CPG robust gait control method based on nerve end feedback

• Main Authors: GAO BINGTUAN, HE JIAHONG, GAO HAOMING
• Format: Patent
• Language: Chinese; English
• Published: 15.03.2024
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention discloses a CPG robust gait control method based on nerve end feedback, and relates to the technical field of gait control, and the method comprises the steps: judging the type of a robust gait according to a foot fault; according to a gravity center projection method, analyzing foot conditions in a suspension phase and a support phase under the robust gait; foot phase mapping design is carried out on the robot robust gait, and steering operation of the robust gait is designed. The method has the advantages that in the moving process, when the hexapod robot in a static critical stable state loses stability and tends to topple towards the fault foot direction and the fault phase foot direction, the dynamic stability of the hexapod robot is calculated through a dynamic gravity center transformation method, and robust gait I type and robust gait II type N-1 phase gaits are constructed; phase gaits are selected according to foot nerve end feedback, stable support is formed again before the machine b