The invention discloses a kinematics-based four-footed wall-climbing robot turn-around gait control method, wherein the method comprises the steps: respectively performing kinematics analysis on each leg of a robot, and establishing coordinate systems for each leg, wherein the coordinate systems comprise a base coordinate system of the leg and a tail end coordinate system at a spherical hinge joint at the tail end of each leg; obtaining a homogeneous change matrix from the tail end coordinate system of each leg to the base coordinate system; in combination with the homogeneous change matrix, obtaining a position vector of the spherical hinge joint at the tail end of each leg in the base coordinate system of the leg, and obtaining a joint variable expression of each leg according to the position vector; establishing a target foothold position relational expression of each leg sole turning, and respectively obtaining the displacement quantity of each target foothold position in each direction; and obtaining joint variables of all the legs according to the joint variable expressions and the displacement quantities, controlling all the legs according to the joint variables, and achieving leg swinging and turning actions. In-situ turning gait planning is carried out, and the position of a machine body is kept unchanged all the time in the movement process.
本发明公开了一种基于运动学的四足爬壁机器人转身步态控制方法,包括:对机器人各腿部分别进行运动学分析,并对各腿部建立坐标系,包括腿部的基坐标系和各腿部末端球铰关节处的末端坐标系;获得各腿部的末端坐标系到的基坐标系的齐次变化矩阵;结合齐次变化矩阵,获得腿部末端的球铰关节在腿部的基坐标系中的位置向量,根据位置向量获得腿部的关节变量表达式;建立各腿部脚掌转身的目标落脚点位置关系式,分别获得各目标落脚点位置在各个方向上的位移量;分别根据关节变量表达式和位移量获得各腿部的关节变量,分别根据关节变量对各腿部进行控制,实现摆腿转身动作。进行原地转身步态规划,实现运动过程机身的位置始终保持不变。
Kinematics-based four-footed wall-climbing robot turn-around gait control method
一种基于运动学的四足爬壁机器人转身步态控制方法
2021-05-04
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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