The invention relates to a robot control method, and aims to provide an IMU (Inertial Measurement Unit)-based hexapod robot gait fast switching method which has the characteristics that the gait control is simple and convenient, and the hexapod robot walks stably and reliably. According to the technical scheme, the rapid gait switching method for the hexapod robot based on the IMU comprises the following steps that S1, according to parameters of the hexapod robot, the triangular gait, the four-corner gait and the five-corner gait of the hexapod robot are determined; the method comprises the steps that S101, the maximum movement distance of a single leg of the hexapod robot relative to a robot body is recorded as S, the maximum movement distance is dispersed into 11 points at equal intervals, and the 11 points are sequentially + 5, + 4, + 3, + 2, + 1, 0,-1,-2,-3,-4 and-5; wherein 0 is the initial position (namely in the movement direction, the foot end contact point is the same as the thigh root position), + 5 is the front transition position,-5 is the rear transition position, and the distance between two adjacent points is 1/10S. In addition, a right front leg, a left front leg, a right middle leg, a left middle leg, a right rear leg and a left rear leg of the six legs are sequentially defined as first to sixth legs.
本发明涉及一种机器人控制方法,目的是提供一种基于IMU的六足机器人步态快速切换方法,该方法具有步态控制简便、六足机器人行走稳定可靠的特点。技术方案是一种基于IMU的六足机器人步态快速切换方法,包括以下内容:S1:根据六足机器人参数,确定六足机器人三角、四角、五角步态;S101:记六足机器人单腿相对于机身最大运动距离为S,并将其等距离散成11个点,11个点依次为+5、+4、+3、+2、+1、0、‑1、‑2、‑3、‑4、‑5;其中,0为初始位置(即在运动方向,足端触地点与大腿根部位置相同),+5为前转变位置,‑5为后转变位置,相邻两点之间距离则为1/10S。另外,六条腿中的“右前腿、左前腿、右中腿、左中腿、右后腿、左后腿”依次定义为一至六号腿。
Rapid gait switching method for hexapod robot based on IMU (Inertial Measurement Unit)
一种基于IMU的六足机器人步态快速切换方法
2023-10-13
Patent
Electronic Resource
Chinese
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