CN109857131A - A kind of two foot-four-footed posture changing control method of legged type robot - Google Patents
A kind of two foot-four-footed posture changing control method of legged type robot Download PDFInfo
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Abstract
The present disclosure provides a kind of two foot-four-footed posture changing control method of legged type robot, the advantages of can according to need and be very easily transformed to biped robot or quadruped robot, having had both biped robot and quadruped robot and function.In the conversion process of biped robot and quadruped robot, for there is uncertain factor in modeling process, the rotation speed that robot body is determined using Sliding mode variable structure control improves the robustness of system, and legged type robot is made to remain balance during posture changing.
Description
Technical Field
The invention relates to the technical field of foot robots, in particular to a two-foot-four-foot posture change control method for a foot robot.
Background
The research of legged robots started in the 1960 s, was a successful application of bionics to mobile robots, and was a robot system designed by simulating leg structures and movement patterns of mammals, insects, amphibians, and the like. Compared with wheeled and tracked robots, the legged robot has low requirements on terrain, can walk on flat ground and rugged ground, has strong adaptability to environment and better flexibility and stability, and is a hotspot of international robot field research in recent years. Among them, biped robots, quadruped robots, hexapod robots, and octapod robots are most studied.
The biped robot artificially imitates an object, vertically walks, alternates left and right legs, has good freedom degree, moves flexibly and freely, is more suitable for the cooperative work of human and the human in the working environment, and has great application potential in the aspects of nursing the old, rehabilitation and medical treatment and the like. The quadruped robot uses quadruped animals as simulation objects, compared with a biped robot, the walking of the quadruped robot has better stability and load capacity, and the quadruped robot has larger leg moving space, smaller mechanism redundancy and control complexity than a hexapod robot and an octapod robot.
Although the two-foot robot and the four-foot robot are similar in structure, in the squatting and bending stage of the foot type robot changing two feet into four feet or the vertical action stage of the foot type robot changing four feet into two feet, due to the fact that the inaccurate phenomenon of the parameters of the modeling process, including gravity, length parameters, gravity center position and the like, can have errors, the robot can generate an unbalanced phenomenon in the action process, swing back and forth, and even fall down. The existing foot type robot cannot be directly switched between two feet and four feet, and has the advantages and functions of the two-foot robot and the four-foot robot.
Disclosure of Invention
In view of the above problems, it is an object of the present invention to provide a biped-to-quadruped posture change control method for a legged robot, which can be easily changed into a biped robot or a quadruped robot as needed, and which has both advantages and functions of the biped robot and the quadruped robot. In the transformation process of the biped robot and the quadruped robot, aiming at the characteristic of uncertain factors in the modeling process, the sliding mode variable structure is used for controlling and determining the rotation speed of the robot body, so that the robustness of the system is improved, and the legged robot is always kept balanced in the posture transformation process.
In order to achieve the purpose, the invention is realized by the following technical scheme: a two-foot-four-foot posture transformation control method for a foot type robot is disclosed, wherein the foot type robot comprises a robot body, a pair of mechanical upper limbs and a pair of mechanical legs, the mechanical upper limbs are respectively and symmetrically arranged on the left side and the right side of the upper part of the robot body, the lower end of the robot body is provided with a mechanical crotch, and the mechanical legs are respectively and symmetrically arranged on the left side and the right side of the mechanical crotch; the upper mechanical arm comprises a large arm, a small arm and a hand, the upper end of the large arm is hinged with the robot body through a rotary joint, the lower end of the large arm is hinged with the upper end of the small arm through a rotary joint, and the lower end of the small arm is hinged with the hand through a rotary joint; the mechanical legs comprise thighs, shanks and feet, the upper ends of the thighs are hinged with the mechanical crotch through rotary joints, the lower ends of the thighs are hinged with the upper ends of the shanks through the rotary joints, and the lower ends of the shanks are hinged with the feet through the rotary joints; pressure sensors are arranged at the front end, the rear end and the hand of the foot; the posture change control method for the two feet and the four feet of the legged robot comprises the following steps:
judging the current posture of the foot type robot;
if the current posture of the foot type robot is the vertical standing posture, controlling the foot type robot to execute a four-foot movement posture transformation method;
and if the current posture of the foot type robot is a crawling posture, controlling the foot type robot to execute a two-foot movement posture transformation method.
Further, the method for transforming the four-foot motion posture specifically comprises the following steps:
step 1: the lower leg and the mechanical upper limb are kept in a vertical state, the upper leg rotates backwards at a first preset rotating speed, meanwhile, the robot body rotates forwards at a real-time rotating speed calculated by a sliding mode variable structure control method, and when the pressure value of the hand pressure sensor is not 0, the robot stops rotating;
step 2: the shank keeps a vertical static state, the thigh rotates forwards at a second preset rotating speed, meanwhile, the left mechanical upper limb makes a first preset displacement forwards, the right small arm keeps a vertical state, the right large arm rotates forwards in a matched mode to drive the robot body to move forwards, and when the pressure value of the left hand pressure sensor is not 0, the rotation is stopped;
and step 3: the shank keeps a vertical static state, the thigh rotates forwards at a third preset rotating speed, meanwhile, the right mechanical upper limb makes a first preset displacement forwards, the left small arm keeps a vertical state, the left large arm rotates forwards in a matched mode to drive the robot body to move forwards, and when the pressure value of the right hand pressure sensor is not 0, the rotation is stopped;
and 4, step 4: judging whether the current posture of the legged robot is a crawling posture or not, and if not, turning to the step 2; if yes, the four-foot movement posture transformation is completed.
Further, the method for transforming the motion postures of the two feet specifically comprises the following steps:
step 1: the lower leg is kept in a vertical static state, the thigh rotates backwards at a second preset rotating speed, meanwhile, the left mechanical upper limb makes a first preset displacement backwards, the left small arm and the right small arm are both kept in a vertical state, the right large arm is matched with the left mechanical upper limb to rotate backwards, the robot body is driven to move backwards until the left mechanical upper limb falls to the ground to support, and the rotation is stopped;
step 2: the shank keeps a vertical static state, the thigh rotates backwards at a third preset rotating speed, meanwhile, the right mechanical upper limb makes a first preset displacement backwards, the right forearm and the left forearm keep vertical states, the left large arm is matched with the left forearm to rotate backwards, the robot body is driven to move backwards until the right mechanical upper limb falls to the ground for supporting, and the rotation stops;
and step 3: judging whether the current mechanical upper limb is in a vertical state; if yes, go to the next step; if not, turning to the step 1;
and 4, step 4: the lower leg and the mechanical upper limb are kept in a vertical state, the upper leg rotates backwards at a first preset rotating speed, and meanwhile, the robot body rotates backwards at a real-time rotating speed calculated by a sliding mode variable structure control method until the robot body is in a vertical state, and the robot body stops rotating.
Further, the sliding mode variable structure control method comprises the following steps:
establishing a rotation balance equation of the legged robot in the posture transformation process:
wherein, theta1Angle of the robot body to the vertical, theta2Angle of thigh to vertical, G1Heavy thigh, L1For thigh length, G2For heavy shank, L2Is smallLength of leg, G3Is the robot body weight; along the length direction of the robot body, L4Distance from the center of gravity of the robot body to the mechanical leg, L5The distance from the mechanical upper limb to the center of gravity of the robot body; l is3For the spacing of foot pressure sensors, F1Is the pressure value of the pressure sensor at the rear end of the foot, F2The pressure value of the pressure sensor at the front end of the foot is obtained;
introducing a deviation variable e ═ F2-F1Substituting the formula to obtain:
the above formula is derived to obtain:
wherein,is the rotation speed of the robot body,is the speed of rotation of the thigh or thighs,is the rate of change of the deviation variable;
in order to accelerate the error convergence speed of the control system, a sliding mode surface is adopted:
wherein a > 0, b > 0, and a, b are odd numbers, k1＞0,k2＞0；
Rotation speed of robot bodyFor controlling the variable, the speed of rotation of the thighFor a constant value, combining the above formulas, the rotation speed of the robot body can be obtained as follows:
further, the sliding mode variable structure control method further comprises the following steps: in the process of adjusting the four-foot grounding posture of the foot type robot, the L-shaped position is always satisfied1(cosθ3-cosθ2)＝(L4+L5)cosθ1,
Wherein, theta3Is the angle of the big arm and the vertical direction.
