The invention provides a legged robot staged jumping control method based on a bouncing closed loop and a robot. The method comprises the following steps: creating a first control model for jumping of the legged robot and a second control model for falling control; when a jump instruction is received, determining a take-off control strategy of the legged robot based on the first control model; on the basis of corresponding jumping control parameters in the take-off control strategy, a first joint motor and a second joint motor are controlled to operate, so that a wheel-leg mechanism executes leg squatting, leg stretching and leg retracting actions, and jumping is achieved; during the falling period, determining a falling control strategy of the legged robot through a second control model; and based on the falling control parameters in the falling control strategy, the first joint motor and the second joint motor are controlled to operate, so that landing buffering of the legged robot is achieved. In this way, the legged robot can take off and land stably, and the problem that the legged robot is poor in stability in the jumping and landing stages can be solved.
本申请提供一种基于弹落闭环的腿式机器人分阶段跳跃控制方法及机器人。方法包括:创建腿式机器人用于跳跃的第一控制模型、用于跌落控制的第二控制模型;在接收到跳跃指令时,基于第一控制模型,确定腿式机器人的起跳控制策略;基于起跳控制策略中的相应跳跃控制参数,控制第一关节电机和第二关节电机运行,以使轮腿机构执行蹲腿动作、伸腿动作及缩腿动作,以实现跳跃;在跌落期间,通过第二控制模型,确定腿式机器人的跌落控制策略;基于跌落控制策略中的跌落控制参数,控制第一关节电机和第二关节电机运行,以实现腿式机器人的落地缓冲。如此,有利于腿式机器人平稳起跳与落地,能够改善腿式机器人在跳跃与落地阶段的稳定性差的问题。
Leg type robot staged jumping control method based on bouncing closed loop and robot
基于弹落闭环的腿式机器人分阶段跳跃控制方法及机器人
2025-04-18
Patent
Electronic Resource
Chinese
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