The invention belongs to the technical field of robot control, and provides a foot-type robot control loop priority strategy, which comprises the following steps of: firstly, setting control instructions of various loops of speed for a foot-type robot, and carrying out priority level setting on the control instructions of the various loops; 2, limiting an expected instruction by combining an instruction controlled by the foot type robot with amplitude limiting and priority control proportions; thirdly, the priority levels of the control instructions of the various loops are inherited into the foot type robot platform; the method is achieved through a software method, no extra hardware system needs to be added, the total amount and cost of the robot need to be increased, practicability is high, and meanwhile under the limited power system performance, the posture stability and safety of the robot can be improved through the method.
本发明属于机器人控制技术领域,提供了一种足式机器人控制环优先级策略,包括以下步骤:首先对足式机器人设置速度的各类环路的控制指令,并将各类环路的控制指令进行优先级级数设置;步骤二:接着足式机器人控制的指令结合限幅和优先级控制比例对期望的指令进行限制;步骤三:最后将各类环路的控制指令的优先级级数继承到足式机器人平台中;本发明通过软件方法实现,无需增加额外硬件系统,且无需增加机器人总量和成本,实用性较高,同时在有限动力系统性能下,通过该方法可提高机器人姿态稳定性和安全性。
Foot type robot control ring priority strategy
一种足式机器人控制环优先级策略
2024-04-16
Patent
Electronic Resource
Chinese
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