The invention provides a control method for diagonal trotting gaits of a quadruped robot facing opposite legs. The control method comprises the specific steps that initialization is conducted, and data received by a sensor and data received by a camera are transmitted to a main control board; the method comprises the following steps of: dividing actions of a single leg of the quadruped robot into four stages according to a diagonal trotting gait and structural characteristics; a left front leg and a right front leg are defined as forward legs, a left rear leg and a right rear leg are defined as reverse legs, coordinates of a relative coordinate system of foot ends in all the legs in the quadruped robot are generated through posture judgment of the diagonal trotting gait in all stages, the angle of a rotating shaft in all the legs in the quadruped robot is calculated, and control over the diagonal trotting gait is completed; and the left front leg and the right rear leg of the quadruped robot finish the diagonal small running gait under the control signal according to the actions of the front legs and the rear legs. The gravity center of the robot body is kept at the central position all the time by changing the actions of the legs of the quadruped robot at high frequency, and the balance of the robot body is high.

    本发明提供一种用于朝向相反腿的四足机器人的对角小跑步态的控制方法,具体步骤为:初始化并将传感器和摄像头接收的数据分别传输到主控板;根据对角小跑步态及结构特性,将四足机器人单腿的动作分为四个阶段;将左前腿和右前腿定义为正向腿,左后腿和右后腿定义为反向腿,并通过对角小跑步态在各阶段的姿态判断生成四足机器人中各个腿中足端的相对坐标系的坐标,计算出四足机器人中各个腿中转动轴的角度,完成对角小跑步态的控制;四足机器人的左前腿、右后腿、右前腿和左后腿在控制信号下,并根据前腿和后腿的动作,完成对角小跑步态。本发明通过高频率的改变四足机器人腿部的动作使机身重心时刻保持在中心位置,机身平衡性高。


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    Title :

    Method for controlling diagonal trotting gait of quadruped robot facing opposite legs


    Additional title:

    用于朝向相反腿的四足机器人的对角小跑步态的控制方法


    Contributors:
    WANG CHAO (author) / HOU YAKUN (author) / LI YUZHE (author) / PANG JINJIAN (author)

    Publication date :

    2023-08-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge



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