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Foot touching-ground time control method and system for stable walk of human imitating robert

A humanoid robot and control method technology, applied in the field of foot landing time control, can solve problems such as falling and robot instability, and achieve the effects of wide adaptability, rapid response and simple calculation

Active Publication Date: 2010-03-17
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this technology does not take this factor into account, resulting in abnormal phenomena such as instability or even falling of the robot
Similarly, the prior art 2 does not take into account the important impact of the robot's foot landing time on the stability of the robot, so abnormal phenomena such as robot instability or even falling may also occur.

Method used

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  • Foot touching-ground time control method and system for stable walk of human imitating robert
  • Foot touching-ground time control method and system for stable walk of human imitating robert
  • Foot touching-ground time control method and system for stable walk of human imitating robert

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Embodiment 1

[0035] Such as figure 1 As shown, the embodiment of the present invention provides a walking controller for a robot. The walking controller of the robot adopts a dual structure, and the off-line gait planning Z f0 (t) and ΔZ acting as a local feedback f (t) Composition. The walking robot includes an upper body 1, a hip joint 2, a knee joint 3, an ankle joint 4, a foot 5, a force sensor 6 at the ankle and a connector thereof, and the two legs of the lower body have 6 degrees of freedom respectively.

[0036] When the robot walks in real time, the reference height Z of the robot's ankle joint f (t) is equal to the offline planned dynamic gait Z f0 (t) plus the real-time correction amount ΔZ f (t). Among them, Z f0 (t) is generally generated given a known robot model and surrounding environment. ΔZ f (t) is the real-time correction of the ankle joint height when the robot foot does not land at the expected time (early or late), in order to overcome the environmental unce...

Embodiment 2

[0076] see Figure 7 , the present invention also provides a control system for the foot landing time of a humanoid robot for stable walking, specifically comprising:

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PUM

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Abstract

The invention discloses a method for controlling the time of foot landing which can lead a humanoid robot walk steadily and a system thereof, belonging to the field of robots. The method comprises that: the feet of the swing legs of a robot are detected to judge whether the feet land or not; if the feet of the swing legs of the robot land before the time of the programming pace, the ankle of the swing legs is elevated; if the feet of the swing legs of the robot land after the time of the programming pace, the ankle of the swing legs is lowered. The system comprises a detection device and an adjustment device; wherein, the adjustment device comprises an advanced adjustment module, a lagging adjustment module and a supporting adjustment module. The invention has the effect that the robot canwalk steadily in the actual environment by amending the programming dynamic pace of the robot and controlling the pace in real time.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method and system for controlling the time when a humanoid robot stably walks on the ground. Background technique [0002] The biped walking robot is the same as a human being, and moves by walking on two legs. In order for the robot to walk, it is necessary to give the walking trajectory (dynamic gait) of the robot. The dynamic gait of a robot is an inherent, periodic motion that is generated according to the overall dynamics of a biped robot. Due to the coupling of constraints and the complexity of dynamic equations, dynamic gait calculation requires an optimization process. Therefore, dynamic gait can generally only be realized by offline calculation methods. That is, dynamic gaits are generally generated under the assumption that the biped robot model and the surrounding environment are known. However, due to errors in the modeling of the robot and changes in the surrounding envir...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/00
Inventor 黄强余张国陈学超高峻峣张伟民
Owner BEIJING INSTITUTE OF TECHNOLOGYGY