The invention relates to the technical field of robots, in particular to a stunt robot control method and a stunt robot thereof, and the control method comprises the following steps: S1, calculating an expected pose sequence; s2, acquiring a current pose sequence under a current time node; s3, obtaining the error of the pose speed through the expected pose sequence and the current pose sequence; s4, propulsive force needed when the stunt robot rolls in the air and corner control quantity needed by joints are obtained through calculation; s5, the obtained propelling force is converted into the rotating speed of the propelling mechanism, and the obtained rotating angle control quantity is converted into the rotating angle of the driving assembly, so that the pose of the stunt robot is changed; and S6, acquiring an action pose sequence of the stunt robot after the pose is changed, and comparing the action pose sequence with an expected pose sequence. The obstacle crossing performance of the robot can be improved, the jumping landing accuracy is improved, and the adaptability to complex scenes such as field survey and post-disaster rescue is improved.

    本发明涉及机器人技术领域,更具体地,涉及一种特技机器人控制方法及其特技机器人,控制方法包括如下步骤:S1.计算期待位姿序列;S2.获取当前时间节点下的当前位姿序列;S3.通过期待位姿序列与当前位姿序列得到位姿速度的误差;S4.通过计算得到特技机器人在空中翻滚时所需要推进力、以及关节处所需的转角控制量;S5.将得到的推进力换算为推进机构的转速,并将得到的转角控制量换算为驱动组件的转角,使特技机器人的位姿得以改变;S6.获取改变位姿后的特技机器人的动作位姿序列,并与期待位姿序列进行比较。本发明能够提升机器人的越障性能,提高跳跃落地的准确性,以及提高野外勘测、灾后救援等复杂场景的适应能力。


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    Titel :

    Sunt robot control method and stunt robot thereof


    Weitere Titelangaben:

    一种特技机器人控制方法及其特技机器人


    Beteiligte:
    HUANG ZHIFENG (Autor:in) / HUANG JUNBIN (Autor:in) / LI YUHANG (Autor:in) / ZHU SHUNJIE (Autor:in) / ZHANG YUN (Autor:in)

    Erscheinungsdatum :

    2022-09-06


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B62D MOTOR VEHICLES , Motorfahrzeuge



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