According to the bionic biped robot based on the pneumatic soft body structure and the control method, the pneumatic soft body structure made of the soft body variable materials is adopted, and pneumatic driving is achieved through the cooperation of inflation and deflation of the inflation bags in all the inflation areas by means of the air source supply system through the air pressure control system, so that the robot has the larger degree of freedom; gaits and actions of human beings can be better simulated; meanwhile, a bending angle signal monitored by a bending sensor is collected in real time through a data collection card, and then the bending angle is optimized by an upper computer through a PID control algorithm, so that the input air pressure, the inflation and deflation time length and the interval of each inflation area are controlled, and each part of the robot is regularly expanded or contracted; on this basis, four limbs of the robot are controlled to achieve expected angle cooperation until the robot reaches an expected position, so that closed-loop control is formed; and finally, the robot collects environment information through a camera and feeds back the environment information to an upper computer, and then tasks can be completed in a complex environment.
本发明提供的一种基于气动软体结构的仿生两足机器人及控制方法,采用软体可变材料制成的气动软体结构,通过气压控制系统利用气源供给系统向各充气区域内的充气袋充放气配合来实现气动驱动,使得机器人具有更大的自由度,可以更好地模仿人类的步态和动作;同时通过数据采集卡实时采集弯曲传感器监测到的弯曲角度信号,然后由上位机经过PID控制算法来优化弯曲角度,从而控制各个充气区域的输入气压大小、充放气的时间长短以及间隔,使机器人各部位进行规律性扩张或收缩,以此为依据控制机器人四肢达到期望的角度配合,直至到达期望位置,由此形成闭环控制;最后该机器人通过摄像头采集环境信息,反馈至上位机后能够在复杂环境中完成任务。
Bionic biped robot based on pneumatic soft body structure and control method
一种基于气动软体结构的仿生两足机器人及控制方法
2024-08-16
Patent
Electronic Resource
Chinese
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