CN108772836A - Backbone type multi-foot robot based on CPG and its bionic movement control method - Google Patents
Backbone type multi-foot robot based on CPG and its bionic movement control method Download PDFInfo
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- CN108772836A CN108772836A CN201810431373.2A CN201810431373A CN108772836A CN 108772836 A CN108772836 A CN 108772836A CN 201810431373 A CN201810431373 A CN 201810431373A CN 108772836 A CN108772836 A CN 108772836A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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 invention discloses a kind of backbone type multi-foot robot and its bionic movement control method based on CPG, the backbone type multi-foot robot have control system, backbone and the robot leg for being symmetrically distributed in backbone both sides, per side robot leg at least two；Control system configures a CPG oscillator for backbone and each robot leg, and each CPG oscillators are coupled to form entire CPG networks；Control system generates periodic signal using five CPG networks, is translated the signals into as the movement locus control function of robot ridge, leg joint by Function Mapping, and by feedback adjustment control parameter, is moved with the ridge of this coordinating robot, leg.The present invention controls backbone type quadruped robot using bionic method, compared with prior art, has the characteristics that calculating is simple, easy to control, makes robot in different environments and can keep certain ridge, leg harmony.
Description
Technical field
The present invention relates to a kind of multi-foot robot movement control technologies, belong to robot bionic movement control technology field.
Background technology
Quadruped robot is increasingly subject to the concern of researcher because of the advantages of its bionical sufficient formula movement, but in passing majority
In quadruped robot research, it is all made of rigid body model and ignores the effect of joint of vertebral column.More and more scholar's researchs
Show same machines people of the quadruped robot of band actively or passively joint of vertebral column relative to rigid body, has that low energy consumption, speed
The feature that degree waits soon.Relative to random device people limb motion without for the passive joint of vertebral column that independently swings, active backbone closes
The movement of section can be controlled, and keep the movement of robot more flexible, more naturally practical close to animal.On the other hand, active ridge
Column joint increases the degree of freedom of robot so that control becomes complicated.Thus, the control of current active joint of vertebral column mostly uses
Method based on model, although the control of this method is simple, fixed Controlling model makes the fortune of robot joint of vertebral column
The dynamic environment for not adapting to variation, ridge, leg harmony are undesirable.
Invention content
Technical problem：The purpose of the present invention is exactly to be provided a kind of with actively to overcome defect existing for above-mentioned technology
The robot and its biomimetic control method of joint of vertebral column.
Technical solution：The purpose of the present invention can be achieved through the following technical solutions：
A kind of backbone type multi-foot robot based on CPG, including control system, the active yawing backbone in medium position
Joint (05) and several robot legs for being symmetrically arranged at active yawing joint of vertebral column (05) both sides, and active yawing ridge
At least there are two robot legs, each robot leg to all have leg joint for every side in column joint (05), and leg joint includes hip
Joint, knee joint；A CPG is respectively configured for active yawing joint of vertebral column (05) and each robot leg in control system
Oscillator, each CPG oscillators coupled in common constitute entire CPG networks, which can export the week with fixed skew
Phase phase signal；The circadian signal of each CPG oscillators output in CPG networks can be converted into oint motion trajectory by control system
Control signal, and signal controlled according to each oint motion trajectory and automatically controls corresponding joint activity, at the same can will it is corresponding respectively
The position signal in joint feeds back to control system.
Preferably, CPG oscillators are formed using Kuramoto model foundations, are expressed as：
Wherein, i, j represent i-th, j CPG oscillator, φiIndicate the circadian signal of i-th of CPG oscillator output, ω tables
Show oscillator frequency, kijIndicate the coefficient of coup between i-th, j CPG oscillator, ΔijIndicate i-th, j CPG oscillator it
Between fixed skew.
