CN109857131A - A kind of two foot-four-footed posture changing control method of legged type robot - Google Patents
A kind of two foot-four-footed posture changing control method of legged type robot Download PDFInfo
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- CN109857131A CN109857131A CN201910180493.4A CN201910180493A CN109857131A CN 109857131 A CN109857131 A CN 109857131A CN 201910180493 A CN201910180493 A CN 201910180493A CN 109857131 A CN109857131 A CN 109857131A
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Abstract
The present disclosure provides a kind of two foot-four-footed posture changing control method of legged type robot, the advantages of can according to need and be very easily transformed to biped robot or quadruped robot, having had both biped robot and quadruped robot and function.In the conversion process of biped robot and quadruped robot, for there is uncertain factor in modeling process, the rotation speed that robot body is determined using Sliding mode variable structure control improves the robustness of system, and legged type robot is made to remain balance during posture changing.
Description
Technical field
The present invention relates to legged type robot technical field, more particularly to a kind of two foot-four-footed of legged type robot
Posture changing control method.
Background technique
The research of legged type robot starts from generation nineteen sixty, is successful application of the bionics in mobile robot, is to pass through
The robot system imitating mammal, insect, the leg structure of amphibian etc. and motion mode and designing.Relative to wheeled
And caterpillar type robot, requirement of the legged type robot to landform is low, can both walk on level land, can also be on rugged ground
Walking has better flexibility and stability to the adaptable of environment, is in recent years always robot field in the world
The hot spot of research.Wherein, two foot Ji Qi Ren ﹑ tetra- foot Ji Qi Ren ﹑ hexapod robot and eight biped robot most studies.
Biped robot walks upright taking human as model, left and right leg alternating, there is good freedom degree, movement spirit
It lives, freely, is more suitable for the working environment and person cooperative work in the mankind, in nursing old man, rehabilitation medical etc. has very big
Application potential.Quadruped robot is using quadruped as model, and compare biped robot, and walking has preferably steady
Qualitative and load capacity, but possess than six foot and the bigger leg mobile space of eight biped robots, lesser mechanism redundancy and
Control complexity.
Although biped robot is similar with structure quadruped robot, become squatting down for four-footed by two foots in legged type robot
Bend over stage or legged type robot is become the upright action phases of two foots by four-footed, due to the inaccurate phenomenon of modeling process parameter,
Can there be error including Chong Li ﹑ length parameter and position of centre of gravity etc., robot will appear uneven existing in action process
As rocking back and forth, or even fall down.Cause current legged type robot not switch between two foots and four-footed directly, has both two
The advantages of biped robot and quadruped robot and function.
Summary of the invention
In view of the above problems, the purpose of the present invention is to provide a kind of controls of two foot-four-footed posture changing of legged type robot
Method can according to need and very easily be transformed to biped robot or quadruped robot, had both biped robot and four-footed
The advantages of robot and function.In the conversion process of biped robot and quadruped robot, exist not in modeling process
The characteristics of determining factor determines the rotation speed of robot body using Sliding mode variable structure control, improves the robustness of system,
Legged type robot is set to remain balance during posture changing.
The present invention to achieve the above object, is achieved through the following technical solutions: a kind of two foot-four-footed posture of legged type robot
Conversion control method, the legged type robot include robot body, a pair of mechanical upper limb and a pair of of pedipulator, it is described mechanically
Limb is respectively symmetrically mounted on the left and right sides on robot body top, and the lower end of robot body is equipped with mechanical crotch, pedipulator
Respectively symmetrically it is mounted on the left and right sides of mechanical crotch；The machinery upper limb includes large arm, forearm and hand, and the upper end of large arm is logical
It is hinged to cross the cradle head upper end that hinged, large arm lower end passes through cradle head and forearm with robot body, the lower end of forearm
It is hinged with hand by cradle head；The pedipulator includes thigh, shank and foot, the upper end of thigh by cradle head with
Mechanical crotch is hinged, and the lower end of thigh is hinged by the upper end of cradle head and shank, the lower end of shank by cradle head with
Foot is hinged；Pressure sensor is mounted on the sole rear and front end of the foot, hand；Two foot-four-footed of legged type robot
Posture changing control method includes:
Judge the current pose of legged type robot；
If the current pose of legged type robot is upright stance, control legged type robot executes the transformation of four-footed athletic posture
Method；
If the current pose of legged type robot is posture of creeping, control legged type robot executes two sufficient athletic posture transformation
Method.
