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。
Dynamic sole force distribution method for force-controlled quadruped robot
力控四足机器人动态足底力分配方法
2024-11-22
Patent
Electronic Resource
Chinese
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