CN109871018A - A kind of control method with waist degree of freedom four-footed robot - Google Patents
A kind of control method with waist degree of freedom four-footed robot Download PDFInfo
- Publication number
- CN109871018A CN109871018A CN201910136095.2A CN201910136095A CN109871018A CN 109871018 A CN109871018 A CN 109871018A CN 201910136095 A CN201910136095 A CN 201910136095A CN 109871018 A CN109871018 A CN 109871018A
- Authority
- CN
- China
- Prior art keywords
- joint
- freedom
- leg
- robot
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000005021 gait Effects 0.000 claims abstract description 30
- 239000013598 vector Substances 0.000 claims abstract description 28
- 210000002414 leg Anatomy 0.000 claims description 34
- 210000001624 hip Anatomy 0.000 claims description 31
- 210000004394 hip joint Anatomy 0.000 claims description 21
- 230000009466 transformation Effects 0.000 claims description 15
- 239000011159 matrix material Substances 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 12
- 210000000629 knee joint Anatomy 0.000 claims description 10
- 210000001503 joint Anatomy 0.000 claims description 9
- QBWCMBCROVPCKQ-UHFFFAOYSA-N chlorous acid Chemical compound OCl=O QBWCMBCROVPCKQ-UHFFFAOYSA-N 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000004927 fusion Effects 0.000 claims description 6
- 206010034701 Peroneal nerve palsy Diseases 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 4
- 210000001364 upper extremity Anatomy 0.000 claims description 4
- 230000003416 augmentation Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 210000000689 upper leg Anatomy 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000009191 jumping Effects 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 244000309466 calf Species 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001020 rhythmical effect Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of control methods with waist degree of freedom four-footed robot, belong to bio-robot field.Establish the kinematics model and kinetic model with the quadruped robot of waist freedom degree, calculate each gait parameter, cooperation inverse kinematics model is resolved, and the desired value that quadruped robot 13 ties up amount of motor rotation is obtained, respectively in input power model and joint PD control device；Kinetic model calculates 13 real-time angles in joint, in the vola three-dimensional force data f input power model in conjunction with every leg, exports as each joint moment vector set τd；Joint PD control device passes through motor position feedback data θactCalculate torque vector τj.By each joint moment vector set τdAnd torque vector τjCollectively as the feedforward input of kinetic model, the motor torque of robot body is controlled, realizes the closed-loop control to executing agency.The present invention makes robot realize better control effect and control precision, the positioning and reparation of failure under fault condition easy to accomplish.
Description
Technical Field
The invention belongs to the field of bionic robots, relates to a robot control system and a control method, and particularly relates to a control method of a quadruped robot with waist freedom degree.
Background
The wheeled robot has good stability and high moving speed, but has poor adaptability to complex terrains, the wheeled and tracked moving tools can reach less than half of the land of the earth, and animals with leg structures can almost reach any place of the earth; based on the inspiration, the legged robot is developed rapidly, and the defect of poor terrain adaptability is overcome. Among legged robots, quadruped robots have been well developed due to their good stability, simpler structure and bionic characteristics. The most common structure of the quadruped robot is that each leg structure has 3 degrees of freedom, including 2 degrees of freedom of hip joints and 1 degree of freedom of knee joints, and the whole robot has 12 degrees of freedom, and an improved structure based on the structure has better performance.
The control method of the robot determines the performance of the robot; common control methods of a bionic robot are mainly classified into a model-based control method and a CPG (central pattern generator) -based control method. The control method based on the model comprises a control method based on a steady-state criterion, a control method based on a spring load inverted pendulum model, a control method based on a virtual model and a method of an inverse dynamic equation, and has the advantage of relatively accurate control. The CPG method simulates tissues of an animal generating rhythmic motion, and has a simple structure and strong robustness and adaptability. For the quadruped robot with the improved structure, the degree of freedom of a control object is higher, and the control is more complicated. Therefore, the proper method is selected to be applied to the quadruped robot with waist degree of freedom, and the movement effect with better performance can be realized.
Disclosure of Invention
The invention provides a control method of a quadruped robot with waist degree of freedom, which is simple, efficient and easy to realize, has high control precision, and designs a hardware control system for applying the control method to the robot.
