Control method for dynamically adapting to load of quadruped robot

• Main Authors: DANG RUINA, DENG QINDAN, SU BO, XU PENG, WANG JIANBING, WANG ZHIRUI, LIU YUFEI, JIANG LEI, XU WEI, XING BOYANG
• Format: Patent
• Language: Chinese; English
• Published: 12.07.2022
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention belongs to the technical field of robot motion control, and particularly relates to a control method for a quadruped robot to dynamically adapt to loads. The method comprises the following steps: estimating load parameters of the robot, wherein the load parameters of the robot comprise the body mass and the body mass center position of the robot; based on the estimated load parameters of the robot, virtual servo force and moment of force of the robot are established; and the virtual servo force and the torque are optimally distributed to each supporting leg, and dynamic adaptation of the load is realized through joint mapping. According to the method, disturbance resistance to the external load is achieved by establishing the robot load self-adaptive stability controller, and therefore the passing performance of the robot on the complex road surface is improved. 本发明属于机器人运动控制技术领域，具体涉及一种四足机器人动态适应负载的控制方法。该方法包括：针对机器人的负载参数进行估计，所述机器人的负载参数包括机器人的机身质量及机身质心位置；基于估计获取的机器人的负载参数，建立机器人的虚拟伺服力与力矩；将虚拟伺服力与力矩优化分配至各