Further, the four-footed athletic posture transform method specifically comprises the following steps:
Step 1: shank and mechanical upper limb keep vertical state, and thigh is with the first preset rotation speed back rotation, while machine
Human body is rotated forward with the real time rotation speed being calculated by sliding mode variable structure control method, when hand pressure sensor
Pressure value be not 0, stop rotating；
Step 2: shank keeps vertical stationary state, and thigh is rotated forward with the second preset rotation speed, while on left side mechanical
Limb steps forward the first preset displacement, and right side forearm keeps vertical state, and large arm cooperation in right side rotates forward, drives robot sheet
Body Forward, when the pressure value of left side hand pressure sensor is not 0, stops rotating；
Step 3: shank keeps vertical stationary state, and thigh is rotated forward with third preset rotation speed, while on right side mechanical
Limb steps forward the first preset displacement, and left side forearm keeps vertical state, and large arm cooperation in left side rotates forward, drives robot sheet
Body Forward, when the pressure value of right side hand pressure sensor is not 0, stops rotating；
Step 4: whether the current pose for judging legged type robot is posture of creeping, if not, going to step 2；If so,
The transformation of four-footed athletic posture is completed.
Further, described two sufficient athletic posture transform methods specifically comprise the following steps:
Step 1: shank keeps vertical stationary state, and thigh is with the second preset rotation speed back rotation, while on left side mechanical
Limb steps the first preset displacement backward, and left side forearm and right side forearm keep vertical state, and right side large arm cooperates back rotation,
Driving robot body moves back, until left side mechanical upper limb floor-type support, rotation stops；
Step 2: shank keeps vertical stationary state, and thigh is with third preset rotation speed back rotation, while on right side mechanical
Limb steps the first preset displacement backward, and right side forearm and left side forearm keep vertical state, and left side large arm cooperates back rotation,
Driving robot body moves back, until right side mechanical upper limb floor-type support, rotation stops；
Step 3: judging whether Current mechanical upper limb is vertical state；If so, going in next step；If not, going to step
Rapid 1；
Step 4: shank and mechanical upper limb keep vertical state, and thigh is with the first preset rotation speed back rotation, while machine
Real time rotation speed back rotation of the human body to be calculated by sliding mode variable structure control method, until robot body is in
Vertical state is stopped rotating.
Further, the sliding mode variable structure control method includes:
Establish rotary balance equation of legged type robot during posture changing:
Wherein, θ1For the angle of robot body and vertical direction, θ2For the angle of thigh and vertical direction, G1For thigh
Weight, L1For thigh length, G2For shank weight, L2For leg length, G3For robot body weight；Along robot body length direction, L4For
Distance of the robot body center of gravity to pedipulator, L5For mechanical upper limb to the distance of robot body center of gravity；L3For foot pressure biography
The spacing of sensor, F1For the pressure value of foot rear end pressure sensor, F2For the pressure value of foot forefront pressure sensor；
Introduce deviation variables e=F2-F1, it brings above formula into, obtains:
To above formula derivation, obtain:
Wherein,For the rotation speed of robot body,For the rotation speed of thigh,For the variation speed of deviation variables
Degree；
In order to accelerate the error convergence speed of control system, using sliding-mode surface:
Wherein, a > 0, b > 0, and, a, b are odd number, k1> 0, k2> 0；
Take the rotation speed of robot bodyTo control variable, the rotation speed of thighIt, will be above various for definite value
Merge, then the rotation speed of available robot body are as follows:
Further, the sliding mode variable structure control method further include: in the pose adjustment mistake that legged type robot four-footed contacts to earth
Cheng Zhong meets L always1(cosθ3-cosθ2)=(L4+L5)cosθ1,
Wherein, θ3For the angle of large arm and vertical direction.
Further, the equal length of the length of the large arm and thigh, the length of the forearm and the equal length of shank,
The length of large arm is greater than the length of forearm.
Further, the lower end of the shank passes through point articulated in cradle head and foot.
Further, the hand includes palm and the finger that connect with palm, and finger shows as two foots in legged type robot
It is unfolded state when posture, for realizing grasping movement；The finger shows as the Shi Weixiang of four-footed posture in legged type robot
Upper contraction state, palm contact to earth support；The pressure sensor is mounted on bottom palm, for detect palm whether stress.
