Method and system for controlling apery robot stabilized walking based on effective stable domain

A technology of humanoid robot and stable area, which is applied in the control field of stable walking of humanoid robot based on effective stable area, can solve the problem of not considering robot stability margin, difficult to achieve real-time compensation and correction, and not suitable for robot dynamic walking control, etc. problem, to achieve the effect of simple calculation and stable walking

Inactive Publication Date: 2009-04-22
BEIJING INSTITUTE OF TECHNOLOGYGY
View PDF0 Cites 23 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] 1) The state correction of the robot in the prior art 1 requires dynamic calculations, and it is difficult to achieve real-time compensation and correction; in addition, this method does not consider the s

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method and system for controlling apery robot stabilized walking based on effective stable domain
  • Method and system for controlling apery robot stabilized walking based on effective stable domain
  • Method and system for controlling apery robot stabilized walking based on effective stable domain

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] See image 3 , Is a flow chart of a method for controlling stable walking of a humanoid robot based on an effective stable area provided by an embodiment of the present invention, which is used for real-time correction of the ankle joint angle to ensure stable walking of the robot, which specifically includes:

[0039] 301: The ground reaction force is measured by the force sensor, and the resultant point of the ground reaction force is obtained according to the ground reaction force measured by the force sensor.

[0040] When the robot is stationary or walking, the force sensor can measure the magnitude of the ground reaction force.

[0041]During the robot walking, it can be divided into one-foot support period and two-foot support period. In the one-foot support period, the ground reaction force of one foot is measured by the force sensor of one foot; when it is in the two-foot support period, The ground reaction force of both feet is measured by the force sensors of bot...

Embodiment 2

[0072] See Figure 4 , The embodiment of the present invention provides a control device for stable walking of a humanoid robot based on an effective stable area, and the device specifically includes:

[0073] The force sensor 401 is used to measure the ground reaction force of the robot;

[0074] The processing module 402 is used to obtain the ground reaction force resultant point of the robot according to the ground reaction force measured by the force sensor 401;

[0075] The judging module 403 is used to judge whether the planned zero moment point and the resultant point of the ground reaction force obtained by the processing module 402 are both within the effective stable area;

[0076] The control module 404 is used to control the robot to walk according to the judgment result of the judgment module 403.

[0077] Among them, the control module 404 specifically includes:

[0078] The processing unit is used to make the robot walk according to the planned dynamic gait when the j...

Embodiment 3

[0087] See Figure 5 , The embodiment of the present invention provides a control system for stable walking of a humanoid robot based on an effective stable area, and the system specifically includes:

[0088] The feedforward 501 is used to provide the dynamic gait θ of the ankle joint for offline planning of the robot a0 (t);

[0089] The real-time corrector 502 is used to provide a control of the dynamic gait in the feedforward device 501 when the resultant point of the ground reaction force and / or the planned zero-moment point of the robot is not within the effective stable area. a0 (t) Real-time correction amount Δθ of the ankle joint to be corrected a (t);

[0090] When the planned ZMP point is not in the effective stable area, and the resultant point of the ground reaction force is in the effective stable area, the real-time correction amount Δθ a (t) Calculate according to the formula (1) in Example 1;

[0091] When the resultant point of the ground reaction force is not in ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a method for controlling steady walking of a humanoid robot based on an effective stable region, and belongs to the automation control field. The method comprises the following steps: measuring a ground reaction force of the robot by a force sensor; obtaining a resultant force point of the ground reaction force of the robot according to the ground reaction force; judging whether a planned zero moment point (ZMP) and the resultant force point of the ground reaction force are within the effective stable region; and controlling the robot to walk according to a judgment result. The device comprises the force sensor, a processing module, a judgment module and a control module. The system comprises a forward feeder, a real-time corrector and a servo driver. The system causes the planned ZMP and the resultant force point of the ground reaction force to be in the effective stable region by the real-time correction of an angle of ankle joints of the robot, thus achieving the aim of the steady walking of the robot.

Description

Technical field [0001] The invention relates to the field of automation control, in particular to a control method and system for stable walking of a humanoid robot based on an effective stable area. Background technique [0002] Humanoid robots (hereinafter referred to as robots), like humans, move by walking on two legs. Its two-leg structure is similar to that of humans, and it has better maneuverability than traditional wheeled and crawler robots, especially on uneven ground, stairs, and only discrete and discontinuous contact points with the ground. Superiority. However, biped robots are inherently unstable and prone to fall. In order to make the robot walk, the walking trajectory (dynamic gait) of the robot needs to be given. The dynamic gait of the robot is an inherent and periodic motion, which is generated based on the overall dynamics of the biped robot. Due to the coupling of constraint conditions and the complexity of dynamic equations, dynamic gait calculation requir...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap