CN-119389322-B - Four-foot crawling gecko robot and control system thereof

CN119389322BCN 119389322 BCN119389322 BCN 119389322BCN-119389322-B

Abstract

The application provides a four-foot crawling gecko robot and a control system thereof, wherein the four-foot crawling gecko robot comprises a trunk structure, four leg structures and four foot suction cups which are symmetrically distributed, and further comprises a motor driving system, a damping turntable serving as a waist joint and used for connecting a front trunk and a rear trunk of the trunk structure so as to enable the robot to swing left and right, a longitudinal servo steering engine serving as a shoulder joint and used for connecting the trunk structure and the leg structures so as to control lifting and falling of the leg structures, a first transverse servo steering engine serving as an elbow joint and used for connecting the longitudinal servo steering engine and the leg structures so as to drive movement of the leg structures, and a second transverse servo steering engine serving as a wrist joint and used for connecting the leg structures and the foot suction cups so as to adjust the foot drop positions of the foot suction cups. The four-foot crawling gecko robot can realize flexible movement in a complex environment and keep the stability of movement on a vertical plane.

Inventors

SUN YUANHAO
DU QIAOLING
GUAN WEI

Assignees

吉林大学

Dates

Publication Date: 20260512
Application Date: 20241010

Claims (4)

1. The four-foot crawling gecko robot comprises a trunk structure, four symmetrically distributed leg structures and four foot sucking discs, and is characterized by further comprising a motor driving system: The damping turntable is used as a waist joint0 and is used for connecting the front trunk and the rear trunk of the trunk structure so as to enable the robot to swing left and right; The longitudinal servo steering engine is used as a shoulder joint1 and used for connecting the trunk structure and the leg structure so as to control the lifting and falling of the leg structure; the first transverse servo steering engine is used as an elbow joint2 and used for connecting the longitudinal servo steering engine with the leg structure so as to drive the leg structure to move; the second transverse servo steering engine is used as a wrist joint3 and used for connecting the leg structure and the foot sucker so as to adjust the foot drop position of the foot sucker; The air pump driving system is also included: The vacuum pump is used for exhausting air in the foot sucker and combining the opening and closing states of the electromagnetic valve to realize the adsorption and separation of the foot sucker; The air pressure sensor is used for monitoring the adsorption state of the foot sucker and outputting a high-level signal representing successful adsorption or a low-level signal representing unsuccessful adsorption; wherein the foot sucker, the vacuum pump and the electromagnetic valve are connected by using a three-way conduit; The control system is applied to the motor driving system and the air pump driving system: The CPG control module is used for outputting a periodic initial control signal according to the input CPG initial configuration parameters; the control processing module is used for making gait switching and stride adjustment strategies of the robot, generating foot movement tracks based on the initial control signals, and outputting feedback signals to the robot based on the monitoring signals of the foot suction cups received in real time; The track planning module is used for fitting the foot motion track so as to ensure continuous change of speed and acceleration, and converting the fitted foot motion track into joint control signals for output; the leg joints comprise a shoulder joint1, an elbow joint2 and a wrist joint3; The gait of the robot comprises a three-foot gait, a diagonal gait and a in-situ steering gait; When outputting a periodic initial control signal, the CPG control module is specifically configured to: outputting a reference signal for moving each leg structure of the robot by using a symmetrical coupling network consisting of 4 Hopff oscillators; Mapping the reference signal to an initial control signal for each leg joint and foot suction cup; The initial control signals include a leg lifting signal, a leg falling signal, a leg moving signal, a foot adsorbing signal and a foot separating signal; In order to realize the actions of excessively pressing down the legs and restoring the legs to the original positions, a leg lifting signal output by a CPG network is used as a trigger signal, two superimposed sinusoidal signals are used as actual waveform output signals, and the mapping relation between the three joint rotation angles of a single leg of the modified oscillator model and the corresponding oscillator output signals is obtained as follows: ; In the formula, And The rotation angles of the elbow joint2 and the wrist joint3, 、 The angle change amplitude of the two joints is the same, Is the shoulder joint1 rotation angle, Is a unit step signal of which the number is equal to, For the suction cup air pump to enable the control signal, the value 1 represents suction closing of the suction cup, the value 0 represents deflation and falling of the suction cup, Is the first The state variable of the oscillator is also the output signal of the oscillator.
2. The four-legged crawling gecko robot according to claim 1, wherein said longitudinal servo steering engine is a 15kg.cm PWM steering engine adapted for lifting and dropping of low torque leg structures; The first transverse servo steering engine and the second transverse servo steering engine are 45kg.cm steering engines, so that the robot is suitable for crawling movement of the robot with large torque on a vertical plane; Wherein the rotation angle interval of the first transverse servo steering engine is set as The rotation angle interval of the second transverse servo steering engine is So that the leg structures do not collide during rotation.
3. The four-footed crawling gecko robot of claim 1, wherein the control processing module is specifically configured to, when outputting a feedback signal to the foot suction cup: Determining a movement phase of each leg structure, wherein the movement phase comprises a support phase and a swing phase; acquiring a first real-time monitoring signal of a foot sucker connected with a leg structure in a support phase; if the first real-time monitoring signal is a high-level signal, executing the next action; if the first real-time monitoring signal is a low-level signal, outputting a first feedback signal for controlling the leg structure to lift up and fall down again, and re-acquiring a second real-time monitoring signal for the foot sucker; If the second real-time monitoring signal is a high-level signal, executing the next action; And if the second real-time monitoring signal is a low-level signal, outputting a second feedback signal for adjusting the position of the foot drop point of the foot sucker, and reacquiring a third real-time monitoring signal for the foot sucker until the foot sucker is successfully adsorbed.
4. The four-footed crawling gecko robot of claim 1, wherein the trajectory planning module fits the trajectory of the foot motions by: performing curve fitting on the foot motion trail by using a four-time quasi-uniform B spline function shown in the following formula to obtain a fitted foot motion trail : ; In the formula, For controlling the points, the motion tracks of the foot end are selected at equal intervals A plurality of points, the curve times is ; For B-spline basis functions, the definition is usually defined using the Cox-deBoor recurrence formula; wherein, the Cox-deBoor recurrence formula is: ; In the formula, In the non-decreasing sequence, The values are as follows: ; Wherein the non-decreasing sequence Constructing node vectors , The expression is as follows: 。