The method comprises the following specific steps:
step one, establishing a kinematics model of a quadruped robot with waist degree of freedom;
the quadruped robot comprises 13 degrees of freedom and a two-layer controller;
the 13 degrees of freedom include 2 hip degrees of freedom and 1 knee degree of freedom for each leg, and one degree of freedom for the waist.
The two-layer controller comprises a motor controller on the top layer and a joint PD controller on the bottom layer;
the kinematic model comprises a positive kinematic model and an inverse kinematic model;
the positive kinematics model has the same value for each leg, taking the left front leg as an example:
wherein,for homogeneous coordinate transformation between the first hip joint and the base,is a homogeneous coordinate transformation between the second hip joint and the first hip joint,for homogeneous coordinate transformation between the second hip joint and the knee joint,for the homogeneous coordinate transformation between the knee joint and the sole,is a homogeneous coordinate transformation matrix between the tail end sole and the base;
then, the inverse kinematics model is solved on the basis of the positive kinematics model by a geometric method.
Step two, establishing a dynamic model of the quadruped robot with waist degree of freedom through a Newton-Euler method;
the kinetic model is as follows:
wherein m (q) represents an inertia matrix; q is a 19-dimensional state vector representing the 6-degree-of-freedom base state, the angle of the 4 leg 12 joints, and the angle of the 1 waist joint.Representing centripetal and coriolis forces, g (q) representing gravity,is the transpose of the Jacobian matrix,represents the external contact force, tau is a 13-dimensional joint moment vector, and S is a selection matrix.
Inputting the track instruction into a gait planning algorithm, and calculating specific gait parameters;
the gait parameters include: expected value x of base positionbaseplanAttitude expected value θbaseplanAnd expected value x of foot-drop point of legswingplanEtc.; aiming at different gait parameters, the gait parameter generation method is respectively used for obtaining the gait parameters.
Step four, inputting each gait parameter into the base controller and the leg controller respectively, and matching with an inverse kinematics model to carry out resolving to obtain an expected value theta of the 13-dimensional motor rotation quantity of the quadruped robotd；
First, the expected value x of the position of the base is determinedbaseplanAnd attitude expected value thetabaseplanThe actual position value x of the robot base is obtained by feedback in combination with inertial sensor integration and Vicon motion capture system joint calculation as input of the base controllerbaseactAnd three-dimensional actual attitude value theta of the base obtained by fusing data through the inertial sensorbaseactThe motor rotation amount theta of the base is output togetherposed；
Then, the expected value x of the foot-falling point of the leg is determinedswingplanThe feedback is used as the input of a leg controller, the integral fusion angle feedback of an inertial sensor and the joint calculation of a Vicon motion capture system are combined, and the feedback is obtained to obtain the position x of the actual foot-falling point of the robotfootactThe motor rotation amount theta of the leg portion is outputted togetherswingd。
Finally, vector augmentation fusion is carried out on the output data of the base controller and the output data of the leg controller to obtain an expected value theta of the rotation quantity of the 13-dimensional motord。
Step five, obtaining the expected value theta of the rotation quantity of the 13-dimensional motordRespectively inputting the dynamic model and the joint PD controller;
step six, calculating real-time angles of 13 joints by the dynamic model, inputting the real-time angles into the dynamic model by combining the collected sole three-dimensional force data f of each leg, and outputting the real-time angles to each joint moment vector set taud；
Step seven, the joint PD controller inputs the expected value theta of the rotation quantity of the 13-dimensional motordAnd motor position feedback data thetaactCalculating a moment vector τj。
Step eight, collecting torque vectors of all joints to form a TdAnd moment vector τjThe two are used as feedforward input of a dynamic model together to control the motor moment of the robot body, so that closed-loop control of an actuating mechanism is realized.
The invention has the advantages that:
1) the control method of the quadruped robot with the waist degree of freedom fully exerts the advantages of model control aiming at a novel quadruped robot structure with the waist degree of freedom. Compared with a virtual model control method and a CPG method, the robot control method combines a kinematics model and an inverse kinematics model, so that the robot can achieve better control effect and control precision.
