CN108500982A - The construction method and its system of bionical multi-foot robot motor pattern - Google Patents
The construction method and its system of bionical multi-foot robot motor pattern Download PDFInfo
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- CN108500982A CN108500982A CN201810300327.9A CN201810300327A CN108500982A CN 108500982 A CN108500982 A CN 108500982A CN 201810300327 A CN201810300327 A CN 201810300327A CN 108500982 A CN108500982 A CN 108500982A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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Abstract
The invention discloses a kind of construction methods of bionical multi-foot robot motor pattern, when the bionical multi-foot robot is horizontal movement, using the connection midpoint of the left and right foot of the same position of the bionical multi-foot robot as the center of circle, odd number foot on the left of the bionical multi-foot robot is successively with respective center of circle walking the first walking angle, even numbers foot on the right side of the bionical multi-foot robot is successively with respective center of circle walking the first walking angle, later, even numbers foot on the left of the bionical multi-foot robot is successively with respective center of circle walking the first walking angle, odd number foot on the right side of the bionical multi-foot robot is successively with respective center of circle walking the first walking angle；A kind of structure system of bionical multi-foot robot motor pattern is also disclosed, walking mobility and flexibility, the control algolithm that can improve multi-foot robot through the invention are simple.
Description
Technical field
The invention belongs to multi-foot robot control technology fields, are related to a kind of structure of bionical multi-foot robot motor pattern
Method and its system.
Background technology
Multifeet walking robot, which is one kind, having redundant drive, highly branched chain, time-varying topology motion, is to imitate polypody to move
The specialized robot of object forms of motion is a kind of Intelligent robot, it is to be related to bioscience, bionics, theory of mechanisms, biography
One comprehensive high-tech of sense technology and the information processing technology etc..So-called polypody refers generally to four-footed and four-footed more than it, common
Multifeet walking robot include four feet walking robot, Six-foot walking robot, eight feet walking robots etc..
Invention content
In view of this, the main purpose of the present invention is to provide a kind of construction methods of bionical multi-foot robot motor pattern
And its system.
In order to achieve the above objectives, the technical proposal of the invention is realized in this way：
The embodiment of the present invention provides a kind of construction method of bionical multi-foot robot motor pattern, and this method is：When described
When bionical multi-foot robot is horizontal movement, the connection midpoint with the left and right foot of the same position of the bionical multi-foot robot is
The center of circle, the odd number foot on the left of the bionical multi-foot robot are described bionical successively with respective center of circle walking the first walking angle
Even numbers foot on the right side of multi-foot robot is successively with respective center of circle walking the first walking angle, later, the bionical polypody machine
Even numbers foot on the left of people is successively with respective center of circle walking the first walking angle, the odd number foot on the right side of the bionical multi-foot robot
Successively with respective center of circle walking the first walking angle.
Further include in said program, before this method, by sensor determine bionical multi-foot robot be horizontal movement, to
It left bank or is tilted to the right.
In said program, this method further includes：When the bionical multi-foot robot is to be tilted to the left, with described bionical more
The connection midpoint of the left and right foot of the same position of biped robot is the center of circle, and the odd number foot on the left of the bionical multi-foot robot is successively
With respective center of circle walking the second walking angle, the even numbers on the right side of the bionical multi-foot robot is sufficient successively with respective center of circle row
Third walking angle is walked, later, the even numbers foot on the left of the bionical multi-foot robot is successively with the second row of respective center of circle walking
Angle is walked, the odd number foot on the right side of the bionical multi-foot robot is successively with respective center of circle walking third walking angle.
In said program, this method further includes：When the bionical multi-foot robot is to by tilting, with described bionical more
The connection midpoint of the left and right foot of the same position of biped robot is the center of circle, and the odd number foot on the left of the bionical multi-foot robot is successively
Angle is walked with respective center of circle walking fourth line, the even numbers foot on the right side of the bionical multi-foot robot is successively with respective center of circle row
It walks fifth line and walks angle, later, the even numbers foot on the left of the bionical multi-foot robot is successively with respective center of circle walking fourth line
Angle is walked, the odd number foot on the right side of the bionical multi-foot robot walks angle with respective center of circle walking fifth line successively.
In said program, the odd number foot on the left of the bionical multi-foot robot is successively with the first walking of respective center of circle walking
Angle, the even numbers foot on the right side of the bionical multi-foot robot is successively with respective center of circle walking the first walking angle, specially：Institute
It states first on the left of bionical multi-foot robot odd number and is enough center of circle walking the first walking angle, subsequent odd number foot is successively with circle
Heart walking the first walking angle subtracts misalignment angle.
In said program, the even numbers foot on the left of the bionical multi-foot robot is successively with the first walking of respective center of circle walking
Angle, the odd number foot on the right side of the bionical multi-foot robot is successively with respective center of circle walking the first walking angle, specially：Institute
It states first on the left of bionical multi-foot robot even numbers and is enough center of circle walking the first walking angle, subsequent even numbers foot is successively with circle
Heart walking the first walking angle subtracts misalignment angle.
The embodiment of the present invention provides a kind of structure system of bionical multi-foot robot motor pattern, which includes：Judge
Module, control module；
The judgment module, for pass through sensor determine bionical multi-foot robot be horizontal movement, be tilted to the left or
It is tilted to the right；
The control module is used for when the bionical multi-foot robot is horizontal movement, with the bionical polypody machine
The connection midpoint of the left and right foot of the same position of people is the center of circle, and the odd number foot on the left of the bionical multi-foot robot is successively with respective
Center of circle walking the first walking angle, even numbers foot on the right side of the bionical multi-foot robot walks first with the respective center of circle successively
Walk angle, later, even numbers on the left of bionical multi-foot robot foot successively with respective center of circle walking the first walking angle,
Odd number foot on the right side of the bionical multi-foot robot is successively with respective center of circle walking the first walking angle.
In said program, the control module is additionally operable to when the bionical multi-foot robot is to be tilted to the left, with described
The connection midpoint of the left and right foot of the same position of bionical multi-foot robot is the center of circle, the odd number on the left of the bionical multi-foot robot
Foot is successively with respective center of circle walking the second walking angle, and the even numbers foot on the right side of the bionical multi-foot robot is successively with respective
Center of circle walking third walking angle, later, the even numbers foot on the left of the bionical multi-foot robot is walked with the respective center of circle successively
Second walking angle, odd number foot on the right side of the bionical multi-foot robot are walked angle with respective center of circle walking third successively.
In said program, the control module is additionally operable to when the bionical multi-foot robot is to by tilting, with described
The connection midpoint of the left and right foot of the same position of bionical multi-foot robot is the center of circle, the odd number on the left of the bionical multi-foot robot
Foot walks angle with respective center of circle walking fourth line successively, and the even numbers foot on the right side of the bionical multi-foot robot is successively with respective
Center of circle walking fifth line walks angle, and later, the even numbers foot on the left of the bionical multi-foot robot is walked with the respective center of circle successively
Fourth line walks angle, and the odd number foot on the right side of the bionical multi-foot robot walks angle with respective center of circle walking fifth line successively.
In said program, the control module is specifically used for first odd number on the left of the bionical multi-foot robot
It is enough center of circle walking the first walking angle, subsequent odd number foot subtracts misalignment angle with center of circle walking the first walking angle successively.
Compared with prior art, the present invention can improve walking mobility and the flexibility of multi-foot robot, control algolithm
Simply.
Description of the drawings
Fig. 1 provides a kind of flow signal of the construction method of bionical multi-foot robot motor pattern for the embodiment of the present invention
Figure.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The embodiment of the present invention provides a kind of construction method of bionical multi-foot robot motor pattern, as shown in Figure 1, this method
It is realized by following steps：
Step 101：Determine that bionical multi-foot robot is horizontal movement, is tilted to the left or is tilted to the right by sensor；
Step 102：When the bionical multi-foot robot is horizontal movement, with the same position of the bionical multi-foot robot
The connection midpoint for the left and right foot set is the center of circle, and the odd number foot on the left of the bionical multi-foot robot is walked with the respective center of circle successively
First walking angle, even numbers foot on the right side of the bionical multi-foot robot successively with respective center of circle walking the first walking angle,
Later, the even numbers foot on the left of the bionical multi-foot robot is described bionical successively with respective center of circle walking the first walking angle
Odd number foot on the right side of multi-foot robot is successively with respective center of circle walking the first walking angle.
Step 103：When the bionical multi-foot robot is to be tilted to the left, with the same position of the bionical multi-foot robot
The connection midpoint for the left and right foot set is the center of circle, and the odd number foot on the left of the bionical multi-foot robot is walked with the respective center of circle successively
Second walking angle, even numbers foot on the right side of the bionical multi-foot robot are walked angle with respective center of circle walking third successively,
Later, the even numbers foot on the left of the bionical multi-foot robot is described bionical successively with respective center of circle walking the second walking angle
Odd number foot on the right side of multi-foot robot is successively with respective center of circle walking third walking angle.
Step 104：When the bionical multi-foot robot is to by tilting, with the same position of the bionical multi-foot robot
The connection midpoint for the left and right foot set is the center of circle, and the odd number foot on the left of the bionical multi-foot robot is walked with the respective center of circle successively
Fourth line walks angle, and the even numbers foot on the right side of the bionical multi-foot robot walks angle with respective center of circle walking fifth line successively,
Later, the even numbers foot on the left of the bionical multi-foot robot walks angle with respective center of circle walking fourth line successively, described bionical
Odd number foot on the right side of multi-foot robot walks angle with respective center of circle walking fifth line successively.
Further, in order to improve the stabilization of bionical multi-foot robot walking, on the left of the bionical multi-foot robot
Singular foot is successively with respective center of circle walking the first walking angle, and the even numbers foot on the right side of the bionical multi-foot robot is successively with each
From the center of circle walking first walking angle, specially：First odd number on the left of the bionical multi-foot robot is enough center of circle row
The first walking angle is walked, subsequent odd number foot subtracts misalignment angle with center of circle walking the first walking angle successively.
Even numbers foot on the left of the bionical multi-foot robot is described imitative successively with respective center of circle walking the first walking angle
Odd number foot on the right side of raw multi-foot robot is successively with respective center of circle walking the first walking angle, specially：The bionical polypody
First even numbers on the left of robot is enough center of circle walking the first walking angle, and subsequent even numbers foot is successively with center of circle walking first
Walking angle subtracts misalignment angle.
The embodiment of the present invention also provides a kind of structure system of bionical multi-foot robot motor pattern, which includes：Sentence
Disconnected module, control module；
The judgment module be used for by sensor determine bionical multi-foot robot for horizontal movement, be tilted to the left or
It is tilted to the right；
The control module is used for when the bionical multi-foot robot is horizontal movement, with the bionical multi-foot robot
The connection midpoint of left and right foot of same position be the center of circle, the odd number foot on the left of the bionical multi-foot robot is successively with respective
Center of circle walking the first walking angle, even numbers foot on the right side of the bionical multi-foot robot are walked the first row with the respective center of circle successively
Angle is walked, later, the even numbers foot on the left of the bionical multi-foot robot is successively with respective center of circle walking the first walking angle, institute
The odd number foot on the right side of bionical multi-foot robot is stated successively with respective center of circle walking the first walking angle.
The control module is additionally operable to when the bionical multi-foot robot is to be tilted to the left, with the bionical polypody machine
The connection midpoint of the left and right foot of the same position of people is the center of circle, and the odd number foot on the left of the bionical multi-foot robot is successively with respective
Center of circle walking the second walking angle, even numbers foot on the right side of the bionical multi-foot robot walked third with the respective center of circle successively
Walk angle, later, even numbers on the left of bionical multi-foot robot foot successively with respective center of circle walking the second walking angle,
Odd number foot on the right side of the bionical multi-foot robot is successively with respective center of circle walking third walking angle.
