METHOD OF CONTROLLING MOVEMENT OF FOUR-LEGGED WALKING ROBOT ON ROUGH TERRAIN Russian patent published in 2024 - IPC B25J13/00 

FIELD: robotics.

SUBSTANCE: invention relates to methods of controlling robots, namely to a method of controlling movement of a four-legged walking robot on rough terrain. At each iteration of movement, the following parameters are obtained as input data of the microcomputer of the walking robot: type of gait, required speed and direction of movement, position of robot feet relative to body. Input data are transmitted to the MPC controller, which generates the desired values of the reaction of the supports, the desired positions of the center of the robot body and its hinges. These values are transmitted to WBIC controller, which calculates commands of torque, position and speed of the joint. This information, together with the current state of the robot, received from the encoders, is transmitted to the PD controller, which generates electric current supplied to the drives. At that, input data are divided during transmission to said controllers on MPC controller and WBIC controller, which provides scheduling of support response by MPC controller for several steps ahead and implementation of WBIC controller of current control value search based on found responses of supports. Activating a module which transmits information on the speed and acceleration of the robot to the kinematic and dynamic model of the device, at this point, the cycle is completed, and the microcomputer waits for new input data.

EFFECT: disclosed is a method of controlling movement of a four-legged walking robot on rough terrain.

6 cl, 5 dwg