Control method for eliminating upper body posture shaking of double-foot humanoid robot

A humanoid robot and robot technology, applied in the direction of attitude control, etc., can solve problems such as the algorithm that does not mention the waist joint to eliminate shaking of the upper body, and achieve the effect of eliminating upper body shaking and maintaining dynamic stability

Active Publication Date: 2011-01-12
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0007] The purpose of the two degrees of freedom of the lumbar joint in this method is to supplement the reduced degree of freedom of the knee joint, solve the angle of the lumbar joint through inverse kinematics, and realize the straight knee walking of the robot. In the paper, there is no mention of using the lumbar joint to give Algorithm for eliminating shaking of the upper body

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  • Control method for eliminating upper body posture shaking of double-foot humanoid robot
  • Control method for eliminating upper body posture shaking of double-foot humanoid robot
  • Control method for eliminating upper body posture shaking of double-foot humanoid robot

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Embodiment Construction

[0036] figure 1 A structural diagram of a robot controller according to the present invention is shown. It consists of offline gait planning θ w0 (t) and Δθ for feedback w (t) Composition. The walking robot includes an attitude sensor 1, an upper body 2, a waist joint 3 (including two degrees of freedom of pitch and roll), a lower body 4 and its connecting parts. The angular velocity value used in the velocity feedback needs to be filtered by the low-pass filter 5 .

[0037] When the robot is walking or working in real time, the reference angle θ of the robot's waist joint w (t) is equal to the offline planned dynamic gait θ w0 (t) plus the real-time correction amount Δθ w (t). Among them, θ w0 (t) is generally generated given a known robot model and surrounding environment. Δθ w (t) is the real-time correction amount of the waist joint in order to eliminate the shaking when the upper body of the robot shakes.

[0038] After experiments, the upper body of the robot ...

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Abstract

The invention provides a control method for eliminating the upper body posture shaking of a double-foot humanoid robot. The robot is provided with a waist part and a posture sensor. The method comprises the following steps of: generating a planned gait of the robot; measuring the inclination angle and the angular speed of the upper body of the robot through the posture sensor; calculating the correction of a joint of the waist part according to the inclination angle and the angular speed; and adjusting the joint according to the correction so as to eliminate the upper body posture shaking of the robot. In the method, only the waist joint is adjusted without affecting the landing time of the robot; and the method achieves effects in the entire walking process or operating process of the robot.

Description

technical field [0001] The invention relates to a control method for walking or working of a biped robot, in particular to a control method for eliminating shaking of the upper body when the biped robot is walking or working. Background technique [0002] Humanoid robots (hereinafter referred to as robots) move by walking on two legs, just like people. Its legs are similar to human beings, and it has better maneuverability than traditional wheeled and tracked robots, especially on uneven ground, stairs, and occasions where there are only discrete and discontinuous contact points with the ground. Superiority. However, biped robots are inherently unstable and prone to falls. [0003] In order to make the robot walk, it is necessary to give the walking trajectory of the robot, that is, the dynamic gait, including the angle of each joint of the joint robot. The dynamic gait of a robot is an inherent, periodic motion that is generated according to the overall dynamics of a bip...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
Inventor 黄强陈学超余张国李敬张伟民许威马淦
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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