The invention discloses a blind stair climbing method of a quadruped robot and the quadruped robot. The blind stair climbing method comprises the steps that the expected landing point position of a swing leg is recalculated in each control period, and the swing track of the swing leg is planned; detecting whether the swinging leg is collided or not during swinging; when the swing leg is not collided, the swing leg is controlled to swing according to the latest planned initial swing track; when it is detected that the swing leg collides with the vertical face of the step in the lifting process, the XD-direction track is adjusted to the collision position to be kept unchanged, and the swing leg is lifted according to the ZD-direction track until the swing leg is lifted to the highest point of the ZD-direction track and then continues to swing according to the initial swing track; when it is detected that the swing leg collides with the vertical face of the step in the falling process, the XD-direction track in the follow-up control period is set as the XD coordinate of the current collision position, and the XD coordinate of the current collision position retreats by the preset step length. According to the method, the influence of collision on climbing of the robot can be reduced, and the stability of blind stair climbing of the robot is improved.
本发明公开了一种一种四足机器人盲爬阶梯方法和四足机器人,盲爬阶梯方法包括:在每个控制周期内重新计算摆动腿的期望落足点位置并规划摆动腿的摆动轨迹;在摆动期间检测摆动腿是否发生磕碰;当摆动腿未发生磕碰时,控制摆动腿按照最新规划的初始摆动轨迹进行摆动;当检测到摆动腿在抬起过程中磕碰到阶梯台阶竖直面时,将XD向轨迹调整为发生磕碰的位置维持不变、按照ZD向轨迹抬高摆动腿直至抬高至ZD向轨迹最高点后继续按照初始摆动轨迹继续摆动;当检测到摆动腿在落下过程中磕碰到阶梯台阶竖直面时,将后续控制周期中的XD向轨迹设定为当前磕碰位置的XD坐标后退预设步长。上述方法可以减小磕碰对机器人攀爬的影响,提高机器人盲爬阶梯的稳定性。
Quadruped robot blind stair climbing method and quadruped robot
一种四足机器人盲爬阶梯方法和四足机器人
2023-05-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Quadruped robot navigation obstacle avoidance and stair climbing method and system
European Patent Office | 2023
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