According to the dynamic plantar force distribution method for the force-controlled quadruped robot, under the supporting phase, the dynamic plantar force distribution problem of the force-controlled quadruped robot is modeled into a quadratic optimization problem model, then a relaxation factor v and multipliers u and y are introduced to enable the optimization problem model to be converted into a complementary problem model, the calculation complexity is reduced, and the calculation efficiency is improved. According to the method, the dynamic plantar force distribution of the force-controlled quadruped robot is solved under relatively simplified calculation, a solution can be obtained within relatively short calculation time, a certain error rate is reduced, and the accuracy of the dynamic plantar force distribution solution of the force-controlled quadruped robot is ensured.

    本发明提出一种力控四足机器人动态足底力分配方法,在支撑相下,将力控四足机器人动态足底力分配问题建模为二次型优化问题模型,再引入松弛因子v及乘子u和y使优化问题模型转化为互补问题模型,降低计算复杂性,在较简化的计算下实现了求解力控四足机器人动态足底力分配,可实现在较短计算时间内得到解决方案,减少了一定的出错率,确保力控四足机器人动态足底力分配解的准确性。


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    Title :

    Dynamic sole force distribution method for force-controlled quadruped robot


    Additional title:

    力控四足机器人动态足底力分配方法


    Contributors:
    ZHANG SHANGJING (author) / AI ZHIWEI (author) / FU YIZHEN (author) / LI PEIQI (author) / ZHANG MUFAN (author)

    Publication date :

    2024-11-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B62D MOTOR VEHICLES , Motorfahrzeuge



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