The prior art is compared, the beneficial effects of the invention are that: the present invention provides a kind of two foot-four-footed appearances of legged type robot
State conversion control method, the advantages of making legged type robot have both biped robot and quadruped robot and function.Each tool
Leg includes great Tui ﹑ shank and foot, and pedipulator is respectively symmetrically mounted on the left and right sides of mechanical crotch, makes it have four freedom
Degree.Each machinery upper limb includes big arm ﹑ forearm and hand, and mechanical upper limb is respectively symmetrically mounted on the left side on robot body top
Right two sides make it have four points of freedom degrees.During the posture changing of biped robot and quadruped robot, for modeling
There are the characteristics that uncertain factor in journey, the rotation speed of robot body is determined using Sliding mode variable structure control, improves and be
The robustness of system makes robot remain balance in conversion process, and establishes and contact to earth pose adjustment stage machine in four-footed
The device people geometrical relationship to be met.In order to facilitate adjusting and simplifying entire control process, the shank or forearm of robot are shorter,
Thigh or large arm are longer.Advantages of simple is designed, provides higher reference and ginseng to extend research and the application of legged type robot
Examine value.
It can be seen that compared with prior art, the present invention implementing with substantive distinguishing features outstanding and significant progress
Beneficial effect be also obvious.
Detailed description of the invention
Attached drawing 1 is the sufficient athletic posture schematic diagram of legged type robot two of the invention.
Attached drawing 2 is legged type robot four-footed athletic posture schematic diagram of the invention.
Attached drawing 3 is flow chart of the method for the present invention.
Attached drawing 4 is four-footed athletic posture transform method flow chart of the invention.
Attached drawing 5 is two sufficient athletic posture transform method flow charts of the invention.
Attached drawing 6 is that legged type robot of the invention is bent over the stress diagram of process.
Attached drawing 7 is four-footed athletic posture conversion process schematic diagram of the invention.
Attached drawing 8 is two sufficient athletic posture conversion process schematic diagrames of the invention.
Attached drawing 9 is that legged type robot four-footed of the invention contacts to earth posture schematic diagram.
In figure, 1 is robot body, and 2 be mechanical upper limb, and 3 be pedipulator, and 4 be mechanical crotch, and 5 be large arm, and 6 be forearm,
7 be hand, and 8 be thigh, and 9 be shank, and 10 be foot, and 11 be cradle head.
Specific embodiment
It explains with reference to the accompanying drawing to a specific embodiment of the invention.
As depicted in figs. 1 and 2, the present invention provides a kind of legged type robot, legged type robot can behave as two foot movements
Posture and four-footed athletic posture.Specifically include: robot body 1, a pair of mechanical upper limb 2 and a pair of of pedipulator 3, it is described mechanically
Limb 2 is respectively symmetrically mounted on the left and right sides on 1 top of robot body, and the lower end of robot body 1 is equipped with mechanical crotch 4, machine
Tool leg 3 is respectively symmetrically mounted on the left and right sides of mechanical crotch 4；The machinery upper limb 2 includes large arm 5, forearm 6 and hand 7, greatly
By cradle head 11 and robot body 1, hinged, large arm 5 lower end passes through the upper of cradle head 11 and forearm 6 for the upper end of arm 5
End is hinged, and the lower end of forearm 6 is hinged by cradle head 11 and hand 7；The pedipulator 3 includes thigh 8, shank 9 and foot
10, the upper end of thigh 8 is hinged by cradle head 11 and mechanical crotch 4, and the lower end of thigh 8 passes through cradle head 11 and shank 9
Upper end it is hinged, the lower end of shank 9 is hinged by cradle head 11 and foot 10；The sole rear and front end of the foot 10, hand
Pressure sensor is mounted in portion.
As shown in figure 3, the present invention provides a kind of two foot-four-footed posture changing control methods of legged type robot, comprising:
Judge the current pose of legged type robot；
If the current pose of legged type robot is upright stance, control legged type robot executes the transformation of four-footed athletic posture
Method；
If the current pose of legged type robot is posture of creeping, control legged type robot executes two sufficient athletic posture transformation
Method.
Judgement to legged type robot current pose specifically includes that the judgement of the judgement of upright stance and posture of creeping.Institute
The upright stance stated is referring to the initial motion posture of current biped robot, and the posture of creeping is referring to current quadruped robot
Initial motion posture.
As shown in figure 4, four-footed athletic posture transform method specifically comprises the following steps:
Step 1: shank and mechanical upper limb keep vertical state, and thigh is with the first preset rotation speed back rotation, while machine
Human body is rotated forward with the real time rotation speed being calculated by sliding mode variable structure control method, when hand pressure sensor
Pressure value be not 0, stop rotating.
Step 2: shank keeps vertical stationary state, and thigh is rotated forward with the second preset rotation speed, while on left side mechanical
Limb steps forward the first preset displacement, and right side forearm keeps vertical state, and large arm cooperation in right side rotates forward, drives robot sheet
Body Forward, when the pressure value of left side hand pressure sensor is not 0, stops rotating.
Step 3: shank keeps vertical stationary state, and thigh is rotated forward with third preset rotation speed, while on right side mechanical
Limb steps forward the first preset displacement, and left side forearm keeps vertical state, and large arm cooperation in left side rotates forward, drives robot sheet
Body Forward, when the pressure value of right side hand pressure sensor is not 0, stops rotating.
Step 4: whether the current pose for judging legged type robot is posture of creeping, if not, going to step 2；If so,
The transformation of four-footed athletic posture is completed.
The above-mentioned specific conversion process of four-footed athletic posture, as shown in Figure 7.
As shown in figure 5, two sufficient athletic posture transform methods specifically comprise the following steps:
Step 1: shank keeps vertical stationary state, and thigh is with the second preset rotation speed back rotation, while on left side mechanical
Limb steps the first preset displacement backward, and left side forearm and right side forearm keep vertical state, and right side large arm cooperates back rotation,
Driving robot body moves back, until left side mechanical upper limb floor-type support, rotation stops.
Step 2: shank keeps vertical stationary state, and thigh is with third preset rotation speed back rotation, while on right side mechanical
Limb steps the first preset displacement backward, and right side forearm and left side forearm keep vertical state, and left side large arm cooperates back rotation,
Driving robot body moves back, until right side mechanical upper limb floor-type support, rotation stops.
Step 3: judging whether Current mechanical upper limb is vertical state；If so, going in next step；If not, going to step
Rapid 1.
Step 4: shank and mechanical upper limb keep vertical state, and thigh is with the first preset rotation speed back rotation, while machine
Real time rotation speed back rotation of the human body to be calculated by sliding mode variable structure control method, until robot body is in
Vertical state is stopped rotating.
The above-mentioned two specific conversion process of sufficient athletic posture, as shown in Figure 8.
The four-footed athletic posture transform method and two sufficient athletic posture transform methods have been all made of Sliding mode variable structure control
Method.Sliding mode variable structure control method specifically includes:
Establish rotary balance equation of legged type robot during posture changing:
Wherein, as shown in fig. 6, θ1For the angle of robot body and vertical direction, θ2For the angle of thigh and vertical direction
Degree, G1For thigh weight, L1For thigh length, G2For shank weight, L2For leg length, G3For robot body weight；It is long along robot body
Spend direction, L4For the distance of robot body center of gravity to pedipulator, L5For mechanical upper limb to the distance of robot body center of gravity；L3
For the spacing of foot pressure sensor, F1For the pressure value of foot rear end pressure sensor, F2For foot forefront pressure sensor
Pressure value.
It is assumed that foot's stress is linear distribution along the direction L3.Because parameter includes Chong Li ﹑ length ginseng during modeling
Several and position of centre of gravity etc. can have error, cause robot to occur energy imbalance during bending over, rock back and forth,
Even fall down.Requirement of the sliding mode variable structure control method to model is relatively low, has to the uncertainty of external disturbance and parameter
Good robustness and adaptivity, therefore, control process use sliding mode variable structure control method.
Introduce deviation variables e=F2-F1, it brings above formula into, obtains:
To above formula derivation, obtain:
Wherein,For the rotation speed of robot body,For the rotation speed of thigh,For the variation speed of deviation variables
Degree；
In order to accelerate the error convergence speed of control system, using sliding-mode surface:
Wherein, a > 0, b > 0, and, a, b are odd number, k1> 0, k2> 0；
Take the rotation speed of robot bodyTo control variable, the rotation speed of thighIt, will be above various for definite value
Merge, then the rotation speed of available robot body are as follows:
In addition, meeting always during the pose adjustment that legged type robot four-footed contacts to earth
L1(cosθ3-cosθ2)=(L4+L5)cosθ1,
Wherein, as shown in figure 9, θ3For the angle of large arm and vertical direction.