Preferably, control system becomes the periodic phase signal that CPG networks export into line function by Function Mapping part
It changes, is first mapped as the movement locus control signal of robot joint of vertebral column, hip joint, then hip joint movement locus is controlled
Signal is mapped as motion of knee joint TRAJECTORY CONTROL signal；The movement locus control signal representation of hip joint, knee joint, joint of vertebral column
Formula is as follows：
Wherein θh、θk、θsIndicate that hip, knee, the joint of vertebral column motion control signal of robot, φ are CPG oscillators respectively
Rhythm and pace of moving things output signal, T are cycle oscillator, and T=2 π/ω, Ah、Ak、AsThe amplitude of fluctuation of hip, knee, joint of vertebral column is indicated respectively
Degree.
Preferably, control system passes through the fixed skew Δ between changing i-th, j CPG oscillatorijTo change i-th, j
Phase relation between knee joint changes Ah、Ak、AsTo change joint amplitude of fluctuation, change cycle oscillator T and oscillator frequency
ω changes movement velocity.
Preferably, every side of active yawing joint of vertebral column (05) has two robot legs.
A kind of bionic movement control method of the above-mentioned backbone type multi-foot robot based on CPG, includes the following steps：
Step 1：The control axis of backbone type multi-foot robot is required according to manual control, kinematic parameter is adjusted, to CPG
Network sends out control instruction；
Step 2：CPG networks generate the periodic phase with fixed skew and believe according to received control instruction
Number；
Step 3：Using mapping function, the periodic phase signal that CPG networks in step 2 export is mapped as robot
Backbone, leg joint movement locus control signal；
Step 4：Backbone that backbone, the leg joint of robot are sent out according to step 3, leg joint movement locus control signal
Movement；Simultaneously using the position signal in each joint as the control axis of feedback signal back to robot；
Step 5: control axis repeats step 1 to four, adjusts backbone, leg joint according to received feedback signal
Movement locus control signal, the backbone of coordinating robot, leg movement.
Advantageous effect：Compared with prior art, the present invention controls band active joint of vertebral column machine using bionical CPG methods
Backbone, the leg joint of device people improves backbone, the harmony that leg joint moves, and with calculating, simple, easy to control, environment is suitable
With the strong feature of property.
Description of the drawings
Fig. 1 is the control structure schematic diagram of the present invention；
Fig. 2 is the structural schematic diagram of band active joint of vertebral column quadruped robot of the present invention.
Specific implementation mode
The invention will be further described with example below in conjunction with the accompanying drawings.
The invention discloses a kind of backbone type multi-foot robot based on CPG, including control system, in medium position
Active yawing joint of vertebral column (05) and several robot legs for being symmetrically arranged at active yawing joint of vertebral column (05) both sides,
And at least there are two robot legs, each robot leg to all have leg joint for every side of active yawing joint of vertebral column (05),
Leg joint includes hip joint, knee joint；Control system is for active yawing joint of vertebral column (05) and each robot leg point
Not Pei Zhi a CPG oscillator, each CPG oscillators coupled in common constitutes entire CPG networks, which, which can export, has
The periodic phase signal of fixed skew；Control system can convert the circadian signal of each CPG oscillators output in CPG networks
Signal is controlled at oint motion trajectory, and signal is controlled according to each oint motion trajectory and automatically controls corresponding joint activity, simultaneously
The position signal in corresponding each joint can be fed back to control system.Attached drawing 2 is a kind of specific embodiment of the present invention, public
The artificial backbone type multi-foot robot of machine opened, including four hip joints (01,02,03,04), four knee joints (06,07,08,
And the active joint of vertebral column (05) of a yaw direction 09).
As shown in Figure 1, the present invention changes traditional control thinking, it is proposed that a kind of to be carried actively using based on CPG controls
The method of the quadruped robot of joint of vertebral column.The control structure that the present invention is embodied can be divided into three layers：
First layer is control layer.Robot can be according to environmental feedback and real needs, by changing control parameter adjustment
The amplitude etc. that the speed of movement, joint of vertebral column are swung.
The second layer is planning layer.Five CPG oscillators in CPG networks correspond to four leg hip joints and one of robot
A joint of vertebral column, FL, FR, LR, RR, SP indicate respectively robot it is left front, right before, left back, right rear leg and joint of vertebral column.
The oscillator signal output of CPG can control corresponding joint by modulation.
