Motion planning method and apparatus for preventing humanoid robot tilting forwards and backwards

Abstract

The invention discloses a motion planning method which prevents fore-and-after leaning of a humanoid robot and a device thereof, belonging to the technical field of the motion planning of the humanoid robot. The method comprises: compensation angles are arranged respectively for the rotor angles of an electric motors for the hip joint, the ankle joint and the knee joint of a supporting leg; the corresponding compensation angles are respectively added on the planning angles of the rotor angles of the electric motors for the hip joint, the ankle joint and the knee joint of the supporting leg. The device comprises a compensation angle setting module and an add module, wherein, the compensation angle setting module is used for respectively setting the compensation angle for the rotor angles of the electric motors for the hip joint, the ankle joint and the knee joint of the supporting leg; the add module is used for respectively adding the corresponding compensation angles on the planning angles of the rotor angles of the electric motors for the hip joint, the ankle joint and the knee joint of the supporting leg; wherein, the electric motors for the hip joint, the ankle joint and the knee joint are the electric motors arranged along the left direction and the right direction of the humanoid robot in the axial direction. The invention can effectively reduce the fore-and-after leaning phenomenon when the humanoid robot is supported by a single leg, and improving the landing 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 preventing a humanoid robot from tilting back and forth. 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 sta...

AI Technical Summary

Problems solved by technology

However, due to the existence of mechanical flexibility (referring to the deformation of the mechanical structure due to external force) and servo flexibility (caused by control errors), the upper body of the humanoid robot tilts forward or backward when supported on one foot, which not only makes the humanoid The robot is easy to fall, and in the front-back direction of the humanoid robot, the non-supporting foot will form a large inclination angle with the ground at the moment of landing, which affects the stability of the humanoid robot on the ground

[0005] After analyzing the existing technology, the inventor found that: due to the existence of mechanical flexibility and servo flexibility, the upper body of the humanoid robot is tilted in the front-back direction

This not only affects the balance of the upper body posture of the humanoid robot and the accuracy of the upper arm operation, but also the non-supporting foot will have an inclination angle with the ground at the moment of landing, which affects the stability of the ground and is easy to fall

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