In order to which simplified control and design process make legged type robot realize that apery walks upright.Legged type robot can be designed
For the length of large arm and the equal length of thigh, the length of forearm and the equal length of shank, the length of large arm are greater than forearm
Length.
In order to improve the ability of robot centre of gravity adjustment during squatting down, legged type robot can be designed as, foot's phase
For symmetrical before and after ankle-joint.Specifically: the lower end of shank passes through point articulated in cradle head and foot.By calculating foot
The difference of pressure at two ends sensor takes deviation input signal of the larger value as control system.
The hand includes palm and the finger that connect with palm, and finger is when legged type robot shows as two sufficient postures
Unfolded state, for realizing grasping movement；The finger is contraction-like upwards when legged type robot shows as four-footed posture
State, palm contact to earth support；The pressure sensor is mounted on bottom palm, for detect palm whether stress.
It can be seen that present embodiments providing a kind of two foot-four-footed posture changing control method of legged type robot, sufficient formula machine
Device people includes two stages by the process that two sufficient postures become four-footed postures: squatting down the stage of bending over and four-footed contacts to earth pose adjustment rank
Section.In the stage of bending over of squatting down, legged type robot center of gravity is reduced by thigh back rotation, rotated forward by robot body with
The mechanical upper limb of legged type robot is facilitated to contact to earth support, in order to keep legged type robot to balance, the thigh of legged type robot is at the uniform velocity
Rotation, by means of the pressure sensor detection front and back stress difference of legged type robot foot, as feedback signal, using sliding formwork control
Method processed determines the rotation speed of robot body in real time, so that robot keeps balance in the stage of bending over of squatting down.It is touched in four-footed
The ground pose adjustment stage, by the coordination of mechanical upper limb and pedipulator, by the pose adjustment of legged type robot to normal
Four-footed motion state.Legged type robot is become the process phase of the process and two sufficient postures change four-footed postures of two sufficient postures by four-footed posture
Instead, first carrying out four-footed pose adjustment to two mechanical upper limb stress of contacting to earth is zero, then is stood.In stance, thigh and machine
The direction of rotation of device human body is with the direction of rotation in the stage of bending over of squatting down on the contrary, its method for controlling number of revolution is identical.It contacts to earth in four-footed
In the pose adjustment stage, revolving speed size is identical, contrary.
With reference to the drawings and specific embodiments, the invention will be further described.It should be understood that these embodiments are merely to illustrate
The present invention rather than limit the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, this field
Technical staff can make various changes or modifications the present invention, and such equivalent forms equally fall within range defined herein.
Claims (8)
1. a kind of two foot-four-footed posture changing control method of legged type robot, the legged type robot includes robot body, one
To mechanical upper limb and a pair of of pedipulator, the machinery upper limb is respectively symmetrically mounted on the left and right sides on robot body top, machine
The lower end of device human body is equipped with mechanical crotch, and pedipulator is respectively symmetrically mounted on the left and right sides of mechanical crotch；It is described mechanically
Limb includes large arm, forearm and hand, the upper end of large arm by cradle head and robot body hinged, large arm lower end by turning
The upper end of movable joint and forearm is hinged, and the lower end of forearm is hinged by cradle head and hand；The pedipulator includes thigh, small
Leg and foot, the upper end of thigh is hinged by cradle head and mechanical crotch, and the lower end of thigh passes through cradle head and shank
Upper end is hinged, and the lower end of shank is hinged by cradle head and foot；It is respectively mounted on the sole rear and front end of the foot, hand
There is pressure sensor；It is characterised by comprising:
Judge the current pose of legged type robot；
If the current pose of legged type robot is upright stance, control legged type robot executes four-footed athletic posture transformation side
Method；
If the current pose of legged type robot is posture of creeping, control legged type robot executes two sufficient athletic posture transformation sides
Method.