Circadian signal is generated as CPG oscillators using Kuramoto phase models, expression formula is：
Wherein, i, j represent i-th, j CPG oscillator, φiIndicate the circadian signal output of i-th of CPG oscillator, ω tables
Show oscillator frequency, kijIndicate the coefficient of coup between i-th, j CPG oscillator, ΔijIndicate i-th, j CPG oscillator it
Between fixed skew.
Function Mapping part carries out functional transformation to the periodical output waveform that CPG networks export, and is first mapped as machine
The movement locus signal of device people ridge, hip joint, then hip joint motion control signal is mapped as knee joint and controls signal.Hip, knee,
It is as follows that joint of vertebral column movement locus controls signal expression
Wherein θh、θk、θsIndicate that hip, knee, the joint of vertebral column motion control signal of robot, φ are CPG oscillators respectively
Rhythm and pace of moving things output signal, T are cycle oscillator, and T=2 π/ω, Ah、Ak、AsThe amplitude of fluctuation of hip, knee, joint of vertebral column is indicated respectively
Degree.
Control layer can be by changing ΔijTo change interarticular phase relation, change Ah、Ak、AsIt is swung to change joint
Amplitude changes T and ω to change movement velocity.
Third layer is execution level.Each joint of robot is moved according to the mapping signal that planning layer exports.Meanwhile joint is returned
It returns the signals such as torque, angle and is passed to control layer as feedback, control layer is according to signal in time to CPG networks and movement locus function
Parameter be adjusted.
Claims (6)
1. a kind of backbone type multi-foot robot based on CPG, which is characterized in that the master including control system, in medium position
Dynamic yaw joint of vertebral column (05) and several robot legs for being symmetrically arranged at active yawing joint of vertebral column (05) both sides, and
At least there are two robot legs, each robot leg to all have leg joint, leg for every side of active yawing joint of vertebral column (05)
Joint includes hip joint, knee joint；Control system is distinguished for active yawing joint of vertebral column (05) and each robot leg
A CPG oscillator is configured, each CPG oscillators coupled in common forms entire CPG networks, which can export with solid
The periodic phase signal of phase bit difference；The circadian signal of each CPG oscillators output in CPG networks can be converted by control system
Oint motion trajectory controls signal, and controls signal according to each oint motion trajectory and automatically control corresponding joint activity, while energy
It is enough that the position signal in corresponding each joint is fed back into control system.
2. the backbone type multi-foot robot based on CPG according to claim 1, which is characterized in that CPG oscillators use
Kuramoto model foundations form, and are expressed as：
Wherein, i, j represent i-th, j CPG oscillator, φiIndicate that the circadian signal of i-th of CPG oscillator output, ω expressions shake
Swing device frequency, kijIndicate the coefficient of coup between i-th, j CPG oscillator, ΔijBetween expression i-th, j CPG oscillator
Fixed skew.
3. the backbone type multi-foot robot based on CPG according to claim 2, which is characterized in that control system passes through function
Demapping section carries out functional transformation to the periodic phase signal that CPG networks export, and is first mapped as robot joint of vertebral column, hip
The movement locus in joint controls signal, then hip joint movement locus control signal is mapped as motion of knee joint TRAJECTORY CONTROL letter
Number；Hip joint, knee joint, the movement locus control signal expression of joint of vertebral column are as follows：
Wherein θh、θk、θsIndicate that hip, knee, the joint of vertebral column motion control signal of robot, φ are the rhythm and pace of moving things of CPG oscillators respectively
Output signal, T are cycle oscillator, and T=2 π/ω, Ah、Ak、AsThe amplitude of fluctuation of hip, knee, joint of vertebral column is indicated respectively.
4. the backbone type multi-foot robot based on CPG according to claim 2, which is characterized in that control system passes through change
The i-th, the fixed skew Δ between j CPG oscillatorijTo change the phase relation between i-th, j knee joints, change Ah、Ak、As
Change joint amplitude of fluctuation, changes cycle oscillator T and oscillator frequency ω to change movement velocity.
5. the backbone type multi-foot robot based on CPG according to claim 1, which is characterized in that active yawing joint of vertebral column
(05) every side has two robot legs.
