The invention discloses a super-capacitor-based single-leg compliance control method and system for a foot type robot. The super-capacitor-based single-leg compliance control method for the foot type robot comprises the steps that when a joint motor of a single-leg system is in a power generation mode, impact energy brought by reverse rotation of the joint motor when the single-leg system is in contact with the ground is absorbed through the buffering characteristic of the super-capacitor when the super-capacitor absorbs energy, and the passive compliance effect is achieved; when a joint motor of a single-leg system is in an electric mode, a super capacitor is controlled to supply power to the joint motor; and in addition, the method further comprises a hybrid power supply control strategy of a super capacitor and a storage battery when the joint motor is in an electric mode and the like. The compliance control performance of a foot type robot can be improved, the impact energy and the body potential energy when a single leg touches the ground are recycled, the battery endurance time of the foot type robot is prolonged, the peak power is compensated when needed, and the movement performance of the foot type robot is improved.
本发明公开了一种基于超级电容的足式机器人单腿柔顺控制方法及系统,本发明基于超级电容的足式机器人单腿柔顺控制方法包括在单腿系统的关节电机处于发电模式下利用超级电容吸收能量时的缓冲特性吸收单腿系统触地时关节电机反转带来的冲击能量达到被动柔顺的效果;在单腿系统的关节电机处于电动模式下控制超级电容为关节电机供电;此外,还包括进行主动柔顺,以及关节电机处于电动模式下的超级电容和蓄电池的混合供电控制策略等。本发明能够提升足式机器人柔顺控制性能,回收单腿触地时的冲击能量及机体势能,延长足式机器人的电池续航时间,并在需要时补偿尖峰功率,提升足式机器人的运动性能。
Super-capacitor-based single-leg compliance control method and system for foot-type robot
一种基于超级电容的足式机器人单腿柔顺控制方法及系统
2021-06-18
Patent
Elektronische Ressource
Chinesisch
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