Movement planning method and apparatus for preventing apery robot right and left incline

Abstract

The invention discloses a motion planning method for preventing leftward and rightward inclinations of a humanoid robot and a device using the same, which belongs to the technical field of the motion planning of the humanoid robot. The method comprises the following steps: setting a compensation angle to a motor at a hip joint and a motor corner at an anklebone of a supporting leg respectively; and adding the corresponding compensation angle to planned angles of the motor at the hip joint and the motor corner at the anklebone of the supporting leg respectively. The device comprises a compensation angle setting module which is used for setting one compensation angle to the motor at the hip joint and the motor corner at the anklebone of the supporting leg respectively, and an adding module which is used for adding the corresponding compensation angle to the panned angles of the motor at the hip joint and the motor corner at the anklebone of the supporting leg respectively, wherein the motor at the hip joint and the motor at the anklebone are the motors axially arranged along the forward and the backward directions of the humanoid robot. The motion panning method effectively reduces the phenomenon of the leftward and the rightward inclinations when the humanoid robot is supported by a single leg, and improves the touchdown 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 left and right. 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 tends to the side of the non-supporting leg when it is supported on one foot, which not only makes the humanoid The robot is easy to fall, and in the left and right directions 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 inclined to the side of the non-supporting foot in the left and right 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 feet will have a left-right inclination with the ground at the moment of landing, which will affect the stability of the ground and cause it to fall easily.

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