2) The hardware architecture designed according to the method has the characteristics of modularization and distribution, the operation pressure of a top-layer processor is dispersed, and the positioning and repairing of faults under the fault condition are easier to realize.
Drawings
FIG. 1 is a schematic structural diagram of a quadruped robot with waist degree of freedom according to the present invention;
FIG. 2 is a diagram of the hardware architecture employed by the control method of the present invention;
FIG. 3 is a diagram of the overall control strategy of the control method of the present invention;
FIG. 4 is a flow chart of a control method of a quadruped robot with waist degree of freedom according to the present invention;
in the figure: 1-a rear base; 2-waist joint; 3-a front base; 4-thigh; 5-shank; 6-knee joint; 7-the first hip joint; 8-the second hip joint;
detailed description of the preferred embodiments
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The quadruped robot with waist degree of freedom designed by the invention comprises a rear base 1, a front base 3, a waist joint 2, thighs 4, calves 5, a knee joint 6, a first hip joint 7 and a second hip joint 8, as shown in figure 1;
the rear base 1 and the front base 3 are connected by a waist joint 2, and belong to a floating base system. Each leg has the same structure, taking the right front leg as an example, the rear base 3 and the thigh 4 are connected through two motor systems, namely a first hip joint 7 and a second hip joint 8, so that the hip joints have two degrees of freedom. The thigh 4 and the lower leg 5 are connected by a motor system of a knee joint 6. The end of the lower leg 5 is a rubber conical contact structure, has larger friction force and can be similar to point contact.
There are a total of 13 degrees of freedom in the structure, with each leg comprising 3 degrees of freedom and the waist joint 2 having one degree of freedom. Compared with the four-foot robot with the conventional structure, the four-foot robot with the structure increases a waist degree of freedom, has more diversified motion modes, and is convenient for realizing actions such as body lifting, standing and the like and jumping gait.
But the control object is more complicated due to the addition of one degree of freedom. In terms of hardware, as shown in fig. 2, the control system includes two layers: a top control system and a bottom control system; the top-layer control system comprises a microprocessor STM32F407, a wireless data transmission module, an inertial sensor module icm20602, a plantar force sensor, an angle sensor, a moment sensor and a flying steering engine SM80, wherein an arm microprocessor is arranged in the top-layer control system, and the top-layer control system has the functions of position feedback and moment feedback.
And the microprocessor STM32F407 is communicated with the wireless data transmission module, the inertial sensor, the moment sensor and the plantar force sensor through the SPI. The SPI is a full-duplex high-speed synchronous communication mode, only occupies 4 pins, and is suitable for high-speed communication between a microprocessor and a sensor.
The top layer control system comprises a specific control method which has a human-computer interaction function, receives human instructions and signals returned by the inertial sensor and the plantar force sensor, and sends control signals to the lower layer controller. The command signals reach the microprocessor through the wireless data transmission module, and the sensor data are fed back to the microprocessor STM32 through USART (synchronous/asynchronous serial receiver/transmitter) and SPI (serial peripheral interface). The number of control systems is the same as the number of actuators, and closed-loop control is performed on a single actuator. The input is the position and moment instruction of the top layer control system and the position of the sensor, and the moment feedback signal realizes the servo control of the motor through PD control.
The lower layer control system is 13 motor controllers and is communicated with the microprocessor through a USART. Because the number of USART pins of the control chip STM32 is limited, the invention adopts a serial bus to connect 13 lower layer control systems and the top layer control system, thereby avoiding the situation of insufficient pins. And each motor controller respectively controls each motor, and the control instruction is from the top layer controller. Each executing motor carries an angle sensor and a torque sensor, and position and torque data measured by the sensors are fed back to the microprocessor to realize servo control of the motor position and torque. The execution motor jointly controls the motion of the robot body, the robot can contact the ground to generate contact force in the motion process, the contact is regarded as point contact, the three-dimensional force of the sole can be measured through the force measuring platform or the torque sensor, and the three-dimensional force is fed back to the microprocessor and added into the top layer control system.