Further, the length of the big arm is equal to that of the thigh, the length of the small arm is equal to that of the shank, and the length of the big arm is larger than that of the small arm.
Furthermore, the lower end of the shank is hinged with the middle point of the foot part through a rotary joint.
Further, the hand part comprises a palm and fingers connected with the palm, and the fingers are in an unfolding state when the foot type robot presents two-foot postures and are used for realizing grabbing actions; the fingers are in an upward contraction state when the foot type robot presents a four-foot posture, and the palm is supported in a touchdown manner; the pressure sensor is arranged at the bottom of the palm and used for detecting whether the palm is stressed or not.
Compared with the prior art, the invention has the beneficial effects that: the invention provides a two-foot-four-foot posture transformation control method for a foot type robot, which enables the foot type robot to have the advantages and functions of both the two-foot robot and the four-foot robot. Each mechanical leg comprises a thigh, a shank and a foot, and the mechanical legs are symmetrically arranged on the left side and the right side of the mechanical crotch respectively and have four degrees of freedom. Each mechanical upper limb comprises a big arm, a small arm and a hand, and the mechanical upper limbs are symmetrically arranged on the left side and the right side of the upper part of the robot body respectively and have four degrees of freedom. In the posture transformation process of the biped robot and the quadruped robot, aiming at the characteristic that uncertain factors exist in the modeling process, the sliding mode variable structure is used for controlling and determining the rotation speed of the robot body, the robustness of the system is improved, the robot is always kept balanced in the transformation process, and the geometric relation required by the robot in the four-footed touchdown posture adjustment stage is established. In order to facilitate adjustment and simplify the entire control process, the robot has a shorter lower leg or forearm and a longer upper leg or forearm. The design is simple and reasonable, and higher reference and reference values are provided for the research and application of the extended legged robot.
Therefore, compared with the prior art, the invention has prominent substantive features and remarkable progress, and the beneficial effects of the implementation are also obvious.
Drawings
FIG. 1 is a schematic diagram of the motion postures of two feet of the foot type robot.
Fig. 2 is a schematic diagram of the four-foot motion posture of the foot type robot.
FIG. 3 is a flow chart of the method of the present invention.
FIG. 4 is a flow chart of the method for changing the posture of the quadruped exercise of the present invention.
FIG. 5 is a flow chart of the bipedal movement posture transformation method of the present invention.
Fig. 6 is a force schematic diagram of the legged robot in the process of bending down.
FIG. 7 is a schematic diagram of the pose transformation process of the quadruped exercise of the present invention.
Fig. 8 is a schematic diagram of the posture changing process of the two-foot movement of the invention.
Fig. 9 is a schematic diagram of the four-foot touchdown attitude of the legged robot of the present invention.
In the figure, 1 denotes a robot body, 2 denotes a mechanical upper limb, 3 denotes a mechanical leg, 4 denotes a mechanical crotch, 5 denotes a large arm, 6 denotes a small arm, 7 denotes a hand, 8 denotes a thigh, 9 denotes a calf, 10 denotes a foot, and 11 denotes a revolute joint.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.
