Biped robot gait energy efficiency optimization method

A technology of biped robot and optimization method, applied in the field of biped robot gait control

Inactive Publication Date: 2010-09-29
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The traditional biped walking robot is represented by Honda's Asimo. Although it has good mobility in an unstructured environment, its walking energy consumption is more than ten times that of human walking energy consumption.

Method used

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  • Biped robot gait energy efficiency optimization method
  • Biped robot gait energy efficiency optimization method
  • Biped robot gait energy efficiency optimization method

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Embodiment Construction

[0036] The invention proposes a fuzzy logic-based gait energy efficiency optimization method for a biped robot, with the purpose of solving the problem of high energy consumption during the walking process of the biped robot. This method can effectively reduce the energy consumption of the robot and maintain its stability.

[0037] The detailed process of the present invention will be described below.

[0038] figure 1 It is an overall block diagram of the energy efficiency optimization control system described in the present invention. exist figure 1 In the first step, we plan offline to obtain the walking trajectory of the lower limbs of the footed robot. On this basis, we obtain the ideal gait of the robot online through online energy efficiency optimization, and then control the robot through a single-joint controller. Among them, the energy efficiency optimization link includes three links: fuzzy ZMP tuning, upper body energy consumption assessment and iterative optim...

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Abstract

The invention provides a biped robot gait energy efficiency optimization method, including that: (1) planning is carried out to obtain the track of the lower limb of the biped robot; (2) energy optimization is carried out to obtain the ideal gait of the robot; (3) the robot is controlled by a single joint controller; wherein the step of obtaining the ideal gait of the robot by energy efficiency optimization concretely includes fuzzy ZMP adjusting, upper body energy consumption evaluation and iteration optimization step based on energy consumption evaluation. The invention provides a biped robot gait energy efficiency optimization method based on fuzzy logic, aiming at solving the high energy consumption problem in the biped robot walking process. The method can effectively reduce robot energy consumption and maintains stability thereof.

Description

technical field [0001] The invention belongs to the field of gait control of biped robots. Background technique [0002] Robotics is a comprehensive subject developed in recent decades. It integrates the latest scientific research achievements of various disciplines such as mechanical engineering-electronic engineering, computer engineering, automatic control engineering, and artificial intelligence. It represents the highest achievement of mechatronics and is one of the most active fields of scientific and technological development. [0003] Since the application of industrial robots in industrial production in the 1970s, robots have had a profound impact on social production and life. Biped robots are different from general industrial robots. This kind of robot has a flexible walking system and a wide working space so that it can go where it is needed at any time, including some places and corners that are not easy for ordinary people to reach, and complete the tasks pre...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/00
Inventor 刘治曾小杰王丽杨章云
Owner GUANGDONG UNIV OF TECH
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