Control method and system for touchdown time of stable walking feet of humanoid robot

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 can walk 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...

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.

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