As shown in fig. 1 and 2, the present invention provides a legged robot that can exhibit a bipedal movement posture and a quadruped movement posture. The method specifically comprises the following steps: the robot comprises a robot body 1, a pair of mechanical upper limbs 2 and a pair of mechanical legs 3, wherein the mechanical upper limbs 2 are symmetrically arranged on the left side and the right side of the upper part of the robot body 1 respectively, a mechanical crotch part 4 is arranged at the lower end of the robot body 1, and the mechanical legs 3 are symmetrically arranged on the left side and the right side of the mechanical crotch part 4 respectively; the mechanical upper limb 2 comprises a large arm 5, a small arm 6 and a hand 7, the upper end of the large arm 5 is hinged with the robot body 1 through a rotary joint 11, the lower end of the large arm 5 is hinged with the upper end of the small arm 6 through the rotary joint 11, and the lower end of the small arm 6 is hinged with the hand 7 through the rotary joint 11; the mechanical leg 3 comprises a thigh 8, a calf 9 and a foot 10, the upper end of the thigh 8 is hinged with the mechanical crotch 4 through a rotary joint 11, the lower end of the thigh 8 is hinged with the upper end of the calf 9 through the rotary joint 11, and the lower end of the calf 9 is hinged with the foot 10 through the rotary joint 11; pressure sensors are arranged at the front end, the rear end and the hand of the foot 10.
As shown in fig. 3, the present invention provides a two-foot-four-foot posture change control method for a foot robot, comprising:
judging the current posture of the foot type robot;
if the current posture of the foot type robot is the vertical standing posture, controlling the foot type robot to execute a four-foot movement posture transformation method;
and if the current posture of the foot type robot is a crawling posture, controlling the foot type robot to execute a two-foot movement posture transformation method.
The judgment of the current posture of the legged robot mainly comprises the following steps: and judging the standing posture and the crawling posture. The standing posture is referred to the initial motion posture of the current two-foot robot, and the crawling posture is referred to the initial motion posture of the current four-foot robot.
As shown in fig. 4, the method for transforming the posture of the quadruped exercise specifically includes the following steps:
step 1: the lower leg and the mechanical upper limb are kept in a vertical state, the upper leg rotates backwards at a first preset rotating speed, meanwhile, the robot body rotates forwards at a real-time rotating speed calculated by a sliding mode variable structure control method, and when the pressure value of the hand pressure sensor is not 0, the robot stops rotating.
Step 2: the shank keeps vertical quiescent condition, and the thigh is rotatory forward with second default speed, and left side machinery upper limbs steps forward first default displacement simultaneously, and the forearm in right side keeps vertical state, and the cooperation of the big arm in right side is rotatory forward, and the drive robot body moves forward, when left side hand pressure sensor's pressure value is not 0, stops the rotation.
And step 3: the shank keeps a vertical static state, the thigh rotates forwards at a third preset rotating speed, meanwhile, the right mechanical upper limb makes a first preset displacement forwards, the left small arm keeps a vertical state, the left large arm rotates forwards in a matched mode, the robot body is driven to move forwards, and when the pressure value of the right hand pressure sensor is not 0, the rotation is stopped.
And 4, step 4: judging whether the current posture of the legged robot is a crawling posture or not, and if not, turning to the step 2; if yes, the four-foot movement posture transformation is completed.
The above-mentioned posture of the four-foot exercise is specifically changed as shown in fig. 7.
As shown in fig. 5, the method for transforming the postures of the two feet specifically comprises the following steps:
step 1: the lower leg keeps a vertical static state, the thigh rotates backwards at a second preset rotating speed, meanwhile, the left mechanical upper limb makes a first preset displacement backwards, the left small arm and the right small arm both keep a vertical state, the right large arm is matched and rotates backwards, the robot body is driven to move backwards until the left mechanical upper limb falls to the ground to support, and the rotation stops.
Step 2: the lower leg keeps a vertical static state, the thigh rotates backwards at a third preset rotating speed, meanwhile, the right mechanical upper limb makes a first preset displacement backwards, the right small arm and the left small arm both keep a vertical state, the left large arm is matched with the left small arm to rotate backwards, the robot body is driven to move backwards until the right mechanical upper limb falls to the ground to support, and the rotation stops.
And step 3: judging whether the current mechanical upper limb is in a vertical state; if yes, go to the next step; if not, go to step 1.
And 4, step 4: the lower leg and the mechanical upper limb are kept in a vertical state, the upper leg rotates backwards at a first preset rotating speed, and meanwhile, the robot body rotates backwards at a real-time rotating speed calculated by a sliding mode variable structure control method until the robot body is in a vertical state, and the robot body stops rotating.
The above-mentioned two-foot movement posture is specifically changed as shown in fig. 8.
The four-foot motion posture transformation method and the two-foot motion posture transformation method both adopt a sliding mode variable structure control method. The sliding mode variable structure control method specifically comprises the following steps:
establishing a rotation balance equation of the legged robot in the posture transformation process:
wherein, as shown in the figureShown by 6, theta1Angle of the robot body to the vertical, theta2Angle of thigh to vertical, G1Heavy thigh, L1For thigh length, G2For heavy shank, L2For the lower leg being long, G3Is the robot body weight; along the length direction of the robot body, L4Distance from the center of gravity of the robot body to the mechanical leg, L5The distance from the mechanical upper limb to the center of gravity of the robot body; l is3For the spacing of foot pressure sensors, F1Is the pressure value of the pressure sensor at the rear end of the foot, F2The pressure value of the pressure sensor at the front end of the foot is obtained.
Assume that the foot force is linearly distributed along the direction L3. In the modeling process, errors exist in parameters including gravity, length parameters, gravity center position and the like, so that the robot is unbalanced, sways forwards and backwards and even falls down in the bending process. The sliding mode variable structure control method has low requirements on the model and has good robustness and adaptability to external disturbance and parameter uncertainty, so the sliding mode variable structure control method is adopted in the control process.
Introducing a deviation variable e ═ F2-F1Substituting the formula to obtain:
the above formula is derived to obtain:
wherein,is the rotation speed of the robot body,for rotation of the thighThe speed of the motor is controlled by the speed of the motor,is the rate of change of the deviation variable;
in order to accelerate the error convergence speed of the control system, a sliding mode surface is adopted:
wherein a > 0, b > 0, and a, b are odd numbers, k1＞0,k2＞0；
Rotation speed of robot bodyFor controlling the variable, the speed of rotation of the thighFor a constant value, combining the above formulas, the rotation speed of the robot body can be obtained as follows:
in addition, in the process of adjusting the four-foot grounding posture of the foot type robot, the requirement of the four-foot grounding posture of the foot type robot is always met
L1(cosθ3-cosθ2)＝(L4+L5)cosθ1,
Wherein, as shown in FIG. 9, θ3Is the angle of the big arm and the vertical direction.
In order to simplify the control and design process, the foot type robot realizes the humanoid vertical walking. The foot robot can be designed such that the length of the big arm is equal to that of the thigh, the length of the small arm is equal to that of the shank, and the length of the big arm is greater than that of the small arm.
In order to improve the gravity center adjusting capacity of the robot in the squatting process, the foot type robot can be designed to be in front-back symmetry with feet relative to the ankle joint. The method specifically comprises the following steps: the lower end of the shank is hinged with the middle point of the foot part through a rotary joint. And calculating the difference value of the pressure sensors at the two ends of the foot, and taking the larger value as a deviation input signal of the control system.
The hand part comprises a palm and fingers connected with the palm, and the fingers are in an unfolded state when the foot type robot presents two-foot postures and are used for realizing grabbing actions; the fingers are in an upward contraction state when the foot type robot presents a four-foot posture, and the palm is supported in a touchdown manner; the pressure sensor is arranged at the bottom of the palm and used for detecting whether the palm is stressed or not.
