CN206288109U - Adaptive motion multi-joint walking robot - Google Patents
Adaptive motion multi-joint walking robot Download PDFInfo
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- CN206288109U CN206288109U CN201621207991.1U CN201621207991U CN206288109U CN 206288109 U CN206288109 U CN 206288109U CN 201621207991 U CN201621207991 U CN 201621207991U CN 206288109 U CN206288109 U CN 206288109U
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Abstract
The utility model discloses a kind of adaptive motion multi-joint walking robot, including：Driver element, including some Servo-controllers, the four limbs of robot are respectively equipped with least 2 Servo-controllers；Ultrasonic sensor, for the feedback as robot distance；3-axis acceleration device, for the feedback as robot stationary value；Photosensitive resistance sensor, for the feedback as robot side-play amount；Main control chip, is connected with driver element, ultrasonic sensor, 3-axis acceleration device and photosensitive resistance sensor, the running status for controlling robot；Servo-controller controller, for numbering to control the state of Servo-controller for Servo-controller.Robot architecture of the present utility model is simple, easily assembles, and the limitation of structure row is lower, and relatively freely movement velocity is preferable, and stable, and self-regeneration can be reached by constantly evolution in unstable motion row.
Description
Technical field
The utility model is related to technical field of robot control, more particularly to a kind of adaptive motion multi-joint vehicle with walking machine
Device people.
Background technology
Robot technology belongs to high-technology field, develops in recent decades swift and violent.It combine kinematics, mechanics,
The multi-disciplinary more recent application research such as mechanical structure, information science, control theory, computer, sensing technology and artificial intelligence
Achievement, is one of research field most popular at present, and its development level largely represents the technology of related discipline
Maturity.
Four-footed multi-joint walking robot can help the mankind to complete under many hazardous environments as a class specialized robot
Task, such as terrified scene, earthquake field search, field investigation, outer space detection etc..Four-footed multi-joint walking robot
Can be divided into it is aerial, under water with the class robot of ground three.And it is the most closely related with the mankind surely belong to ground robot, it can be divided into
Two major classes：One class be by vehicle technology longitudinal development into it is wheeled（Including crawler type）Robot；Another kind of is according to nature
Such as the walking principle of snake, kangaroo, dog, horse, mule, crab and spider animal and the bionical legged type robot developed.Wheeled machine
Device people has obviously speed advantage on hard flat road surface, thus it is the mankind that wheel machine since the advent of the world becomes
The most important vehicles.But, the area that half is exceeded in earth terrestrial environment is all rugged mountain region and marsh, wheel
Application is greatly limited in this environment for formula robot.However, the legged type robot of imitative animal can but overcome this office
Limit, with very strong road surface adaptability, walks under many road environments that be able to cannot be reached in the mankind.
Therefore, for above-mentioned technical problem, it is necessary to provide a kind of adaptive motion multi-joint walking robot.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of adaptive motion multi-joint walking robot.
To achieve these goals, the technical scheme that the utility model embodiment is provided is as follows：
A kind of adaptive motion multi-joint walking robot, the robot includes：
Driver element, including some Servo-controllers, the four limbs of robot are respectively equipped with least 2 Servo-controllers；
Ultrasonic sensor, for the feedback as robot distance；
3-axis acceleration device, for the feedback as robot stationary value；
Photosensitive resistance sensor, for the feedback as robot side-play amount；
Main control chip, is connected with driver element, ultrasonic sensor, 3-axis acceleration device and photosensitive resistance sensor, uses
In the running status of control robot；
Servo-controller controller, for numbering to control the state of Servo-controller for Servo-controller.
Used as further improvement of the utility model, the torsion of the Servo-controller is not less than 16kg, and angle rotatable is
360°。
Used as further improvement of the utility model, the four limbs of the robot are respectively equipped with 3 Servo-controllers, and altogether 12
Individual Servo-controller.
Used as further improvement of the utility model, the robot is respectively provided on two sides with 1 Servo-controller, with steady
The center of gravity of robot.
Used as further improvement of the utility model, the Servo-controller is connected using concatenation type mode, is received with unified
The control signal of main control chip.
Used as further improvement of the utility model, the main control chip is ARM Cortex-M chips.
As further improvement of the utility model, the USB serial ports for transmission signal is additionally provided with the main control chip
And/or bluetooth sensor.
The beneficial effects of the utility model are：
Robot architecture of the present utility model is simple, easily assembles, and the limitation of structure row is lower, and relatively freely movement velocity is preferable,
And it is stable, self-regeneration can be reached by constantly evolution in unstable motion row.
Brief description of the drawings
In order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments described in the utility model, for those of ordinary skill in the art, is not paying creative work
On the premise of, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the system module of adaptive motion multi-joint walking robot in the specific embodiment of the utility model one
Figure.
Specific embodiment
In order that those skilled in the art more fully understand the technical scheme in the utility model, below in conjunction with this reality
With the accompanying drawing in new embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that
Described embodiment is only a part of embodiment of the utility model, rather than whole embodiments.Based on the utility model
In embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, should all belong to the scope of the utility model protection.
Shown in ginseng Fig. 1, the adaptive motion multi-joint walking robot in the specific embodiment of the utility model one, bag
Include：
Driver element 10, including some Servo-controllers, the four limbs of robot are respectively equipped with least 2 Servo-controllers, preferably
Ground, the torsion of Servo-controller is not less than 16kg, and angle rotatable is 360 °；Servo-controller is connected using concatenation type mode, to unite
One control signal for receiving main control chip；
Ultrasonic sensor 20, for the feedback as robot distance；
3-axis acceleration device 30, for the feedback as robot stationary value；
Photosensitive resistance sensor 40, for the feedback as robot side-play amount；
Main control chip 50, with driver element 10, ultrasonic sensor 20,3-axis acceleration device 30 and photosensitive resistance sensor
40 are connected, the running status for controlling robot, it is preferable that main control chip is ARM Cortex-M chips；
Servo-controller controller 60, for numbering to control the state of Servo-controller for Servo-controller.
Further, the USB serial ports 70 and/or bluetooth sensor 80 for transmission signal are additionally provided with main control chip 50.
Robot in the utility model mainly uses ultrasonic sensor as the feedback of distance, uses 3-axis acceleration
Device, using photosensitive resistance sensor as the feedback of side-play amount, and then is reached robot multiple-objective and is drilled as the feedback of stationary value
Change.
Motor behavior in the utility model for this four-footed multi-joint walking robot structure row is tested and assessed.
In terms of robot motion's Behavior- Based control, the utility model completes multiple Servo-controller machines using multi-target evolution genetic algorithm
The control of device people's complex behavior, using classical genetic algorithm and multi-objective genetic algorithm in the bionical configuration machine of four-footed multi-joint
On people, and towards robot control aspect is reduced, using minimum cost (for example：Complex chromosomal degree, time complexity) come
The motor behavior of robot is reached, the utility model emphasizes that robot is in unstable motor behavior by continuous in experiment
Evolution reaches self-repairing capability for main contributions.
Employed in the utility model is the robot for using Servo-controller series, is that design robot structure row is relative
Quite free and easily assembling, it is preferable that the torsion of middle Servo-controller is up to 16kg in present embodiment, can be with the anglec of rotation
It is 360 °, and uses concatenation type Servo-controller, concatenation type Servo-controller and traditional Servo-controller difference is signal package
Transmission, traditional servo steering wheel can only Servo-controller receive a signal in controller, and concatenation type Servo-controller be can be by
Multiple Servo-controller unifications receive the signal of main control chip, so the utility model can be with secondary control multiple Servo-controller, phase
To for design robot structure row limit under be free comparing.
