Humanoid robot inverse dynamics controller based on acceleration optimization

A humanoid robot and inverse dynamics technology, applied in the field of robotics, can solve problems such as the inability to guarantee the stable walking of the robot

Active Publication Date: 2013-04-03
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

The external force corresponding to the calculated joint moment may not necessarily meet the ground constraints such as ZMP, so that the stable walking of the robot cannot be guaranteed.

Method used

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  • Humanoid robot inverse dynamics controller based on acceleration optimization
  • Humanoid robot inverse dynamics controller based on acceleration optimization
  • Humanoid robot inverse dynamics controller based on acceleration optimization

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Embodiment Construction

[0017] The dynamic modeling of humanoid robot is how to describe the robot in mathematical language. The humanoid robot model is established by the method of floating base. figure 1 Shown is a model diagram of the humanoid robot involved in the present invention, the robot has an upper body and two legs that can walk, namely a left leg and a right leg.

[0018] world coordinate system ∑ W Fixed to the ground, the x-axis points to the front of the robot, the y-axis points to the left of the robot, and the z-axis points vertically upward. Since this paper mainly considers the motion of the lower limbs of the robot, the upper body is simplified as an integrated mass block when establishing the dynamic model. The upper body is a floating coordinate system, and the floating coordinate system ∑ R It is fixedly connected to the floating base, the origin is at the midpoint of the line connecting the legs, and the initial orientation of the three axes is the same as the world coordi...

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Abstract

The invention discloses a humanoid robot inverse dynamics controller based on acceleration optimization and belongs to the technical field of robots. The controller comprises the following steps of: according to the motion constraint of the humanoid robot, obtaining the relation between the upper body acceleration of the humanoid robot and the external force required by the soles; calculating the range of the upper body acceleration according to the constraint of the external force; and calculating out the optimal upper body acceleration by cost function and then calculating out the external force and the joint moment deserved by the robot. According to the method, the foot stress constraint of the robot is appointed, the actual stress of the robot meets the constraint condition by optimizing the upper body acceleration of the robot, and the robot is prevented from producing un-predictable motion due to external interference, thus the purpose of stably controlling the humanoid robot is achieved.

Description

technical field [0001] The invention relates to an inverse dynamics controller based on acceleration optimization to control a humanoid robot. It belongs to the field of robotics. Background technique [0002] Since the birth of robots, great changes have taken place in the way of human life and work. Robots assist human beings to complete complex and repetitive tasks in various occasions. Humanoid robots have the characteristics of human shape, which can better adapt to the living environment of human beings and serve people better. In recent years, there has been an upsurge in the study of humanoid robots at home and abroad. [0003] During the movement of the humanoid robot, there is a one-way, undriven, and uncontrollable degree of freedom between the support feet and the ground. If not effectively controlled, it is easy for the robot to tip over around the edge of its supporting feet. The ZMP (Zero-MomentPoint) control method proposed by Yugoslav scholar Dr. Vukobra...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 余张国黄强马淦陈学超李敬张思张伟民
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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