The control method of the quadruped robot with the waist degree of freedom, which is designed by the invention, adopts a method based on dynamics and inverse kinematics model control according to the idea of trajectory planning; firstly, a kinematic model and a dynamic model of the four-legged robot with 13 degrees of freedom are established, and the control of a base is decoupled from the control of legs. Inputting the track instruction into a control system, calculating according to a gait parameter generation algorithm to obtain specific gait parameters, calculating a real-time angle through inverse kinematics, inputting the angle and three-dimensional force of the sole into an inverse kinematics model, and performing real-time settlement on the moment of each joint. And further inputting the angle and torque data to the bottom controller to realize closed-loop control of the actuating mechanism. And finally, calculating the speed and the position by utilizing an inertial sensor through integral solution, measuring the absolute position by combining a Vicon motion capture system, and using the absolute position as a feedback input controller to realize the position closed-loop control of the quadruped robot with the waist along the base and the foot end of the track.
As shown in fig. 4, the specific steps are as follows:
step one, establishing a kinematics model of a quadruped robot with waist degree of freedom;
the quadruped robot comprises 13 degrees of freedom and a two-layer controller;
the 13 degrees of freedom include 2 hip degrees of freedom and 1 knee degree of freedom for each leg, and one degree of freedom for the waist.
The two-layer controller comprises a motor controller on the top layer and a joint PD controller on the bottom layer; in the control framework, the joint PD controller is positioned in a bottom-layer control system, and the rest controllers are positioned in a top-layer control system.
The kinematic model comprises a positive kinematic model and an inverse kinematic model;
the positive kinematics model has the same value for each leg, taking the left front leg as an example:
wherein,for homogeneous coordinate transformation between the first hip joint and the base,is a homogeneous coordinate transformation between the second hip joint and the first hip joint,for homogeneous coordinate transformation between the second hip joint and the knee joint,for the homogeneous coordinate transformation between the knee joint and the sole,is a homogeneous coordinate transformation matrix between the tail end sole and the base; the positive kinematics model of the robot can be obtained by obtaining the matrix, and then the inverse kinematics model is solved on the basis of the positive kinematics model by a geometric method.
Step two, establishing a dynamic model of the quadruped robot with waist degree of freedom through a Newton-Euler method;
the kinetic model is as follows:
wherein m (q) represents an inertia matrix; q is a 19-dimensional state vector representing the 6-degree-of-freedom base state, the angle of the 4 leg 12 joints, and the angle of the 1 waist joint.Representing centripetal and coriolis forces, g (q) representing gravity,is the transpose of the Jacobian matrix,represents the external contact force, tau is a 13-dimensional joint moment vector, and S is a selection matrix.
Inputting the track instruction into a gait planning algorithm, and calculating specific gait parameters;
as shown in fig. 3, the gait parameters include: expected value x of base positionbaseplanAttitude expected value θbaseplanAnd expected value x of foot-drop point of legswingplanEtc.; the gait planning algorithm needs to be designed in advance according to different expected gaits (crawling gaits, diagonal gaits and jumping gaits), and the function is to convert the track instruction into the base position posture,The expected value of the foot-drop point. Aiming at different gait parameters, the gait parameter generation method is respectively used for obtaining the gait parameters.
Inputting each gait parameter into the base controller and the leg controller respectively, matching with an inverse kinematics model to carry out resolving, and decoupling the base control and the leg control; obtaining the expected value theta of the 13-dimensional motor rotation quantity of the quadruped robotd；
As shown in FIG. 3, first, the expected value x of the position of the susceptor is determinedbaseplanAnd attitude expected value thetabaseplanThe actual position value x of the robot base is obtained by feedback in combination with inertial sensor integration and Vicon motion capture system joint calculation as input of the base controllerbaseactAnd three-dimensional actual attitude value theta of the base obtained by fusing data through the inertial sensorbaseactThe motor rotation amount theta of the base is output togetherposed；
Then, the expected value x of the foot-falling point of the leg is determinedswingplanThe feedback is used as the input of a leg controller, the integral fusion angle feedback of an inertial sensor and the joint calculation of a Vicon motion capture system are combined, and the feedback is obtained to obtain the position x of the actual foot-falling point of the robotfootactThe motor rotation amount theta of the leg portion is outputted togetherswingd。
Finally, vector augmentation fusion is carried out on the output data of the base controller and the output data of the leg controller to obtain an expected value theta of the rotation quantity of the 13-dimensional motord。
Step five, obtaining the expected value theta of the rotation quantity of the 13-dimensional motordRespectively inputting the dynamic model and the joint PD controller;
as shown in fig. 3, the desired value θ of the rotation amount of the 13 d motordRespectively inputting two controllers, one is a dynamic controller, inputting 3-dimensional sole force acquisition data f of each leg, and outputting the data as moment vectors tau of each jointd. The other is a joint PD controller which inputs a desired value thetadAnd motor position feedback data thetaactCalculating a moment vector τj. Two output torque vectors taudAnd τjThe two input signals are used as feedforward input solved by an inverse dynamic model together to control the motor moment of the robot body.
