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On March 2, Tencent officially released its first software and hardware < a target = "_ blank" href=" https://news.163.com/news/search?keyword=%E5%85%A8%E8%87%AA%E7%A0%94 "> all self-developed < / a > multimodal quadruped < a target ="_ blank" href=" https://news.163.com/news/search?keyword=%E6%9C%BA%E5%99%A8%E4%BA%BA "> robot < / a > < a target ="_ blank" href=" https://news.163.com/news/search?keyword=Max "> Max < / a >, which adopts the integrated design of foot and wheel, has legs and wheels. It not only has the specialty of" walking steadily on rough road, running fast on flat road ", but also can stand on both legs to" pay a new year's greetings ". Max realized standing and moving from four feet to two feet for the first time, and could complete < a target = "_ blank" href=" https://news.163.com/news/search?keyword=%E5%90%8E%E7%A9%BA%E7%BF%BB "> back somersault < / a >, fall self recovery and other difficult movements. < / P > < p > this is also the reason why Tencent robotics x laboratory will continue to take the plum blossom stake_ blank" href=" https://news.163.com/news/search?keyword=%E6%9C%BA%E5%99%A8%E7%8B%97 "> robot dog < / a > after Jamoca and self balancing bicycle, another scientific research progress. In the future, robot dog is expected to play a role in robot patrol, security, rescue and other fields. < / P > < p > Tencent said that the laboratory is working hard to improve the multi-modal mobile ability of the robot, and can freely switch forms according to the needs, so as to complete more complex tasks. At present, a variety of technical solutions of foot wheel fusion have been released. < / P > < p > Tencent robot dog Max adopts the foot wheel fusion scheme developed by Tencent robotics x laboratory, which integrates foot and wheel motion modes. From the mechanical and circuit design in hardware to the system framework and control algorithm innovation in software, Max has both legs and wheels, can switch flexibly, and has better balance ability. It can walk steadily on rough roads and run fast on flat roads, which is more in line with the real environment of human society. < / P > < p > in the body design, the traditional foot wheel fusion scheme is to add an additional wheel motor at the sole of the foot, which makes the legs of the foot robot become "bulky", and the walking is not smooth enough, and the flexibility will be reduced. In order to solve this problem, Tencent robotics x laboratory proposed a design scheme of clutch type foot wheel integrated mechanism. By adding a micro linear motor with a mass of only about 20g, the knee joint motor can be used as the driving source of foot and wheel motion at the same time, and the multi-mode motion of the foot wheel of the robot dog is realized without increasing the leg inertia. At the same time, the energy consumption of Max in wheeled motion is reduced by about 50% compared with the traditional foot wheel fusion scheme. < / P > < p > Tencent robotics x laboratory also designed a special wheel structure, which can increase the speed of robot dog wheel movement several times, up to 25 km / h. < / P > < p > relying on the software and hardware system framework developed by Tencent, Max has a keen "nervous system", which realizes sub millisecond force control, greatly reduces the delay of software and hardware system, and improves its response ability to the outside world. < / P > < p > Max has a more developed "cerebellum" in motion planning and control algorithm. It can not only easily complete the foot movement, back somersault and other routine movements, but also realize the cool demonstration of four feet to two wheel standing for the first time. After standing, it can even use the front legs to carry out simple operation tasks, such as holding the ball, pressing the button, and even "asking for red envelopes". < / P > < p > < p > for foot movement, Max is based on the self-developed robust control algorithm, with an average calculation time of less than 0.3ms, and has the ability to recover from a fall, even if he suffers from a big impact fall, he can also recover from normal operation. < / P > < p > for wheeled motion, Max integrates NLMPC (nonlinear model predictive control) algorithm, QP (quadratic programming) optimization and compliance control algorithm to complete the swing up, balance disturbance rejection and landing control from lying on the ground to standing on two wheels. < / P > < p > compared with the current mobile devices that only use two wheels to complete the balance, Max has multiple joints, which is not only more challenging in the control difficulty, but also more diverse in the demonstration scene after standing. Two wheel standing "liberates" the front legs of the quadruped robot and expands its operation space.

2023-03-22 10:04:29