一种七连杆双足机器人的搭建以及基于ZMP和CPG的混合控制方法,属于人工智能与机器人控制领域。本发明设计了一款小型双足机器人,包含控制模块、驱动模块、传感器模块、电源模块,其具有开源性强,可以自己搭建底层驱动,可以充分进行环境感知的特点,并基于该机器人提出了一种ZMP和CPG的混合控制方法。通过机器人的压力传感器模块测量并计算得出机器人的零力矩点,将实际零力矩点与预期零力矩点的偏差,作为补偿反馈给开环的CPG控制当中,实现系统的闭环控制,增加行走稳定性。本发明能够让双足机器人具有更强大的开源性以及环境感知能力,并且其混合控制方法可以使机器人在避免巨大计算量的前提下实现机器人行走系统的闭环控制。

    The invention discloses a seven-connecting-rod biped robot building method and a hybrid control method based on ZMP and CPG, and belongs to the field of artificial intelligence and robot control. The invention designs a small biped robot, the robot comprises a control module, a driving module, a sensor module and a power supply module, and has the characteristics that the open source property is strong, a bottom layer drive can be built by the robot, and environmental perception can be fully performed, and the ZMP and CPG hybrid control method is provided based on the robot. The zero moment point of the robot is measured and calculated through a pressure sensor module of the robot, the deviation between an actual zero moment point and an expected zero moment point serves as compensation and is fed back to open-loop CPG control, closed-loop control of the system is achieved, and walking stability is improved. According to the invention, the biped robot can have higher open source performance and environment perception capability, and the hybrid control method can enable the robot to realize closed-loop control of a robot walking system on the premise of avoiding huge calculated amount.


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    Titel :

    一种七连杆双足机器人的设计以及基于ZMP和CPG的混合控制方法


    Erscheinungsdatum :

    2022-09-30


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung