The invention relates to a multi-foot walking robot and a walking control method thereof, and belongs to the technical field of robots. The walking control method comprises the steps that firstly, a high-pressure pump is controlled till the output oil pressure of the high-pressure pump is higher than the overflow oil pressure of a high-pressure overflow valve connected to an oil outlet of the high-pressure pump, a low-pressure pump is controlled till the output oil pressure of the low-pressure pump is higher than the overflow oil pressure of a low-pressure overflow valve connected to an oil outlet of the low-pressure pump, and the output flow of the high-pressure pump and the low-pressure pump is higher than average flow needed by the robot; and secondly, based on oil pressure detection data, the rotation speed of a pump drive motor is changed till the output oil pressure meets the control requirement, and the output oil pressure is lower than the overflow oil pressure of the overflowvalves. In the above two steps, in a supporting state, the high-pressure pump is utilized for supplying high-pressure oil liquid to a hydraulic executer, and in a swinging state, the low-pressure pumpis utilized for supplying low-pressure oil liquid to the hydraulic executer. According to the control method, the energy utilization rate can be effectively increased, and the control method can be widely applied to the technical field of robots.
本发明涉及一种多足步行机器人及其步行控制方法,属于机器人技术领域。该步行控制方法包括:(1)控制高压泵至其输出油压高于连接在其出油口处的高压溢流阀的溢流油压,及控制低压泵至其输出油压高于连接在其出油口处的低压溢流阀的溢流油压,且二者的输出流量均大于该机器人所需的平均流量;(2)基于油压检测数据,改变泵驱动电机的转速至输出油压符合控制需求,且输出油压均低于溢流阀的溢流油压;且在上述两个步骤中,在支撑态时,利用高压泵为液压执行器供给高压油液;而在摆动态时,利用低压泵为液压执行器供给低压油液。该控制方法能有效地提高能量利用率,可广泛应用于机器人技术领域中。
Multi-foot walking robot and walking control method thereof
一种多足步行机器人及其步行控制方法
2020-09-01
Patent
Elektronische Ressource
Chinesisch
Europäisches Patentamt | 2022
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