Method and apparatus for movement planning of apery robot ankle

Abstract

The invention discloses a movement planning method and a device of ankles of a humanoid robot, belonging to the technical field of humanoid robot movement planning. The method comprises: the trail planning of the ankles of non-supporting feet of the humanoid robot is divided into a first period and a second period in the period of odd-leg supporting; setting the stamping height in the first period and the jumping height in the second period as P. The device comprises: a phasing module used for dividing the trail planning of the ankles of non-supporting feet of the humanoid robot into the first period and the second period in the period of odd-leg supporting; a setting module used for setting the stamping height in the first period and the jumping height in the second period as P; wherein, is equal to L plus F, L is a distance between the ankle and feet surface, and F is the ground clearance compensation of ankles, and L is more than 0 and F is more that 0. In the invention, the trail planning of the ankles of non-supporting feet of the humanoid robot is divided into the first period and the second period in the period of odd-leg supporting, and counterforce of the ground to the feet surface of the robot is decreased at the moment when the feet surface of the humanoid robot stamps the ground in the process of action performance, thus increasing the flexibility of stamping the ground of the feet surface of the humanoid robot and improving the stability.

Description

technical field

[0001] The invention relates to the technical field of humanoid robot motion planning, in particular to a motion planning method and device for the ankle of a humanoid robot. Background technique

[0002] Motion planning of humanoid robot is a very important field in humanoid robot research. The action performance of the humanoid robot is realized by the rotation of the motors distributed on each joint of the humanoid robot. The number of motors for each joint represents the number of degrees of freedom on the joint. How each motor rotates at each moment is given by motion planning before the action performance of the humanoid robot. At present, the method of humanoid robot motion planning is mainly based on the stability principle of zero moment point (ZMP, ZeroMoment Point). The method is to set the trajectory of the ankle joint of the foot according to the ground environment first. Find the torso trajectory with the maximum stability margin as the final...

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