Step six, calculating real-time angles of 13 joints by the dynamic model, inputting the real-time angles into the dynamic model by combining the collected sole three-dimensional force data f of each leg, and outputting the real-time angles to each joint moment vector set taud；
Step seven, the joint PD controller inputs the expected value theta of the rotation quantity of the 13-dimensional motordAnd motor position feedback data thetaactCalculating a moment vector τj。
Step eight, collecting torque vectors of all joints to form a TdAnd moment vector τjThe two are used as feedforward input of a dynamic model together to control the motor moment of the robot body, so that closed-loop control of an actuating mechanism is realized.
Claims (3)
1. A control method of a quadruped robot with waist degree of freedom is characterized by comprising the following specific steps:
step one, establishing a kinematics model of a quadruped robot with waist degree of freedom;
the quadruped robot comprises 13 degrees of freedom and a two-layer controller;
the 13 degrees of freedom include 2 hip joint degrees of freedom and 1 knee joint degree of freedom for each leg, and one degree of freedom for the waist;
the two-layer controller comprises a motor controller on the top layer and a joint PD controller on the bottom layer;
the kinematic model comprises a positive kinematic model and an inverse kinematic model;
step two, establishing a dynamic model of the quadruped robot with waist degree of freedom through a Newton-Euler method;
the kinetic model is as follows:
wherein m (q) represents an inertia matrix; q is a 19-dimensional state vector representing a 6-degree-of-freedom base state, angles of 4 leg 12 joints, and angles of 1 waist joint;representing centripetal and coriolis forces, g (q) representing gravity,is the transpose of the Jacobian matrix,representing external contact force, wherein tau is a 13-dimensional joint moment vector, and S is a selection matrix;
inputting the track instruction into a gait planning algorithm, and calculating specific gait parameters;
the gait parameters include: expected value x of base positionbaseplanAttitude expected value θbaseplanAnd expected value x of foot-drop point of legswingplan(ii) a Aiming at different gait parameters, different gait parameter generation methods are respectively used for obtaining the gait parameters;
step four, inputting each gait parameter into the base controller and the leg controller respectively, and matching with an inverse kinematics model to carry out resolving to obtain an expected value theta of the 13-dimensional motor rotation quantity of the quadruped robotd；
Step five, obtaining the expected value theta of the rotation quantity of the 13-dimensional motordRespectively inputting the dynamic model and the joint PD controller;
step (ii) ofSixthly, calculating real-time angles of 13 joints by the dynamic model, inputting the real-time angles into the dynamic model by combining the collected sole three-dimensional force data f of each leg, and outputting the real-time angles to each joint moment vector set taud；
Step seven, the joint PD controller inputs the expected value theta of the rotation quantity of the 13-dimensional motordAnd motor position feedback data thetaactCalculating a moment vector τj；
Step eight, collecting torque vectors of all joints to form a TdAnd moment vector τjThe two are used as feedforward input of a dynamic model together to control the motor moment of the robot body, so that closed-loop control of an actuating mechanism is realized.
2. The method as claimed in claim 1, wherein the positive kinematics model in step one has the same leg values, taking the left front leg as an example:
wherein,for homogeneous coordinate transformation between the first hip joint and the base,is a homogeneous coordinate transformation between the second hip joint and the first hip joint,for homogeneous coordinate transformation between the second hip joint and the knee joint,for the homogeneous coordinate transformation between the knee joint and the sole,is a homogeneous coordinate transformation matrix between the tail end sole and the base;
then, the inverse kinematics model is solved on the basis of the positive kinematics model by a geometric method.
