The invention relates to the field of machine control, in particular to a jumping and somersault action control method and device for a double-wheel-foot robot, and the method comprises the steps: simplifying the double-wheel-foot robot into a structure comprising a base, legs and wheels, and enabling the base, the legs and the wheels to serve as a target structure; respectively constructing a kinetic model of the target structure in a standing stage and a kinetic model of the target structure in a flight stage; according to the target jump height and the target jump distance, determining corresponding states of the target structure at the moment of leaving the ground and the moment of landing; determining a reference trajectory in the jumping and somersault process according to the dynamic constraint, the moment constraint, the joint limitation and the dynamic model; corresponding controllers are designed in the take-off preparation stage and the landing recovery stage to track the motion trail and keep balance; and a posture adjustment controller based on wheel speed adjustment is designed in the flight stage so as to ensure stable completion of jumping and somersault actions. The somersault can ensure that the robot completes somersault action.
本发明涉及机器控制领域,特别是涉及一种双轮足式机器人的跳跃空翻动作控制方法和装置,方法包括:将双轮足式机器人简化成包括基座、腿部和轮子的结构,作为目标结构,并分别构建该目标结构在站立阶段的动力学模型和在飞行阶段的动力学模型;根据目标跳跃高度和目标跳跃距离,确定所述目标结构在离地瞬间和落地瞬间对应的状态;根据动力学约束、力矩约束、关节限制以及动力学模型确定跳跃空翻过程中的参考轨迹;在起跳准备阶段和落地恢复阶段设计对应的控制器以跟踪运动轨迹并保持平衡;在飞行阶段设计基于车轮速度调节的姿态调整控制器,以确保跳跃空翻动作的平稳完成。本发明能够确保机器人完成空翻动作。
Method and device for controlling jumping and somersaulting actions of double-wheel foot type robot
一种双轮足式机器人的跳跃空翻动作控制方法和装置
2024-11-29
Patent
Electronic Resource
Chinese
Wheel foot leg with double buffer structures and wheel foot robot
European Patent Office | 2025
|