Method and device for controlling to support foot of humanoid robot in single leg supporting period

A humanoid robot, the technology of the support period, applied in the field of robotics

Inactive Publication Date: 2013-04-17
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This method only studies how to achieve energy saving and other goals through the rotation of the support foot, and does not inv

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  • Method and device for controlling to support foot of humanoid robot in single leg supporting period
  • Method and device for controlling to support foot of humanoid robot in single leg supporting period
  • Method and device for controlling to support foot of humanoid robot in single leg supporting period

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Embodiment Construction

[0073] In order to make the purpose and technical solution of the present invention clearer, the implementation of the present invention will be further described in detail below taking the fast walking of a humanoid robot as an example.

[0074] A method for a humanoid robot to control the rotation of a support foot plate during a single-leg support period to increase the stride, comprising the following steps:

[0075] Calculate the virtual zero moment point and detect the rotation angle of the supporting foot;

[0076] The rotation angle of the supporting foot is determined;

[0077] Determination of virtual zero moment point position;

[0078] Virtual zero moment point position limit

[0079] First establish the used coordinate system of the present invention ( figure 1 ). The origin of the coordinate system is located at the ankle of the supporting foot, the forward direction is +X, and the vertical upward direction is +Z (the +Y direction is determined by the right-h...

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Abstract

The invention discloses a method and a device for controlling to support a foot of a humanoid robot in a single leg supporting period and belongs to the field of robots. An expected virtual zero moment point is arranged outside the foot supporting region, and a step increasing quantity generated through the rotation of the robot can be acquired. The method comprises steps of calculating the virtual zero moment point and detecting the rotation angle of the supporting foot; determining the rotation angle of the supporting foot; determining the position of the virtual zero moment point; and limiting the position of the virtual zero moment point. The device comprises a calculating and detecting module, a rotary angle control module, a virtual zero moment point position control module and a virtual zero moment point position limiting module. By the aid of the method and the device, the humanoid robot can support the foot to rotate in the single leg supporting period, the walking step is increased, and the control is simple and reliable.

Description

Technical field: [0001] The invention relates to a method and a device for a humanoid robot to control the rotation of a support foot plate during a single-leg support period to increase the stride length, and belongs to the technical field of robots. Background technique: [0002] The improvement of walking speed has always been a hot and difficult point in the field of humanoid robot research. Improvements in walking speed can be achieved by increasing stride length and increasing walking frequency. The increase in walking frequency has higher requirements on the rigidity of the mechanical structure of the humanoid robot and the driving ability of the driving components, and has a strong comprehensive requirement and dependence on related disciplines. Currently, the increase in walking stride is mainly achieved by increasing the length of the lower extremities. [0003] The walking gait design method of humanoid robots usually sets the zero moment point in the contact ar...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 黄强李敬马淦余张国陈学超张思王化平
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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