3. The control method of the quadruped robot with the waist degree of freedom as claimed in claim 1, wherein the fourth step is specifically as follows:
first, the expected value x of the position of the base is determinedbaseplanAnd attitude expected value thetabaseplanThe actual position value x of the robot base is obtained by feedback in combination with inertial sensor integration and Vicon motion capture system joint calculation as input of the base controllerbaseactAnd three-dimensional actual attitude value theta of the base obtained by fusing data through the inertial sensorbaseactThe motor rotation amount theta of the base is output togetherposed；
Then, the expected value x of the foot-falling point of the leg is determinedswingplanThe feedback is used as the input of a leg controller, the integral fusion angle feedback of an inertial sensor and the joint calculation of a Vicon motion capture system are combined, and the feedback is obtained to obtain the position x of the actual foot-falling point of the robotfootactThe motor rotation amount theta of the leg portion is outputted togetherswingd；
Finally, vector augmentation fusion is carried out on the output data of the base controller and the output data of the leg controller to obtain an expected value theta of the rotation quantity of the 13-dimensional motord。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910136095.2A CN109871018B (en) | 2019-02-25 | 2019-02-25 | Control method of quadruped robot with waist degree of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910136095.2A CN109871018B (en) | 2019-02-25 | 2019-02-25 | Control method of quadruped robot with waist degree of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109871018A true CN109871018A (en) | 2019-06-11 |
| CN109871018B CN109871018B (en) | 2020-03-10 |
Family
ID=66919247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910136095.2A Expired - Fee Related CN109871018B (en) | 2019-02-25 | 2019-02-25 | Control method of quadruped robot with waist degree of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109871018B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327869A (en) * | 2020-11-19 | 2021-02-05 | 山东大学 | Diagonal gait motion control method of quadruped robot based on joint velocity planning |
| CN112748741A (en) * | 2020-12-25 | 2021-05-04 | 华南理工大学 | Joint torque determination method for four-footed wall-climbing robot with different postures |
| CN113031450A (en) * | 2021-05-18 | 2021-06-25 | 追创科技(苏州)有限公司 | Feedforward control method and device for intelligent robot, storage medium and electronic device |
| CN113220004A (en) * | 2021-04-15 | 2021-08-06 | 海南大熊软件科技有限公司 | Gait control method for quadruped robot, and computer-readable storage medium |
| CN114035593A (en) * | 2021-09-28 | 2022-02-11 | 北京炎凌嘉业机电设备有限公司 | Force servo foot type motion control method for multi-mode motion |
| CN114115310A (en) * | 2021-11-19 | 2022-03-01 | 北京理工大学 | Four-foot robot motion control method and system |
| CN114734445A (en) * | 2022-05-09 | 2022-07-12 | 中兵智能创新研究院有限公司 | Control method for dynamic adaptive load of quadruped robot |
| CN114932961A (en) * | 2022-06-15 | 2022-08-23 | 中电海康集团有限公司 | Four-footed robot motion control system |
| CN115016252A (en) * | 2022-06-29 | 2022-09-06 | 广东工业大学 | Stunt robot control method and stunt robot |
| WO2022242501A1 (en) * | 2021-05-18 | 2022-11-24 | 追觅创新科技(苏州)有限公司 | Gait control method and apparatus for intelligent robot, storage medium, and electronic apparatus |
| CN115616898A (en) * | 2022-10-26 | 2023-01-17 | 浙江大学 | Humanoid robot variable-load standing method based on model reference adaptive control |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1649984A1 (en) * | 2003-07-11 | 2006-04-26 | HONDA MOTOR CO., Ltd. | Method of estimating joint moment of two-legged walking mobile body |
