Waist movement planning method and device for preventing humanoid robot from tilting back and forth

Abstract

The invention provides a waist movement planning method and a waist movement planning device for preventing a humanoid robot from tilting back and forth. The robot is provided with two legs which can be used for driving the robot to walk, wherein the waist is provided with a waist joint; and the waist joint comprises a back-and-forth tilting joint which rotates around the waist in the X direction. The method comprises the following steps of: determining a compensation angle for the back-and-forth tilting joint according to specific data; and setting the compensation angle for a rotation angle of a motor in the X direction of the waist of the waist joint, wherein the motor of the waist X joint is a motor of which the axial direction is in the left-right direction of the robot. According to the waist movement planning method and the waist movement planning device, the phenomenon of tilting of an upper body caused by flexible error during single-leg supporting of the humanoid robot can be effectively reduced by compensating the tilt angle of the motor in the X direction of the waist, and the landing stability of a non-supporting leg is improved.

Description

technical field [0001] The invention relates to the technical field of humanoid robot motion planning, in particular to a waist 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 principle of zero moment point (ZMP, Zero Moment Point) stability. The method is to set the trajectory of the foot and ankle joint according to the ground environment first. Find the body trajectory with the largest ...

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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 is easy to tilt back and forth when supported on one foot, which not only makes the humanoid robot easy to fall In addition, in the front-back direction of the humanoid robot, the instep of 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.

[0005] After analyzing the existing technology, the inventor found that: due to the existence of mechanical flexibility a

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