The invention relates to a hydraulic hexapod robot and a walking gait control method based on mass center fluctuation, which belong to the technical field of robots. The robot comprises a body and three hydraulic mechanical legs arranged on the two sides of the body respectively. Each hydraulic mechanical leg comprises a root joint, a hip joint, a thigh rod, a knee joint, a shank rod and a foot end fixedly arranged on the shank rod, and the gait control method comprises the steps that the hydraulic mechanical legs are controlled to walk according to the three-foot gait according to the plannedfoot end track, so that the mass center track of the six-foot walking robot is a cosine curve track; specifically, under a calcaneal joint coordinate system, the components of the foot end track in the advancing direction and the vertical direction are all sextic polynomials, and displacement, speed and acceleration are continuous. Compared with a control method for keeping the mass center heightapproximately unchanged in the prior art, the control method provided by the invention has the advantages that the average flow and average power of the robot in one gait period can be effectively reduced through the gait with the fluctuated mass center, so that the energy utilization rate is effectively increased, and the method can be widely applied to the technical field of robots.

    本发明涉及一种液压六足机器人及基于质心起伏的行走步态控制方法,属于机器人技术领域。该机器人包括躯体及各布设在躯体两侧上的三条液压机械腿,液压机械腿包括根关节、髋关节、大腿杆、膝关节、小腿杆及固设在小腿杆上的足端,其步态控制方法包括依据所规划的足端轨迹控制液压机械腿按三足步态行走,以使六足步行机器人的质心轨迹为余弦曲线轨迹;具体为在跟关节坐标系下,足端轨迹在前进与垂向方向上的分量均为六次多项式且位移、速度与加速度为连续。与现有技术中保持质心高度大致不变的控制方法相比,质心起伏的步态能有效地减少机器人一个步态周期内平均流量和平均功率,从而有效地提高能量的利用率,可广泛应用于机器人技术领域中。


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    Titel :

    Hydraulic hexapod robot and walking gait control method based on mass center fluctuation


    Weitere Titelangaben:

    一种液压六足机器人及基于质心起伏的行走步态控制方法


    Beteiligte:
    JIN BO (Autor:in) / DONG JUNKUI (Autor:in) / LIU ZIQI (Autor:in) / ZHAI SHUO (Autor:in)

    Erscheinungsdatum :

    2020-11-06


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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