The invention relates to a quadruped robot walking and diagonal gait motion control method, which comprises the following steps of: 1, simulating the motion of a quadruped robot by using a low-dimensional point mass model, and establishing a discrete state equation of a previewing time domain motion process by using a discretization method; 2, processing walking and small running gaits of the quadruped robot through a linear constraint domain, and determining an optimization interval; 3, establishing a performance index evaluation function of the robot gait motion control model in the previewing time domain, and solving an expected landing point and a mass center position of the robot; 4, according to the expected landing point and the mass center position of the robot, motion control over the quadruped robot is achieved. According to the motion control method provided by the invention, a pre-observation time domain discrete state equation is established by using a discretization method; a quadruped robot gait mode and a biped robot gait mode are mapped, and a linear constraint domain is introduced to process robot motion; the problem of motion control of walking and small running gaits of the robot is solved, and high robustness is achieved.
本发明涉及一种四足机器人行走与对角步态运动控制方法,其包括以下步骤,步骤一:利用低维点质量模型模拟四足机器人运动,用离散化方法建立预观时域运动过程的离散状态方程;步骤二:通过线性约束域处理四足机器人行走和小跑步态,确定优化区间;步骤三:建立预观时域内机器人步态运动控制模型的性能指标评价函数,求解机器人的期望落足点和质心位置;步骤四:根据机器人的期望落足点和质心位置,实现四足机器人运动控制。本发明提出的运动控制方法利用离散化方法建立预观时域离散状态方程;将四足机器人步态模式与双足机器人步态模式进行映射,引入线性约束域对机器人运动进行处理;解决机器人行走和小跑步态的运动控制问题,具有高鲁棒性。
Quadruped robot walking and diagonal gait motion control method
四足机器人行走与对角步态运动控制方法
2022-11-22
Patent
Electronic Resource
Chinese
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