The invention belongs to the field of multi-legged robot motion control, and relates to an adhesion multi-legged robot gait transition and terrain self-adaption control system, the system comprises a gait generation module and a terrain adaption module, the gait generation module is based on an enhanced diffusion CPG control network, and the terrain adaption module is based on the enhanced diffusion CPG control network. A proper gait sequence is generated according to the dynamic characteristics of the robot and the environment information, and gait conversion is carried out; the terrain adaptation module generates an accurate toe control signal through a phase signal of a gait generator, so that the robot can adapt to different terrain conditions, and it is ensured that the robot keeps stable and efficient movement on different terrains. According to the system, gait generation and terrain adaptation are achieved, and in the system, a new gait generator model allows fluid gait conversion on wide gaits, so that the robot has remarkable multifunctionality in locomotive attributes. Meanwhile, in combination with a gait generation module, it is ensured that the motion of the robot adapts to uneven terrains, and the navigation capacity of the robot on the complex ground is enhanced.
本发明属于多足机器人运动控制领域,涉及到一种粘附多足机器人步态过渡与地形自适应控制系统,该系统包括步态生成模块和地形适应模块,其中,步态生成模块基于增强的扩散CPG控制网络,根据机器人的动力学特性以及环境信息来生成合适的步态序列并进行步态转换;地形适应模块利用步态发生器的相位信号产生精确的足尖控制信号,使机器人能够适应不同地形条件,确保其在不同地形上保持稳定和高效的运动。该发明解决步态产生和地形适应,该系统中,新的步态发生器模型允许在广泛的步态上进行流体步态转换,使机器人在其机车属性上具有显著的多功能性。同时,结合步态生成模块,确保了机器人的运动适应不平坦的地形,加强了其在复杂的地面上导航的能力。
Gait transition and terrain self-adaptive control system for adhesion multi-legged robot
一种粘附多足机器人步态过渡与地形自适应控制系统
2024-01-26
Patent
Electronic Resource
Chinese
Terrain Adaptive Motion and Free Gait of a Six-Legged Walking Machine
British Library Conference Proceedings | 1993
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