2. two foot-four-footed posture changing control method of legged type robot according to claim 1, which is characterized in that described
Four-footed athletic posture transform method specifically comprises the following steps:
Step 1: shank and mechanical upper limb keep vertical state, and thigh is with the first preset rotation speed back rotation, while robot sheet
Body is rotated forward with the real time rotation speed being calculated by sliding mode variable structure control method, when the pressure of hand pressure sensor
Force value is not 0, is stopped rotating；
Step 2: shank keeps vertical stationary state, and thigh is rotated forward with the second preset rotation speed, at the same left side mechanical upper limb to
Before step the first preset displacement, right side forearm keeps vertical state, and large arm cooperation in right side rotates forward, before driving robot body
It moves, when the pressure value of left side hand pressure sensor is not 0, stops rotating；
Step 3: shank keeps vertical stationary state, and thigh is rotated forward with third preset rotation speed, at the same right side mechanical upper limb to
Before step the first preset displacement, left side forearm keeps vertical state, and large arm cooperation in left side rotates forward, before driving robot body
It moves, when the pressure value of right side hand pressure sensor is not 0, stops rotating；
Step 4: whether the current pose for judging legged type robot is posture of creeping, if not, going to step 2；If so, four-footed
Athletic posture transformation is completed.
3. two foot-four-footed posture changing control method of legged type robot according to claim 1, which is characterized in that described
Two sufficient athletic posture transform methods specifically comprise the following steps:
Step 1: shank keeps vertical stationary state, thigh with the second preset rotation speed back rotation, while left side mechanical upper limb to
After step the first preset displacement, left side forearm and right side forearm keep vertical state, and right side large arm cooperates back rotation, driving
Robot body moves back, until left side mechanical upper limb floor-type support, rotation stops；
Step 2: shank keeps vertical stationary state, thigh with third preset rotation speed back rotation, while right side mechanical upper limb to
After step the first preset displacement, right side forearm and left side forearm keep vertical state, and left side large arm cooperates back rotation, driving
Robot body moves back, until right side mechanical upper limb floor-type support, rotation stops；
Step 3: judging whether Current mechanical upper limb is vertical state；If so, going in next step；If not, going to step 1；
Step 4: shank and mechanical upper limb keep vertical state, and thigh is with the first preset rotation speed back rotation, while robot sheet
Real time rotation speed back rotation of the body to be calculated by sliding mode variable structure control method, until robot body is in vertical
State is stopped rotating.
4. two foot-four-footed posture changing control method of legged type robot according to claim 2 or 3, which is characterized in that institute
Stating sliding mode variable structure control method includes:
Establish rotary balance equation of legged type robot during posture changing:
Wherein, θ1For the angle of robot body and vertical direction, θ2For the angle of thigh and vertical direction, G1For thigh weight, L1
For thigh length, G2For shank weight, L2For leg length, G3For robot body weight；Along robot body length direction, L4For machine
Distance of human body's center of gravity to pedipulator, L5For mechanical upper limb to the distance of robot body center of gravity；L3For foot pressure sensor
Spacing, F1For the pressure value of foot rear end pressure sensor, F2For the pressure value of foot forefront pressure sensor；
Introduce deviation variables e=F2-F1, it brings above formula into, obtains:
To above formula derivation, obtain:
Wherein,For the rotation speed of robot body,For the rotation speed of thigh,For the pace of change of deviation variables；
In order to accelerate the error convergence speed of control system, using sliding-mode surface:
Wherein, a > 0, b > 0, and, a, b are odd number, k1> 0, k2> 0；
Take the rotation speed of robot bodyTo control variable, the rotation speed of thighFor definite value, the above various merging is incited somebody to action,
The then rotation speed of available robot body are as follows:
5. two foot-four-footed posture changing control method of legged type robot according to claim 4, which is characterized in that described
Sliding mode variable structure control method further include: during the pose adjustment that legged type robot four-footed contacts to earth, meet L always1(cos
θ3-cosθ2)=(L4+L5)cosθ1,
Wherein, θ3For the angle of large arm and vertical direction.
6. two foot-four-footed posture changing control method of legged type robot according to claim 1, it is characterised in that: described
The length of the length of large arm and the equal length of thigh, the length of the forearm and the equal length of shank, large arm is greater than forearm
Length.
7. two foot-four-footed posture changing control method of legged type robot according to claim 1, it is characterised in that: described
The lower end of shank passes through point articulated in cradle head and foot.
8. two foot-four-footed posture changing control method of legged type robot according to claim 1, it is characterised in that: described
Hand includes palm and the finger that connect with palm, and finger is unfolded state when legged type robot shows as two sufficient postures, is used
In realization grasping movement；The finger is upward contraction state when legged type robot shows as four-footed posture, and palm contacts to earth
Support；The pressure sensor is mounted on bottom palm, for detect palm whether stress.
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