| WO2009078825A2 (en) * | 2007-12-18 | 2009-06-25 | Necati Hacikadiroglu | Pumpless balancing system for bipedal or multi - legged robots |
| KR20130014286A (en) * | 2011-07-30 | 2013-02-07 | 박순기 | A method for implemenlation of quadruped robot with low power walking |
| WO2017087986A1 (en) * | 2015-11-20 | 2017-05-26 | The Regents On The University Of California | Non-anthropomorphic bipedal robotic system |
| CN107092750A (en) * | 2017-04-24 | 2017-08-25 | 北京航空航天大学 | A kind of Nonlinear dynamic models method of inside engaged gear axle tooth of reducer damage fault |
| WO2017201184A1 (en) * | 2016-05-17 | 2017-11-23 | The Regents Of The University Of California | Continuous robotic knee joint system |
| CN108466286A (en) * | 2018-03-19 | 2018-08-31 | 嘉兴学院 | One kind being based on the multi-direction kinematic robot of cylinder four-footed |
| CN108818551A (en) * | 2018-06-29 | 2018-11-16 | 北京航空航天大学 | A kind of Bionic Ant six-leg robot |
| CN109204603A (en) * | 2018-11-16 | 2019-01-15 | 广州联维物联网科技有限公司 | Four-leg bionic robot |
| CN208515722U (en) * | 2018-06-19 | 2019-02-19 | 昆明理工大学 | A kind of quadruped robot with parallel flexible waist structure |
-
2019
- 2019-02-25 CN CN201910136095.2A patent/CN109871018B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1649984A1 (en) * | 2003-07-11 | 2006-04-26 | HONDA MOTOR CO., Ltd. | Method of estimating joint moment of two-legged walking mobile body |
| WO2009078825A2 (en) * | 2007-12-18 | 2009-06-25 | Necati Hacikadiroglu | Pumpless balancing system for bipedal or multi - legged robots |
| KR20130014286A (en) * | 2011-07-30 | 2013-02-07 | 박순기 | A method for implemenlation of quadruped robot with low power walking |
| WO2017087986A1 (en) * | 2015-11-20 | 2017-05-26 | The Regents On The University Of California | Non-anthropomorphic bipedal robotic system |
| WO2017201184A1 (en) * | 2016-05-17 | 2017-11-23 | The Regents Of The University Of California | Continuous robotic knee joint system |
| CN107092750A (en) * | 2017-04-24 | 2017-08-25 | 北京航空航天大学 | A kind of Nonlinear dynamic models method of inside engaged gear axle tooth of reducer damage fault |
| CN108466286A (en) * | 2018-03-19 | 2018-08-31 | 嘉兴学院 | One kind being based on the multi-direction kinematic robot of cylinder four-footed |
| CN208515722U (en) * | 2018-06-19 | 2019-02-19 | 昆明理工大学 | A kind of quadruped robot with parallel flexible waist structure |
| CN108818551A (en) * | 2018-06-29 | 2018-11-16 | 北京航空航天大学 | A kind of Bionic Ant six-leg robot |
| CN109204603A (en) * | 2018-11-16 | 2019-01-15 | 广州联维物联网科技有限公司 | Four-leg bionic robot |
Non-Patent Citations (2)
| Title |
|---|
| SHINYA AOI，ETC: "Hysteresis in gait transition induced by changing waist joint stiffness of a quadruped robot driven by nonlinear oscillators with phase resetting", 《THE 2010 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS》 * |
| 岳荣刚，等: "一种爬壁机器人的动力学建模", 《北京航空航天大学学报》 * |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327869B (en) * | 2020-11-19 | 2021-09-24 | 山东大学 | Diagonal gait motion control method of quadruped robot based on joint velocity planning |
| CN112327869A (en) * | 2020-11-19 | 2021-02-05 | 山东大学 | Diagonal gait motion control method of quadruped robot based on joint velocity planning |
| CN112748741A (en) * | 2020-12-25 | 2021-05-04 | 华南理工大学 | Joint torque determination method for four-footed wall-climbing robot with different postures |
| CN112748741B (en) * | 2020-12-25 | 2022-03-29 | 华南理工大学 | Joint torque determination method for four-footed wall-climbing robot with different postures |
| CN113220004A (en) * | 2021-04-15 | 2021-08-06 | 海南大熊软件科技有限公司 | Gait control method for quadruped robot, and computer-readable storage medium |
| WO2022242501A1 (en) * | 2021-05-18 | 2022-11-24 | 追觅创新科技(苏州)有限公司 | Gait control method and apparatus for intelligent robot, storage medium, and electronic apparatus |
