Power type walking method of dual-foot robot

A biped robot and power technology, applied in motor vehicles, transportation and packaging, etc., can solve problems such as gait disturbance and reduced walking stability

Inactive Publication Date: 2008-12-17
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the energy replenishment timing of the above two methods is located before and after the collision time, and the energy is replenished instantaneously, which requires extremely high energy ...

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  • Power type walking method of dual-foot robot
  • Power type walking method of dual-foot robot
  • Power type walking method of dual-foot robot

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Experimental program
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Embodiment Construction

[0067] Figure 4 It is a schematic diagram of the structure of the robot used in the present invention and four joint angles, wherein 1 is the torso, which is fixedly connected with the bodies of the two hip joint motors 2 and 3 coaxially placed on the left and right, and the rotation output shafts of the two hip joint motors are respectively It is connected with two thighs 4 and 5, the end of the thigh 4 is fixedly connected with the body of the knee joint motor 6, the rotation output shaft of the knee joint motor 6 is connected with the calf 7, and the end of the thigh 5 is fixedly connected with the body of the knee joint motor 8, The rotation output shaft of the knee joint motor 8 is connected with the lower leg 9 . This robot has four degrees of freedom, which are located at the rotational outputs of two hip joint motors 2, 3 and two knee joint motors 6, 8 respectively. The four motors all use servo motors, and their rotation angles are respectively represented by S hip...

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Abstract

A power-typed walking method for a biped robot belongs to the technical field of robot walking control. The method is characterized in that the robot realizes fully power-typed walking similar to passive walking by rapidly swinging two legs and controlling landing collision of the swinging legs in a gait cycle T which is more than 0.2s and less than 0.5s, the robot creates a virtual slope by bending the knee joint of a swinging leg and supplements energy by straitening the knee joint of a supporting leg, each gait of the gait cycle is determined by three key frames and described by four parameters, a first derivative continuous smooth curve connects the key frames. In the experiment, single gait of the robot reaches a relative walking speed of 4.48 leg lengths per second, which improves by 29 percent compared with the record created by RunBot; moreover, a plurality of gaits of the robot realizes continuous variable speed walking from 1.24 leg lengths per second to 3.88 leg lengths per second.

Description

technical field [0001] The invention relates to a power walking method of a biped robot, in particular to an open-loop control method for realizing fast walking of a biped robot. Background technique [0002] At present, the walking methods of biped robots mainly include static walking, ZMP walking, and limit cycle walking. Among them, static walking is the earliest and most basic walking method, which requires that the center of mass of the robot is always kept within the polygon formed by the feet on the ground during the walking process. This method is easy to maintain the stability of the robot, but it is also extremely limits the walking speed of the robot. ZMP walking requires the zero-moment point of the robot to always remain within the polygon formed by the feet. This method reduces artificial constraints to a certain extent compared with static walking, so some robots can walk at a higher speed. At present, successful examples of ZMP walking include Honda's ASIMO...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 赵明国张楫董浩李立国苏学敏石宗英
Owner TSINGHUA UNIV
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