The invention provides a bionic gait control method for a multi-modal robot and a walking robot, and the method comprises the steps: obtaining a target folding angle value of a trunk of the robot based on the maximum static stability margin when a next leg is lifted after all legs of the robot fall to the ground; and the folding angle of the trunk of the robot is adjusted to reach the target folding angle value, and the robot is controlled to step out of the next leg. The problems that in the prior art, when a walking robot walks on a slope or a complex mountain road surface, adaptability is poor, and stability is not high are solved.

    本申请提供一种多模态机器人的仿生步态控制方法及行走机器人,其中方法包括步骤:在机器人的全部腿落地后,基于抬起下一条腿时的最大静态稳定裕度,获取机器人的躯干的目标折叠角度值;调节机器人的躯干的折叠角度以达到目标折叠角度值,控制机器人迈出下一条腿。解决了现有技术中行走机器人在斜坡或复杂山地路面上行走时则会出现适应性差、稳定性不强的问题。


    Access

    Download


    Export, share and cite



    Title :

    Bionic gait control method of multi-modal robot and walking robot


    Additional title:

    一种多模态机器人的仿生步态控制方法及行走机器人


    Contributors:
    DAI JIANSHENG (author) / CHEN JUNPENG (author) / FU JIAN (author) / TANG ZHAO (author)

    Publication date :

    2024-07-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Bionic spider walking robot

    LIU XIAOQIU / LIU SHUAI / MENG YAN et al. | European Patent Office | 2020

    Free access

    Four-footed bionic walking robot

    WANG HONGBING / SUN CHUNHUA / LI HONGWEI et al. | European Patent Office | 2021

    Free access

    Creeping bionic robot and walking control method thereof

    ZHANG QIRUI / WANG ZE / ZHAO KUI et al. | European Patent Office | 2023

    Free access

    Multi-gait earthworm bionic soft robot and working method

    SHEN MINGJIE / HAN BAOJIAN / JIN JIAGENG et al. | European Patent Office | 2022

    Free access

    Walking mechanism and bionic elephant robot

    ZHU JIAJIE / LUO MINZHOU / GUO FAYONG et al. | European Patent Office | 2021

    Free access