The control module is additionally operable to when the bionical multi-foot robot is to by tilting, with the bionical polypody machine
The connection midpoint of the left and right foot of the same position of people is the center of circle, and the odd number foot on the left of the bionical multi-foot robot is successively with respective
Center of circle walking fourth line walk angle, even numbers on the right side of bionical multi-foot robot foot walks the 5th with the respective center of circle successively
Walking angle, later, the even numbers foot on the left of the bionical multi-foot robot walk angle with respective center of circle walking fourth line successively,
Odd number foot on the right side of the bionical multi-foot robot walks angle with respective center of circle walking fifth line successively.
The control module is specifically used for first odd number on the left of the bionical multi-foot robot being enough center of circle walking
First walking angle, subsequent odd number foot subtract misalignment angle with center of circle walking the first walking angle successively.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention.
Claims (10)
1. a kind of construction method of bionical multi-foot robot motor pattern, which is characterized in that this method is：When the bionical polypody
When the artificial horizontal movement of machine, using the connection midpoint of the left and right foot of the same position of the bionical multi-foot robot as the center of circle, institute
The odd number foot on the left of bionical multi-foot robot is stated successively with respective center of circle walking the first walking angle, the bionical polypody machine
Even numbers foot on the right side of people is successively with respective center of circle walking the first walking angle, later, on the left of the bionical multi-foot robot
Even numbers foot is successively with respective center of circle walking the first walking angle, and the odd number foot on the right side of the bionical multi-foot robot is successively with each
From the center of circle walking first walking angle.
2. the construction method of bionical multi-foot robot motor pattern according to claim 1, which is characterized in that this method it
Before further include determining that bionical multi-foot robot is horizontal movement, is tilted to the left or is tilted to the right by sensor.
3. the construction method of bionical multi-foot robot motor pattern according to claim 1 or 2, which is characterized in that the party
Method further includes：When the bionical multi-foot robot is to be tilted to the left, with a left side for the same position of the bionical multi-foot robot
Right sufficient connection midpoint is the center of circle, and the odd number foot on the left of the bionical multi-foot robot is successively with the second row of respective center of circle walking
Angle is walked, the even numbers foot on the right side of the bionical multi-foot robot is successively with respective center of circle walking third walking angle, later, institute
The even numbers foot on the left of bionical multi-foot robot is stated successively with respective center of circle walking the second walking angle, the bionical polypody machine
Odd number foot on the right side of people is successively with respective center of circle walking third walking angle.
4. the construction method of bionical multi-foot robot motor pattern according to claim 3, which is characterized in that this method is also
Including：When the bionical multi-foot robot is to by tilting, with the left and right foot of the same position of the bionical multi-foot robot
Connection midpoint be the center of circle, the odd number foot on the left of the bionical multi-foot robot walks angle with respective center of circle walking fourth line successively
It spends, the even numbers foot on the right side of the bionical multi-foot robot walks angle with respective center of circle walking fifth line successively, later, described imitative
Even numbers foot on the left of raw multi-foot robot walks angle with respective center of circle walking fourth line successively, and the bionical multi-foot robot is right
The odd number foot of side walks angle with respective center of circle walking fifth line successively.
5. the construction method of bionical multi-foot robot motor pattern according to claim 1, which is characterized in that described bionical
Odd number foot on the left of multi-foot robot is successively with respective center of circle walking the first walking angle, the bionical multi-foot robot right side
Even numbers foot successively with the respective center of circle walking first walking angle, specially：First on the left of the bionical multi-foot robot
A odd number is enough center of circle walking the first walking angle, and subsequent odd number foot subtracts deviation with center of circle walking the first walking angle successively
Angle.