In the embodiment of the utility model one, illustrated by taking four-footed multi-joint walking robot as an example, the four of robot
Limb can be respectively equipped with 2 Servo-controllers, and the Servo-controller for controlling altogether is 8.
But because four-footed multi-joint walking robot foot causes movement velocity slow compared with short-range missile, it is of the present utility model
In another embodiment, four-footed articulated robot lengthens foot, and four limbs respectively increase a Servo-controller, because robot four limbs
Growth causes robot center of gravity more unstable, and in order to solve this problem, the present embodiment respectively increases by one in machine person both sides
Individual Servo-controller supports the steady of robot, a total of 14 Servo-controllers, and the real Servo-controller for control is 12.
Imitate in real world simultaneously, robot has the generation of Servo-controller failure situation, machine in the task of execution
How people will be gone to adjust motor behavior, and 8 Servo-controllers are had in this configuration, have a Servo-controller failure not act, institute
It it is 7 with the real Servo-controller for controlling.Robot carries more Servo-controllers, and robot can be made to become to compare in itself
It is difficult to control to, hardware damage rate can be also increased relatively, so each is acted (for example to have to accurate specification：Each servo
The angle of steering wheel).
Due to four-footed, multi-joint running machine person joint is more, and the free degree is more, and is equipped with multiple sensors module, therefore
Control ratio is more numerous and diverse.The utility model uses the ARM of ST companies in a total of 14 Servo-controllers of robot, main control chip
Cortex-M series of products.
The utility model can help robot that servo is overcome in experimental enviroment using the larger Servo-controller of torsion
The consume of steering wheel and the influence of various factors, compared with traditional Servo-controller, AX12 DYNAMIXEL provide the height of 16kg
Torsion.AX-12DYNAMIXEL Servo-controllers use PWM controllers unlike R/C Servo-controllers, with multiple Servo-controller strings
Even operate, Servo-controller angle can be with 360 ° of rotations, but because it is contemplated that robot motion's behavior, the utility model can limit servo
The angle that steering wheel is rotated, in order to avoid cause the consumption of hardware.
Robot of the present utility model is spliced by multiple Servo-controllers, so will enter for each Servo-controller
Line number controls the behavior of robot.Preferably, CM-530 Servo-controllers controller is used to be numbered for each Servo-controller,
Again by RoboPlus Servo-controllers control software for each Servo-controller is numbered.
The utility model is utilized and is directed to bio-robot particle swarm optimization algorithm, by the fine setting of the Suresh Kumar of local search
Go to change the behavior of sequence in the gene and number of individuals combination to control robot.In addition, the utility model patent is developed using circulation
Mode, with four-footed multi-joint walking robot as main types, and control the machine that is combined by many Servo-controllers
People.Because robot is come the foundation as heredity using multi-objective evolution, the assessment of multi-objective evolution adaptive value is to carry out
Multiple target weight distribution, is that a set of behavior of robot is scored, and the adaptive value of ranking front three then can be selected individual first
The local search of the rear work first time for being intersected and then mutation remake secondary local search.
In a specific embodiment of the present utility model, with overall length as 160cm, the open rectangular space of a width of 80cm
As a example by tested, using multi-objective evolution when the main shaft that be tested, allow the robot to reach quick and smoothly towards mesh
Mark thing movement.
The utility model is finely adjusted operation in units of group, and takes the mode imitated mutually between foot and foot to control
The range of motion behavior of robot processed, the Servo-controller of failure does not list computer capacity in.The group every can be first obtained first to watch
Take after steering wheel angle is added up and average, with average value as benchmark, if the group Servo-controller is more than average value, then
- 20 ° of fine settings are carried out to the Servo-controller, if instead being less than average value, then+20 ° micro- is carried out to this of group Servo-controller
Adjust, make the group rotate similarity degree lifted, then by adaptive value assess current fine setting for robot behavior OK, such as
Fruit assessment is better than what previous generation evolution came, then may proceed to take the same pattern to be finely adjusted, if instead assessment is bad,
Then use reverse mode operation, that is to say, that be finely adjusted the reduction of the similarity degree between foot and foot.From experiment results proved,
The motor behavior of robot can be significantly improved, and can accelerate the convergence time of robot, reduce what experiment was consumed
Cost.
