.
With reference to Fig. 4, motor rotates clockwise, from take-off posture to finally landing and realize that a cycle, robot pass through altogether
Go through four-stage.Take-off before liftoff, is emptied, contacts to earth and wave, and subsequently into another posture, the another kind posture includes walking
Posture, jump posture and after turn over posture.
The above-mentioned posture by take-off, why can undergo three kinds of different movement locus, be because motor speed not
Together, lead to the variation of the dynamic performance of semicircular legs foot and robot body.
With reference to Fig. 5, motor rotates clockwise, and robot is from walking and after completing a cycle, and from take-off
Posture set out it is identical, due to motor speed change and generate three kinds of different athletic postures, the athletic posture includes walking appearance
State, jump posture and after turn over posture.
With reference to Fig. 6, when motor rotates counterclockwise, whether from walking or from take-off posture, machine
People can enter a kind of identical recurrent state.Therefore in motor reversal, robot only has a kind of preceding overmolded formula.
With reference to Fig. 7, four kinds of main movement patterns of the robot in the present invention include：Walking Mode, dancing mode, after turn over
Pattern, preceding overmolded formula.
It goes forward side by side to robot modeling for the motor speed situation for analyzing when each mode conversion with reference to Fig. 8 a, Fig. 8 b, Fig. 8 c
It takes action mechanical analysis, the shaft of motor drive module is y in distance definition of the vertical direction apart from horizontal plane, and y is with motor pattern
Variation and the curve graph that changes as shown, in steady pattern, two pulse wave crests are presented in curve, remaining position tends to be flat
Surely；In shaking step mode, curve is rendered as the smaller and smaller continuous impulse waveform of trough；In skipping mode, curve includes
One sharp trough pulse；In dancing mode, curve is the impulse waveform uniformly shaken；In preceding overmolded formula, at described turn
When the rotational frequency of axis is less than the frequency of unstable state, the impulse waveform of profiles uniform concussion, wave crest and adjacent peaks away from
Increase from the rotating speed with shaft and reduces.
In dynamic analysis, the linear acceleration mode of motor speed is set, the movement of robot shows different fortune
Dynamic model formula.
In Fig. 8 a, with walking setting in motion, the motion state of robot experience shakes step, three type of leapfrog from steady
Type ambulatory status, then to jump, after turn over, amount to five kinds of different motor patterns.If choosing appointing between motor pattern in figure
The movement of corresponding state will be made by meaning speed, robot.
In Fig. 8 b, with take-off posture setting in motion, the motion state experience of robot is first stood, then real successively for robot
Now with the first pattern identical five kinds of mode conversions (steadily, shake step, leapfrog is jumped, after turn over), similarly choose wherein arbitrary speed
Degree, robot do corresponding sports.
In Fig. 8 c, changes the direction of the speed of revolute joint, mode conversion is turned over before realization.In the increased mistake of speed
The preceding overmolded formula of Cheng Zhong, robot are constant, until speed increases to approximate with ontology intrinsic frequency, show unstable state.
Arbitrary speed is chosen in the process, can all realize the preceding overmolded formula of robot.
According to the above analysis, it is only necessary to reach above-mentioned by remote control or manual adjusting, the rotating speed for controlling robot motor
Some value between different mode.In present example, the velocity amplitude of motor in following table need to only be chosen.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
Including so that process, method, commodity or equipment including a series of elements include not only those elements, but also wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that wanted including described
There is also other identical elements in the process of element, method, commodity or equipment.
Each embodiment in this specification embodiment is described in a progressive manner, identical phase between each embodiment
As part just to refer each other, each embodiment focuses on the differences from other embodiments.Especially for
For system embodiment, since it is substantially similar to the method embodiment, so description is fairly simple, related place is referring to method
The part of embodiment illustrates.
Claims (10)
1. a kind of biped robot, which is characterized in that the biped robot includes robot body and two semicircular legs foots, institute
It includes motor drive module and the pedestal to state robot body, and control module and power supply are additionally provided on the robot body
Module；Each semicircular legs foot structure is identical, including integrally formed semicircular part and radial extension, two semicircles
Leg is symmetrically disposed on the robot body both sides enough, is connected to the machine shaft both ends of the motor drive module；The electricity
The shape for the robot body that machine drive module and pedestal are constituted includes ship shape portion and rectangular extension.
2. biped robot according to claim 1, which is characterized in that the bottom in ship shape portion is in the vertical of rectangular extension
It is horizontal linear lower edge at projection, horizontal linear lower edge to ship shape portion both sides of the edge is radiused edges；
It is the T-type outer surface with hollow out that the pedestal of the robot body, which is two side external surfaces, outside two T-types
Interconnecting piece between the both sides on surface is the interconnecting piece of rounded structure.