Therefore, the present embodiment provides a two-foot-four-foot posture transformation control method for a legged robot, and the process of changing the posture of the legged robot from the posture of two feet to the posture of four feet includes two stages: a squat stooping stage and a four-foot touchdown posture adjusting stage. In the squatting and stooping stage, the gravity center of the legged robot is lowered through the backward rotation of thighs, the robot body rotates forwards to facilitate the mechanical upper limbs of the legged robot to touch the ground and support, in order to keep the legged robot balanced, the thighs of the legged robot rotate at a constant speed, the front and back stress difference value is detected by means of a pressure sensor of feet of the legged robot and is used as a feedback signal, the rotation speed of the robot body is determined in real time by adopting a slip form control method, and the robot keeps balanced in the squatting and stooping stage. In the four-foot touchdown posture adjusting stage, the posture of the foot type robot is adjusted to a normal four-foot motion state through the coordinated action of the mechanical upper limbs and the mechanical legs. The process of changing the four-foot posture into the two-foot posture of the foot type robot is opposite to the process of changing the two-foot posture into the four-foot posture, the four-foot touchdown posture is firstly adjusted until the stress on two mechanical upper limbs is zero, and then the foot type robot stands. In the standing stage, the rotation direction of the thighs and the robot body is opposite to that of the squat bending stage, and the rotation speed control method is the same. In the four-foot touchdown attitude adjustment stage, the rotating speeds are the same in magnitude and opposite in direction.
The invention is further described with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.
Claims (8)
1. A two-foot-four-foot posture transformation control method for a foot type robot is disclosed, wherein the foot type robot comprises a robot body, a pair of mechanical upper limbs and a pair of mechanical legs, the mechanical upper limbs are respectively and symmetrically arranged on the left side and the right side of the upper part of the robot body, the lower end of the robot body is provided with a mechanical crotch, and the mechanical legs are respectively and symmetrically arranged on the left side and the right side of the mechanical crotch; the upper mechanical arm comprises a large arm, a small arm and a hand, the upper end of the large arm is hinged with the robot body through a rotary joint, the lower end of the large arm is hinged with the upper end of the small arm through a rotary joint, and the lower end of the small arm is hinged with the hand through a rotary joint; the mechanical legs comprise thighs, shanks and feet, the upper ends of the thighs are hinged with the mechanical crotch through rotary joints, the lower ends of the thighs are hinged with the upper ends of the shanks through the rotary joints, and the lower ends of the shanks are hinged with the feet through the rotary joints; pressure sensors are arranged at the front end, the rear end and the hand of the foot; it is characterized by comprising:
judging the current posture of the foot type robot;
if the current posture of the foot type robot is the vertical standing posture, controlling the foot type robot to execute a four-foot movement posture transformation method;
and if the current posture of the foot type robot is a crawling posture, controlling the foot type robot to execute a two-foot movement posture transformation method.
2. The two-foot-four-foot posture transformation control method of the legged robot according to claim 1, characterized in that the four-foot movement posture transformation method specifically comprises the steps of:
step 1: the lower leg and the mechanical upper limb are kept in a vertical state, the upper leg rotates backwards at a first preset rotating speed, meanwhile, the robot body rotates forwards at a real-time rotating speed calculated by a sliding mode variable structure control method, and when the pressure value of the hand pressure sensor is not 0, the robot stops rotating;
step 2: the shank keeps a vertical static state, the thigh rotates forwards at a second preset rotating speed, meanwhile, the left mechanical upper limb makes a first preset displacement forwards, the right small arm keeps a vertical state, the right large arm rotates forwards in a matched mode to drive the robot body to move forwards, and when the pressure value of the left hand pressure sensor is not 0, the rotation is stopped;
and step 3: the shank keeps a vertical static state, the thigh rotates forwards at a third preset rotating speed, meanwhile, the right mechanical upper limb makes a first preset displacement forwards, the left small arm keeps a vertical state, the left large arm rotates forwards in a matched mode to drive the robot body to move forwards, and when the pressure value of the right hand pressure sensor is not 0, the rotation is stopped;
and 4, step 4: judging whether the current posture of the legged robot is a crawling posture or not, and if not, turning to the step 2; if yes, the four-foot movement posture transformation is completed.