In a preferred embodiment of the present utility model, by taking four-footed articulated robot as an example, the four limbs difference of robot
3 Servo-controllers are provided with, 12 Servo-controllers, are represented with m0 ~ m11 altogether, are every Servo-controller come numbering m0 Servo-controllers
Numbering is 1, by that analogy until m11 Servo-controllers numbering is 12.Then each is controlled by Servo-controller controller respectively
The behavior of Servo-controller.
By above-mentioned technical proposal as can be seen that the utility model has the advantages that：
Robot architecture of the present utility model is simple, easily assembles, and the limitation of structure row is lower, and relatively freely movement velocity is preferable,
And it is stable, self-regeneration can be reached by constantly evolution in unstable motion row.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of without departing substantially from spirit or essential attributes of the present utility model, can in other specific forms realize that this practicality is new
Type.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, this practicality is new
The scope of type limits by appended claims rather than described above, it is intended that the equivalency fallen in claim is contained
All changes in justice and scope are included in the utility model.Any reference in claim should not be considered as limitation
Involved claim.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each implementation method is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Specification an as entirety, the technical scheme in each embodiment can also be formed into those skilled in the art through appropriately combined
May be appreciated other embodiment.
Claims (7)
1. a kind of adaptive motion multi-joint walking robot, it is characterised in that the robot includes：
Driver element, including some Servo-controllers, the four limbs of robot are respectively equipped with least 2 Servo-controllers；
Ultrasonic sensor, for the feedback as robot distance；
3-axis acceleration device, for the feedback as robot stationary value；
Photosensitive resistance sensor, for the feedback as robot side-play amount；
Main control chip, is connected, with driver element, ultrasonic sensor, 3-axis acceleration device and photosensitive resistance sensor for controlling
The running status of robot processed；
Servo-controller controller, for numbering to control the state of Servo-controller for Servo-controller.
2. adaptive motion multi-joint walking robot according to claim 1, it is characterised in that the Servo-controller
Torsion is not less than 16kg, and angle rotatable is 360 °.
3. adaptive motion multi-joint walking robot according to claim 1, it is characterised in that the four of the robot
Limb is respectively equipped with 3 Servo-controllers, altogether 12 Servo-controllers.
4. adaptive motion multi-joint walking robot according to claim 3, it is characterised in that the two of the robot
Side is respectively equipped with 1 Servo-controller, with the center of gravity of steady robot.
5. adaptive motion multi-joint walking robot according to claim 1, it is characterised in that the Servo-controller is adopted
Connected with concatenation type mode, with the unified control signal for receiving main control chip.
6. adaptive motion multi-joint walking robot according to claim 1, it is characterised in that the main control chip is
ARM Cortex-M chips.
7. adaptive motion multi-joint walking robot according to claim 6, it is characterised in that on the main control chip
It is additionally provided with the USB serial ports and/or bluetooth sensor for transmission signal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621207991.1U CN206288109U (en) | 2016-11-09 | 2016-11-09 | Adaptive motion multi-joint walking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621207991.1U CN206288109U (en) | 2016-11-09 | 2016-11-09 | Adaptive motion multi-joint walking robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106394724A (en) * | 2016-11-09 | 2017-02-15 | 江苏信息职业技术学院 | Self-adaptive motion multi-joint walking robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106394724A (en) * | 2016-11-09 | 2017-02-15 | 江苏信息职业技术学院 | Self-adaptive motion multi-joint walking robot |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170630 Termination date: 20201109 |
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| CF01 | Termination of patent right due to non-payment of annual fee |