The quadruped simulation robot created by the postgraduate team of Taiyuan University of Technology won the first prize at the national level

The quadruped simulation robot created by the postgraduate team of Taiyuan University of Technology won the first prize at the national level

Mine, railway inspection, it is very likely to see it in the future

  On August 26, the four-legged simulation robot created by the postgraduate team of Taiyuan University of Technology won the first prize of the “Shenhao Cup” 4th China Postgraduate Robot Innovation Design Competition National Finals, and also won two patents. Modal wheel-leg separation quadruped robot and separable multimodal wheel-leg separation quadruped robot.

  On October 25, a reporter from the Shanxi Evening News interviewed Zhang Jinzhu, the team’s teacher, and Cao Jiandong, the team’s captain. At present, the team is also speeding up the progress of this project, adjusting the robot to perform various complex actions such as standing in place, walking, jumping, and climbing stairs.

  Recalling the competition process is both proud and stressful

  Speaking of the original intention of creating this project, the team members said that they wanted to use quadruped robots to replace manual inspections in coal mine inspections to improve efficiency and ensure personnel safety. Now it seems that it can be used in inspections of railways and electric power, etc., and the prospects are very broad and long-term.

  ”Shenhao Cup” The Fourth China Graduate Robot Innovation Design Competition, which has considerable influence in the industry, is hosted by Zhejiang University this year. There are more than 200 participating universities and colleges and more than 800 teams. Cao Jiandong, the team captain, was very impressed by being able to stand out in such fierce competition.

  ”Recalling the experience of participating in the competition brings both pride and pressure.” Cao Jiandong said that what impressed him most was that they lost to two other powerful colleges in the competition for the special prize.

  The preliminary competition will be held from May to the end of June. Various materials such as animation modeling and declaration forms need to be submitted to explain the team’s ideas, technologies and conditions. The jury will decide whether to enter the finals.

  Entering the finals on August 7, before August 23, you need to prepare videos, simulation results, PPT, posters, etc.

  On August 22, the team of 5 left for Zhejiang University. During the competition, they met a large number of participating teams, prepared their defense materials carefully, and displayed posters and videos of Taiyuan University of Technology’s quadruped robot in relevant areas.

  In the group stage, Cao Jiandong first explained the main innovations of the project on behalf of the team. Generally speaking, some quadruped robots use wheels and some use legs to move forward. Their robot is a combination of wheels and legs, using wheeled forward on relatively flat roads to increase speed, and using legs on roads with obstacles, it can cross obstacles.

  Afterwards, 4 people in their group participated in the group’s 4-person on-site defense, and introduced the background, mechanical structure, multiple modes, control system, theory, simulation results, etc. exhibit.

  At 10 o’clock one night, the team was informed that they would participate in the competition for the grand prize. Five people improved the plan overnight and were ready to answer questions from the review experts.

  Cao Jiandong said that this time there are 2 special prizes, 15 first prizes and 30 second prizes. The university projects that have won the special award are more mature, the research and development time is more than 5 years, and 5 PhDs have participated in the battle together, and they have only started for more than two years. The members are also first- and second-year graduate students.

  The award was presented on August 26, and Cao Jiandong took the stage and received the first prize.

  Difficulty in development

  Speaking of the creation background of the quadruped robot, Zhang Jinzhu, the leading teacher, introduced that Shanxi is a province with large mineral resources. In order to ensure the modernization of mine production and further reduce mine safety accidents, unmanned operation scenarios and real-time monitoring technology for underground risk factors are urgently needed. The detachable multi-modal quadruped robot they researched can replace the mine prospectors to enter the unknown environment for efficient exploration, and give early warning to the dangerous factors of the operation scene, so as to prevent accidents, ensure the safety of mine personnel, and reduce economic losses.

  In the past two years, the research has encountered many difficulties. For example, taking one-leg jumping as an example, at the beginning, the motor and other hardware equipment were tested, and it was found that the jump could only be less than 10 cm. Later, it was found that the power supply of the motor was insufficient, the motor was replaced, and the algorithm was optimized, so that the robot could jump 25 cm. centimeter.

  Later, the simulation was added, for example, the quadruped robot made a parabolic jump forward, landed and jumped again, so that the connection formed a forward run. After that, the landing buffer effect was added, which made it smoother and protected the motor.

  Most of the material of this robot is aluminum alloy, so it is not easy to make spare parts. The students and teachers found a processing master in a nearby factory and provided the drawings of the spare parts. The other party made it, and they assembled it again. .

  The future is bright

  The team of graduate students, teachers and students is now holding their breath. The quadruped robot is second to none in Shanxi, but it is still in the catch-up stage in the whole country, because there are more advanced technologies, theories and real objects than them.

  On October 25, a reporter from Shanxi Evening News met Teacher Zhang Jinzhu. He said that he is currently adding a gyroscope to the quadruped robot, which plays a balancing role and is equivalent to the human cerebellum. Before the gyroscope is added, if the robot is tilted, it will not correct itself. After adding the gyroscope, it can dynamically adjust its balance state while traveling.

  In the future, the robot will do the mode and actual measurement activities of stepping, walking, jumping, and climbing stairs. In the future, the quadruped robot can be widely used in mine inspections, railway inspections, power plant inspections, etc. More and wider field.

  ”We always firmly believe that through unremitting efforts, the gap between us and the national quadruped robot will gradually narrow, or even surpass them.” The teachers and students of Taiyuan University of Technology said. Shanxi Evening News reporter Song Junfeng