The invention discloses a motion control method for a quadruped robot walking upstairs in a static gait. The method comprises the following steps: (1) planning the main gait of the quadruped robot byaiming at a static gait stepping sequence; (2) building a discrete kinematics model of the quadruped robot with trunk motion and posture as input; (3) planning the trunk mass center position and the trunk posture, and calculating according to the discrete kinematics model of the quadruped robot to obtain the foot end expected position of supporting feet; and (4) planning the foot end expected position of swinging feet according to the stair terrain. According to the method, the relation between trunk movement and foot end movement is simply established through the discrete kinematics model, the complexity of the model is greatly reduced, the robot can plan the position and posture of the trunk while moving, omnibearing movement of the quadruped robot is achieved and high robustness can also be kept for complex terrains such as stairs.
一种静步态上楼梯的四足机器人运动控制方法,(1)针对静步态的迈步顺序,规划四足机器人的主步态,(2)建立以躯干运动与姿态作为输入的四足机器人的离散运动学模型,(3)对躯干质心位置和躯干姿态进行规划,根据四足机器人的离散运动学模型计算得到支撑足的足端期望位置,(4)针对楼梯地形,规划摆动足的足端期望位置。该方法通过离散运动学模型,简单的建立了躯干运动与足端运动的联系,大大降低了模型的复杂度,使得机器人在运动的同时可以规划躯干的位置与姿态,实现四足机器人的全方位移动,在面对楼梯等复杂地形时也可以保持强大的鲁棒性。
Motion control method for quadruped robot walking upstairs in static gait
一种静步态上楼梯的四足机器人运动控制方法
2020-08-04
Patent
Electronic Resource
Chinese
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