| CN113031450A (en) * | 2021-05-18 | 2021-06-25 | 追创科技(苏州)有限公司 | Feedforward control method and device for intelligent robot, storage medium and electronic device |
| CN114035593A (en) * | 2021-09-28 | 2022-02-11 | 北京炎凌嘉业机电设备有限公司 | Force servo foot type motion control method for multi-mode motion |
| CN114035593B (en) * | 2021-09-28 | 2024-04-12 | 北京炎凌嘉业机电设备有限公司 | Force servo foot type motion control method for multi-mode motion |
| CN114115310A (en) * | 2021-11-19 | 2022-03-01 | 北京理工大学 | Four-foot robot motion control method and system |
| CN114115310B (en) * | 2021-11-19 | 2023-12-15 | 北京理工大学 | Motion control method and system for four-foot robot |
| CN114734445A (en) * | 2022-05-09 | 2022-07-12 | 中兵智能创新研究院有限公司 | Control method for dynamic adaptive load of quadruped robot |
| CN114932961B (en) * | 2022-06-15 | 2023-10-10 | 中电海康集团有限公司 | Motion control system of four-foot robot |
| CN114932961A (en) * | 2022-06-15 | 2022-08-23 | 中电海康集团有限公司 | Four-footed robot motion control system |
| CN115016252A (en) * | 2022-06-29 | 2022-09-06 | 广东工业大学 | Stunt robot control method and stunt robot |
| CN115016252B (en) * | 2022-06-29 | 2024-07-23 | 广东工业大学 | Trick robot control method and trick robot thereof |
| CN115616898A (en) * | 2022-10-26 | 2023-01-17 | 浙江大学 | Humanoid robot variable-load standing method based on model reference adaptive control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109871018B (en) | 2020-03-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109871018B (en) | Control method of quadruped robot with waist degree of freedom | |
| JP3972854B2 (en) | Robot motion control device | |
| CN109760761B (en) | Four-footed robot motion control method based on bionics principle and intuition | |
| CN108897220B (en) | Self-adaptive stable balance control method and system and biped humanoid robot | |
| Low et al. | Locomotive control of a wearable lower exoskeleton for walking enhancement | |
| JP2006289602A (en) | Robot device and its control method | |
| CN114384918A (en) | Diagonal gait compliance control method of four-footed robot based on drop foot point adjustment | |
| CN111301552A (en) | Robot leg power system and control method thereof | |
| Dan et al. | Human-gait-based tracking control for lower limb exoskeleton robot | |
| Zou et al. | Adaptive gait planning for walking assistance lower limb exoskeletons in slope scenarios | |
| Lee et al. | Development and walking control of emotional humanoid robot, KIBO | |
| Moya et al. | Delayed bilateral teleoperation of the speed and turn angle of a bipedal robot | |
| Lu et al. | A novel multi-configuration quadruped robot with redundant DOFs and its application scenario analysis | |
| Li et al. | Lower limb exoskeleton hybrid phase control based on fuzzy gain sliding mode controller | |
| Bian et al. | Jumping motion planning for biped robot based on hip and knee joints coordination control | |
| Li et al. | Trotting gait planning and implementation for a little quadruped robot | |
| McGhee et al. | An interactive computer-control system for a quadruped robot | |
| Kang et al. | A small morphing leg-wheel hybrid quadruped robot | |
| Peng et al. | Whole body collaborative planning method for legged locomotion manipulation system in operation process | |
| Tavolieri et al. | A design of a new leg-wheel walking robot | |
| Feng et al. | Humanoid robot field-programmable gate array hardware and robot-operating-system-based software machine co-design | |
| Massari et al. | Realization and control of a prototype of legged rover for planetary exploration | |
| Luo et al. | Planning and control of biped robots with upper body | |
| CN117207203B (en) | Robot control method, device, robot and storage medium | |
| Li et al. | Decoupling Control for Hip Joint of Humanoid Robot Based on ADRC |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200310 |