3. biped robot according to claim 1, which is characterized in that the semicircular legs foot and the robot body
Size relationship meets the following conditions：
(1)
(2)
(3)
(4)Ae2+ Be+C=0
(5)
(6)
(7)
(8)
Wherein, the thickness of the semicircular legs foot radial extension is h, and the length on the outside of motor axis hole to radial extension is e, partly
The thickness of rounded portions is t, and the length on the left of the center of circle to radial extension of semicircular part is r；
The rectangular extension left side edge is l at a distance from ship shape portion left side edge, and extension right side edge is right with ship shape portion
The distance of lateral edges is also l, and the width of the rectangular extension is d,
The distance of machine shaft to extension top edge is i, and the distance of machine shaft to ship shape portion horizontal upper edge is n, motor
The distance of shaft to ship shape portion horizontal lower edge is j, and the length of machine shaft to ship shape portion radiused edges is also r.
4. biped robot according to claim 1, which is characterized in that control module is embedded in remote control unit, can be real
Existing remote handle remote control, changes the velocity of rotation and rotation direction of semicircular legs foot.
5. biped robot according to claim 1, which is characterized in that control module can manually control, and change semicircle
The velocity of rotation and rotation direction of leg foot.
6. a kind of control method of biped robot according to claim 1, which is characterized in that pass through the control module
Control the motor drive module so that the machine shaft of the motor drive module rotates, and rotates and makes by machine shaft
Robot operates in different modes.
7. control method according to claim 6, which is characterized in that rotated by machine shaft so that robot is with difference
Pattern work specifically include：
A. when machine shaft rotates clockwise, if the initial attitude of robot is walking, the motor pattern of robot can
Five kinds of different motor patterns are undergone successively with the rotation of machine shaft：Steady pattern shakes step mode, three type of skipping mode
Type Walking Mode enters back into dancing mode and rear overmolded formula；
B, when machine shaft rotates clockwise, if the initial attitude of robot is take-off posture, the motor pattern of robot with
Midstance is first undergone in the rotation of machine shaft, then realizes above-mentioned five kinds of different motor patterns successively；
C, when machine shaft rotates counterclockwise, robot enters preceding overmolded formula.
8. control method according to claim 8, it is characterised in that：
If the initial attitude of robot is walking, when machine shaft rotates clockwise, when machine shaft rotating speed is 0-
When 2.15rad/s, the motor pattern of robot is steady pattern；When machine shaft rotating speed is 2.15-5.85rad/s, machine
The motor pattern of people is to shake step mode；When machine shaft rotating speed is 5.85-7.12rad/s, the motor pattern of robot is leapfrog
Pattern；When machine shaft rotating speed is 7.12-17.7rad/s, robot will be gradually transitions dancing mode by skipping mode；Motor
When shaft rotating speed is more than 17.7rad/s, the motor pattern of robot is rear overmolded formula；
If the initial attitude of robot is take-off posture, when machine shaft rotates clockwise, when machine shaft rotating speed is 0-
When 1.27rad/s, robot is in standing pattern；When machine shaft rotating speed is 1.27-2.07rad/s, robot is in steady
Step mode；When machine shaft rotating speed is 2.07-6.06rad/s, the motor pattern of robot is to shake step mode；Machine shaft turns
When speed is 6.06-7rad/s, the motor pattern of robot is skipping mode；When machine shaft rotating speed is 7-17.42rad/s, machine
Device people will be gradually transitions dancing mode by skipping mode；When machine shaft rotating speed is more than 17.42rad/s, the movement of robot
Pattern is rear overmolded formula.
9. control method according to claim 8, it is characterised in that：In the Walking Mode, dancing mode and rear overmolded
In formula, with the rotation of machine shaft, the motion process of robot all includes successively：A. robot while semicircular legs land enough
Ontology moves in a circle relative to machine shaft leaves ground, and b. semicircular legs foots leave ground simultaneously with robot body；C. machine
Device human body lands.
10. control method according to claim 8, it is characterised in that：The machine shaft of motor drive module is in vertical side
It is y to the distance definition apart from horizontal plane, the curve that y changes with the variation of motor pattern is as follows：In steady pattern, curve
Two pulse wave crests are presented, remaining position is tended to be steady；In shaking step mode, curve is rendered as smaller and smaller continuous of trough
Impulse waveform；In skipping mode, curve includes a sharp trough pulse；In dancing mode, curve uniformly shakes
Impulse waveform；In preceding overmolded formula, when the rotational frequency of the shaft is less than the frequency of unstable state, curve is uniformly shake
The impulse waveform swung, wave crest increase with the rotating speed of the shaft at a distance from adjacent peaks and are reduced.
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| CN201810359947.XA CN108454724B (en) | 2018-04-20 | 2018-04-20 | Bipedal robot with multiple motion modes and control method thereof |
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| CN113443041A (en) * | 2021-07-29 | 2021-09-28 | 山东大学 | Composite leg and foot mechanism and 3-UPS parallel wheel and foot composite bouncing robot |
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| CN110155203A (en) * | 2019-04-15 | 2019-08-23 | 重庆大学 | A kind of hexapod robot Analysis of Dynamic Characteristics method using C-shaped leg |
| CN113443041A (en) * | 2021-07-29 | 2021-09-28 | 山东大学 | Composite leg and foot mechanism and 3-UPS parallel wheel and foot composite bouncing robot |
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