6. the bionic movement control method of the backbone type multi-foot robot based on CPG, feature described in a kind of claim 1 exist
In including the following steps：
Step 1：The control axis of backbone type multi-foot robot is required according to manual control, kinematic parameter is adjusted, to CPG networks
Send out control instruction；
Step 2：CPG networks generate the periodic phase signal with fixed skew according to received control instruction；
Step 3：Using mapping function, the periodic phase signal that CPG networks in step 2 export is mapped as to the ridge of robot
Column, leg joint movement locus control signal；
Step 4：Backbone that backbone, the leg joint of robot are sent out according to step 3, leg joint movement locus control signal fortune
It is dynamic；Simultaneously using the position signal in each joint as the control axis of feedback signal back to robot；
Step 5: control axis repeats step 1 to four, adjusts the fortune of backbone, leg joint according to received feedback signal
Dynamic TRAJECTORY CONTROL signal, the backbone of coordinating robot, leg movement.
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| CN201810431373.2A CN108772836B (en) | 2018-05-08 | 2018-05-08 | Spine type multi-legged robot based on CPG and bionic motion control method thereof |
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| CN201810431373.2A CN108772836B (en) | 2018-05-08 | 2018-05-08 | Spine type multi-legged robot based on CPG and bionic motion control method thereof |
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| CN108772836B CN108772836B (en) | 2021-11-02 |
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Cited By (9)
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| CN108572553A (en) * | 2018-05-16 | 2018-09-25 | 清华大学深圳研究生院 | A kind of movement closed loop control method of quadruped robot |
| CN109739241A (en) * | 2019-01-24 | 2019-05-10 | 刘志成 | A kind of Four-feet creeping robot C PG control system of imitative lizard body structure |
| CN112109085A (en) * | 2020-08-31 | 2020-12-22 | 浙江理工大学 | CPG network topology structure control method of humanoid beaver robot |
| CN113682396A (en) * | 2021-08-30 | 2021-11-23 | 浙江大学 | Structurally detachable foot type robot based on central pattern generator and control method |
| CN114019988A (en) * | 2022-01-05 | 2022-02-08 | 季华实验室 | AGV control method and device based on CPG, electronic equipment and storage medium |
| CN115092283A (en) * | 2022-07-25 | 2022-09-23 | 中山大学 | Robot control method based on gradient CPG with vestibular feedback |
| CN115202259A (en) * | 2022-07-22 | 2022-10-18 | 同济大学 | CPG control system of quadruped robot and parameter setting method thereof |
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| WO2023184933A1 (en) * | 2022-03-31 | 2023-10-05 | 山东大学 | Neural oscillator-based method and system for controlling rhythmic motion of robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108572553A (en) * | 2018-05-16 | 2018-09-25 | 清华大学深圳研究生院 | A kind of movement closed loop control method of quadruped robot |
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| CN109739241A (en) * | 2019-01-24 | 2019-05-10 | 刘志成 | A kind of Four-feet creeping robot C PG control system of imitative lizard body structure |
| CN112109085A (en) * | 2020-08-31 | 2020-12-22 | 浙江理工大学 | CPG network topology structure control method of humanoid beaver robot |
| CN113682396A (en) * | 2021-08-30 | 2021-11-23 | 浙江大学 | Structurally detachable foot type robot based on central pattern generator and control method |
| CN114019988A (en) * | 2022-01-05 | 2022-02-08 | 季华实验室 | AGV control method and device based on CPG, electronic equipment and storage medium |
| WO2023184933A1 (en) * | 2022-03-31 | 2023-10-05 | 山东大学 | Neural oscillator-based method and system for controlling rhythmic motion of robot |
| CN115202259A (en) * | 2022-07-22 | 2022-10-18 | 同济大学 | CPG control system of quadruped robot and parameter setting method thereof |
| CN115092283A (en) * | 2022-07-25 | 2022-09-23 | 中山大学 | Robot control method based on gradient CPG with vestibular feedback |
| CN115256391A (en) * | 2022-08-09 | 2022-11-01 | 北京理工大学 | Crawling track planning and motion control method for humanoid robot |
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