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Method and device for controlling upper body attitude of apery robot stabilized walking

A humanoid robot and attitude control technology, applied in attitude control, measuring devices, position/direction control, etc., can solve the problems of unfavorable real-time control, large compensation time delay, and difficulty in solving, etc., and achieve small time delay and maintain dynamics Balanced, wide-ranging effects

Inactive Publication Date: 2009-04-22
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In the control method based on ZMP compensation, the accuracy of the robot model restricts the compensation effect. It is necessary to calculate the mathematical model of the robot, which is not easy to solve, and the calculation amount is large, and the compensation delay is large, which is not conducive to real-time control.

Method used

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  • Method and device for controlling upper body attitude of apery robot stabilized walking
  • Method and device for controlling upper body attitude of apery robot stabilized walking
  • Method and device for controlling upper body attitude of apery robot stabilized walking

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Experimental program
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Embodiment 1

[0026] see figure 1 , the present embodiment provides a method for controlling the upper body posture of a humanoid robot for stable walking, the method realizes stable walking of the humanoid robot by adjusting the hip joint, including:

[0027] Step 101: Judging the state of the robot's feet at the current moment, the state of the feet is a supporting state or a swinging state;

[0028] Step 102: Calculate the correction value of the robot's hip joint at the current moment according to the state of the feet;

[0029] Step 103: Calculate the servo reference value of the hip joint according to the correction value, and the servo reference value is used to drive the hip joint to adjust the upper body posture of the robot.

[0030] In this embodiment, the posture of the upper body is adjusted by adjusting the hip joints to achieve the goal of stable walking of the humanoid robot. It does not require a specific mathematical model of the robot, has a wide range of applications, i...

Embodiment 2

[0053] see Figure 4 , an upper body posture control device for stable walking of a humanoid robot, characterized in that the device includes:

[0054] Judging module 401, used to judge the state of the foot of the robot at the current moment, the state of the foot is a support state or a swing state;

[0055] The first computing module 402 is used to calculate the correction value of the hip joint of the robot at the current moment according to the state of the foot judged by the judging module 401;

[0056] The second calculation module 403 is used to calculate the servo reference value of the hip joint according to the correction value obtained by the first calculation module 402, and the servo reference value is used to drive the hip joint to adjust the upper body posture of the robot.

[0057] specifically,

[0058] see Figure 5 , the judging module 401 includes:

[0059] An acquisition unit 401a, configured to acquire the contact force between the robot's feet and t...

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Abstract

The invention discloses a control method for postures of an upper body of a humanoid robot while walking steadily and a device thereof, and belongs to the automation control field. The method comprises the following steps: judging a state of feet of the robot at the current moment, wherein, the state of the feet is a support state or a swing state; computing a corrected value of hip joints of the robot at the current moment according to the state of the feet; and computing a servo reference value of the hip joints according to the corrected value. The device comprises a judgment module, a first computation module and a second computation module. The device regulates the posture of the upper body by regulating the hip joints so as to achieve steady walking of the robot without a specific robot mathematical model, has wide application range, simple computation, short compensation time delay, and keeps a dynamic balance effect of the upper body of the robot in a real-time manner.

Description

technical field [0001] The invention relates to the field of automation control, in particular to a method and device for controlling the upper body posture of a humanoid robot for stable walking. Background technique [0002] Humanoid robots (hereinafter referred to as robots), also known as biped robots, move by walking on two legs, just like humans. Its legs are similar to human beings, and it has better maneuverability than traditional wheeled robots and tracked robots, especially on uneven ground, stairs, and occasions where there are only discrete and discontinuous contact points with the ground. Superiority. [0003] In order to make the robot walk, it is necessary to set the walking trajectory (dynamic gait) of the robot in advance. 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 requ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/00G05D1/08G01C21/00
Inventor 黄强余张国陈学超高峻峣张伟民
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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