Description

Four-foot crawling gecko robot and control system thereof Technical Field The application belongs to the technical field of robot control, and particularly relates to a four-foot crawling gecko robot and a control system thereof. Background With the rapid development of robot technology, the exploration of efficient motion mechanisms of living things in nature and the application of the efficient motion mechanisms to robot design have become a popular research field. Gecko is a living thing known in nature for its excellent climbing ability, and its unique attachment system and flexible movement pattern provide precious inspiration for biomimetic robot design. However, to achieve stable movements of the gecko robot in complex environments, particularly in vertical plane movements, and to effectively avoid obstacles, a number of technical challenges need to be addressed. Conventional robots, when performing climbing tasks, are often limited by fixed attachments and complex control systems, and are difficult to exhibit gecko-like flexibility and adaptability in diverse environments. Disclosure of Invention In view of the above, the application aims to provide a four-foot crawling gecko robot and a control system thereof, wherein a trunk structure uses a driven shaft to simulate gecko waist rotary motion so as to enhance flexibility of robot motion, each leg structure is provided with a longitudinal servo steering engine and two transverse servo steering engines, different motion gaits can be realized so as to adapt to the motions of the robot in different environments, a CPG control model is constructed by using a Hopff oscillator so as to provide stable rhythm signals for the motions of the robot, a pneumatic sensor is used for introducing feedback signals so as to realize gait control of the robot on complex terrain with obstacles, and a curve fitting method is used for the output robot foot trajectory control signals so as to ensure the stability of the robot in vertical plane motions. The application provides a four-foot crawling gecko robot which comprises a trunk structure, four symmetrically distributed leg structures and four foot sucking discs, and further comprises a motor driving system: The damping turntable is used as a waist joint0 and is used for connecting the front trunk and the rear trunk of the trunk structure so as to enable the robot to swing left and right; The longitudinal servo steering engine is used as a shoulder joint1 and used for connecting the trunk structure and the leg structure so as to control the lifting and falling of the leg structure; the first transverse servo steering engine is used as an elbow joint2 and used for connecting the longitudinal servo steering engine with the leg structure so as to drive the leg structure to move; And the second transverse servo steering engine is used as a wrist joint3 and used for connecting the leg structure and the foot sucker so as to adjust the foot drop position of the foot sucker. Further, still include air pump actuating system: The vacuum pump is used for exhausting air in the foot sucker and combining the opening and closing states of the electromagnetic valve to realize the adsorption and separation of the foot sucker; The air pressure sensor is used for monitoring the adsorption state of the foot sucker and outputting a high-level signal representing successful adsorption or a low-level signal representing unsuccessful adsorption; Wherein, foot sucking disc, vacuum pump and solenoid valve use three way conduit to connect. Further, the longitudinal servo steering engine is a 15kg.cm PWM steering engine, so that the longitudinal servo steering engine is suitable for lifting and falling of a small-moment leg structure; The first transverse servo steering engine and the second transverse servo steering engine are 45kg.cm steering engines, so that the robot is suitable for crawling movement of the robot with large torque on a vertical plane; The rotation angle interval of the first transverse servo steering engine is set to be [ -45,45], and the rotation angle interval of the second transverse servo steering engine is set to be [0,135], so that all leg structures do not collide in the rotation process. The application also provides a control system of the four-foot crawling gecko robot, which is applied to a motor driving system and an air pump driving system of the robot, wherein the control system comprises: The CPG control module is used for outputting a periodic initial control signal according to the input CPG initial configuration parameters; the control processing module is used for making gait switching and stride adjustment strategies of the robot, generating foot movement tracks based on the initial control signals, and outputting feedback signals to the robot based on the monitoring signals of the foot suction cups received in real time; The track planning module is used for fitting the foot motion track so as to ensure c