The invention discloses a four-wheel-foot robot without an active steering freedom degree and a steering control method and system, relates to the technical field of robot automatic control, and achieves large-angle steering control over the four-wheel-foot robot without the active steering freedom degree. Controlling the trunk to steer, and obtaining the leg multi-joint angles of the posture after the trunk steers according to the relationship between the leg multi-joint angles and the trunk posture, so as to control the legs of the four-wheel-foot robot to move and complete yaw control; based on the expected speed of the non-steering wheel, a joint angular velocity PD control method is adopted to control a wheel driving joint, and rolling control over the non-steering wheel is completed; according to differential model steering motion analysis of the four-wheel-foot robot, the differential speed of the left wheel and the right wheel is controlled to generate the steering angular speed based on the expected steering angular speed, and steering control over the non-steering wheels is completed. The problem that a robot adopts a non-steering wheel and cannot turn at a large angle is solved.

    本发明公开一种无主动转向自由度的四轮足机器人及转向控制方法及系统,涉及机器人自动控制技术领域,实现对无主动转向自由度的四轮足机器人的大角度转向控制,方法包括:获取机器人当前躯干位姿,基于期望躯干位姿,控制躯干转向,并根据腿部多个关节角度与躯干位姿之间的关系,获取躯干转向后位姿的腿部多关节角度,以此控制四轮足机器人腿部运动,完成偏航控制;基于非转向轮的期望速度,采用关节角速度PD控制法控制车轮驱动关节,完成非转向轮的滚动控制;根据四轮足机器人的差速模型转向运动分析,基于期望转向角速度,控制左右车轮差速来产生转向角速度,完成非转向轮的转向控制。本发明解决机器人采用非转向轮且不能大角度转弯的问题。


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    Title :

    Four-wheel-foot robot without active steering freedom degree and steering control method and system


    Additional title:

    无主动转向自由度的四轮足机器人及转向控制方法及系统


    Contributors:
    CHAI HUI (author) / ZHANG GUOXUAN (author) / ZHU CHUANLE (author) / SONG RUI (author) / HOU JINMIAN (author) / FU PENG (author) / WANG MINGHUI (author)

    Publication date :

    2024-04-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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