The invention provides a quadruped robot control method based on hollow-cup direct-current servo motors, which can accurately identify obstacles in front of a robot walking and on the walking ground, so that the hollow-cup direct-current servo motors at joints of the robot can timely change the output torque; therefore, the robot can quickly and accurately bypass or cross corresponding obstacles, free walking and flexibility of the robot are guaranteed, and walking stability and smoothness of the robot are improved.

    本发明提供了基于空心杯直流伺服电动机的四足机器人控制方法,其能够对机器人行走前方和行走地面存在的障碍进行准确识别,便于机器人关节处的空心杯直流伺服电动机及时改变输出的力矩,以使机器人快速准确地绕过或跨越相应的障碍,保证机器人的行走自由行和灵活性,提高机器人的行走稳定性和顺畅性。


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    Title :

    Quadruped robot control method based on hollow cup direct current servo motor


    Additional title:

    基于空心杯直流伺服电动机的四足机器人控制方法


    Contributors:
    XU ZHIFENG (author) / MIAO GUOHUI (author) / CHEN SIYI (author)

    Publication date :

    2022-11-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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