Title:
MOTION CLOSED-LOOP CONTROL METHOD FOR QUADRUPED ROBOT
Document Type and Number:
WIPO Patent Application WO/2019/218805
Kind Code:
A1
Abstract:
A motion closed-loop control method for a quadruped robot, comprising the following steps: using a CPG network to generate a periodic control signal for each leg portion of a quadruped robot respectively so as to generate an advancing signal for the quadruped robot; and simultaneously using proportional differential control to adjust the pose of a machine body of the quadruped robot. The described motion closed-loop control method for a quadruped robot is concise, highly efficient, and easy to implement, and overcomes the defect in existing algorithms wherein control difficulty is high.
Inventors:
LIU HOUDE (CN)
WANG XIANG (CN)
WANG XUEQIAN (CN)
LIANG BIN (CN)
GAO XUEHAI (CN)
ZHU XIAOJUN (CN)
WANG XIANG (CN)
WANG XUEQIAN (CN)
LIANG BIN (CN)
GAO XUEHAI (CN)
ZHU XIAOJUN (CN)
Application Number:
PCT/CN2019/081969
Publication Date:
November 21, 2019
Filing Date:
April 09, 2019
Export Citation:
Assignee:
GRADUATE SCHOOL SHENZHEN TSINGHUA UNIV (CN)
International Classes:
G05B13/04
Foreign References:
| CN108572553A | 2018-09-25 | |||
| CN103092197A | 2013-05-08 | |||
| CN101776863A | 2010-07-14 | |||
| CN107097213A | 2017-08-29 | |||
| CN108772836A | 2018-11-09 | |||
| CN103192898A | 2013-07-10 | |||
| CN106476928A | 2017-03-08 |
Attorney, Agent or Firm:
CHINA TRUER IP (CN)
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