The invention discloses a method for stabilizing a quadruped crawling robot under a continuous slope, and relates to the technical field of robots. The method comprises the following steps of: establishing a kinematics equation of the four-footed crawling robot on a continuous slope, and determining that a function relation between a joint angle and a tail end coordinate of a foot end of the robot is an important control parameter for controlling crawling motion of the robot; an impedance controller based on variable speed PID is designed; simulation is carried out through MATLAB programming, and foot end force peak values are compared under ADAMS; the control effect of the four-footed crawling robot of the impedance controller based on the variable-speed PID is best; the angle change is more stable during foot falling, the control precision is higher, and the period required by control is shorter; the overshoot of joint angle control is reduced by 5.7%, the overshoot of robot foot end coordinate control is reduced by 5.4%, the time required by control is reduced by 0.4 s, and the peak value of foot end force is reduced by 8.15%.
本发明公开了一种连续斜坡下四足爬行机器人稳定方法,涉及机器人技术领域;它的方法为:建立四足爬行机器人在连续斜坡上的运动学方程,确定关节角与机器人足端末端坐标的函数关系式是控制机器人爬行运动的重要控制参数;设计了基于变速PID的阻抗控制器;通过MATLAB编程进行仿真,并在ADAMS下对足端力峰值进行比较;本发明基于变速PID的阻抗控制器的四足爬行机器人控制效果最好;其角度变化在落足时更加平稳,控制精度更高,控制所需周期更短;对于关节角控制的超调量降低了5.7%,对机器人足端坐标控制的超调量降低了5.4%,控制所需时间降低0.4s,足端力峰值降低了8.15%。
Method for stabilizing quadruped crawling robot under continuous slope
一种连续斜坡下四足爬行机器人稳定方法
2022-11-18
Patent
Electronic Resource
Chinese
Quadruped robot and slope motion posture adjusting method
European Patent Office | 2020
|Model Predictive Control of Quadruped Robots in Crawling Gait
Springer Verlag | 2022
|