3. The biped-quadruped posture conversion control method of the legged robot according to claim 1, characterized in that the biped movement posture conversion method specifically includes the steps of:
step 1: the lower leg is kept in a vertical static state, the thigh rotates backwards at a second preset rotating speed, meanwhile, the left mechanical upper limb makes a first preset displacement backwards, the left small arm and the right small arm are both kept in a vertical state, the right large arm is matched with the left mechanical upper limb to rotate backwards, the robot body is driven to move backwards until the left mechanical upper limb falls to the ground to support, and the rotation is stopped;
step 2: the shank keeps a vertical static state, the thigh rotates backwards at a third preset rotating speed, meanwhile, the right mechanical upper limb makes a first preset displacement backwards, the right forearm and the left forearm keep vertical states, the left large arm is matched with the left forearm to rotate backwards, the robot body is driven to move backwards until the right mechanical upper limb falls to the ground for supporting, and the rotation stops;
and step 3: judging whether the current mechanical upper limb is in a vertical state; if yes, go to the next step; if not, turning to the step 1;
and 4, step 4: the lower leg and the mechanical upper limb are kept in a vertical state, the upper leg rotates backwards at a first preset rotating speed, and meanwhile, the robot body rotates backwards at a real-time rotating speed calculated by a sliding mode variable structure control method until the robot body is in a vertical state, and the robot body stops rotating.
4. The biped-quadruped posture conversion control method of the legged robot according to claim 2 or 3, characterized in that the sliding mode variable structure control method includes:
establishing a rotation balance equation of the legged robot in the posture transformation process:
wherein, theta1For robot bookAngle of body to vertical, theta2Angle of thigh to vertical, G1Heavy thigh, L1For thigh length, G2For heavy shank, L2For the lower leg being long, G3Is the robot body weight; along the length direction of the robot body, L4Distance from the center of gravity of the robot body to the mechanical leg, L5The distance from the mechanical upper limb to the center of gravity of the robot body; l is3For the spacing of foot pressure sensors, F1Is the pressure value of the pressure sensor at the rear end of the foot, F2The pressure value of the pressure sensor at the front end of the foot is obtained;
introducing a deviation variable e ═ F2-F1Substituting the formula to obtain:
the above formula is derived to obtain:
wherein,is the rotation speed of the robot body,is the speed of rotation of the thigh or thighs,is the rate of change of the deviation variable;
in order to accelerate the error convergence speed of the control system, a sliding mode surface is adopted:
wherein a > 0, b > 0, and a, b are odd numbers, k1＞0,k2＞0；
Rotation speed of robot bodyFor controlling the variable, the speed of rotation of the thighFor a constant value, combining the above formulas, the rotation speed of the robot body can be obtained as follows:
5. the biped-quadruped posture conversion control method of a legged robot according to claim 4, characterized in that the sliding mode variable structure control method further comprises: in the process of adjusting the four-foot grounding posture of the foot type robot, the L-shaped position is always satisfied1(cosθ3-cosθ2)＝(L4+L5)cosθ1,
Wherein, theta3Is the angle of the big arm and the vertical direction.
6. The two-foot-four-foot posture change control method of the legged robot according to claim 1, characterized in that: the length of the big arm is equal to that of the thigh, the length of the small arm is equal to that of the shank, and the length of the big arm is larger than that of the small arm.
7. The two-foot-four-foot posture change control method of the legged robot according to claim 1, characterized in that: the lower end of the shank is hinged with the middle point of the foot part through a rotary joint.
8. The two-foot-four-foot posture change control method of the legged robot according to claim 1, characterized in that: the hand part comprises a palm and fingers connected with the palm, and the fingers are in an unfolded state when the foot type robot presents two-foot postures and are used for realizing grabbing actions; the fingers are in an upward contraction state when the foot type robot presents a four-foot posture, and the palm is supported in a touchdown manner; the pressure sensor is arranged at the bottom of the palm and used for detecting whether the palm is stressed or not.
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