6. the construction method of bionical multi-foot robot motor pattern according to claim 1, which is characterized in that described bionical
Even numbers foot on the left of multi-foot robot is successively with respective center of circle walking the first walking angle, the bionical multi-foot robot right side
Odd number foot successively with the respective center of circle walking first walking angle, specially：First on the left of the bionical multi-foot robot
A even numbers is enough center of circle walking the first walking angle, and subsequent even numbers foot subtracts deviation with center of circle walking the first walking angle successively
Angle.
7. a kind of structure system of bionical multi-foot robot motor pattern, which is characterized in that the system includes：Judgment module, control
Molding block；
The judgment module determines that bionical multi-foot robot is horizontal movement, is tilted to the left or to the right for passing through sensor
It tilts；
The control module is used for when the bionical multi-foot robot is horizontal movement, with the bionical multi-foot robot
The connection midpoint of the left and right foot of same position is the center of circle, and the odd number foot on the left of the bionical multi-foot robot is successively with respective circle
Heart walking the first walking angle, the even numbers foot on the right side of the bionical multi-foot robot is successively with the first walking of respective center of circle walking
Angle, later, the even numbers foot on the left of the bionical multi-foot robot are described successively with respective center of circle walking the first walking angle
Odd number foot on the right side of bionical multi-foot robot is successively with respective center of circle walking the first walking angle.
8. the structure system of bionical multi-foot robot motor pattern according to claim 6, which is characterized in that the control
Module is additionally operable to when the bionical multi-foot robot is to be tilted to the left, with the same position of the bionical multi-foot robot
The connection midpoint of left and right foot is the center of circle, and the odd number foot on the left of the bionical multi-foot robot walks second with the respective center of circle successively
It walks angle, the even numbers foot on the right side of the bionical multi-foot robot is walked angle with respective center of circle walking third successively, later,
Even numbers foot on the left of the bionical multi-foot robot is successively with respective center of circle walking the second walking angle, the bionical polypody machine
Odd number foot on the right side of device people is successively with respective center of circle walking third walking angle.
9. the structure system of bionical multi-foot robot motor pattern according to claim 7 or 8, which is characterized in that described
Control module is additionally operable to when the bionical multi-foot robot is to by tilting, with the same position of the bionical multi-foot robot
The connection midpoint for the left and right foot set is the center of circle, and the odd number foot on the left of the bionical multi-foot robot is walked with the respective center of circle successively
Fourth line walks angle, and the even numbers foot on the right side of the bionical multi-foot robot walks angle with respective center of circle walking fifth line successively,
Later, the even numbers foot on the left of the bionical multi-foot robot walks angle with respective center of circle walking fourth line successively, described bionical
Odd number foot on the right side of multi-foot robot walks angle with respective center of circle walking fifth line successively.
10. the structure system of bionical multi-foot robot motor pattern according to claim 9, which is characterized in that the control
Molding block, specifically for first odd number on the left of the bionical multi-foot robot is enough center of circle walking the first walking angle,
Subsequent odd number foot subtracts misalignment angle with center of circle walking the first walking angle successively.
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| CN106184458A (en) * | 2016-07-08 | 2016-12-07 | 上海大学 | A kind of Hexapod Robot driven by parallel connecting rod |
| KR20180087521A (en) * | 2017-01-24 | 2018-08-02 | 한양대학교 산학협력단 | Method for controlling of walking robot having four legs |
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|---|---|---|---|---|
| EP0399720A1 (en) * | 1989-05-17 | 1990-11-28 | Carnegie-Mellon University | Orthogonal legged walking robot |
| CN102689659A (en) * | 2011-03-21 | 2012-09-26 | 洪浛檩 | Gait of precise positioning of three-steering engine hexapod robot |
| CN103112517A (en) * | 2013-01-22 | 2013-05-22 | 北京理工大学 | Method and device for regulating body posture of four-foot robot |
| US9387588B1 (en) * | 2014-08-25 | 2016-07-12 | Google Inc. | Handling gait disturbances with asynchronous timing |
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