Method for generating real-time gait path of biped robot

Abstract

The invention relates to a method for generating a real-time gait path of a biped robot. The method includes steps of forming an oscillator network by means of omni-directionally coupling four oscillator neural units, designing mapping functions and generating sole paths of the biped robot in an online manner; forming a gravity center path generator by three oscillator neural units and generating three-dimensional gravity center paths of the robot in an online manner; enabling sensors to detect environmental information, creating a feedback circuit, and adjusting the sole paths and the gravity center paths in real time to obtain the gait paths with environmental adaptability; and optimizing parameters of a control system by a multi-objective evolutionary algorithm to obtain the optimal gait path. The oscillator network can output four channels of oscillator signals with adjustable phase relations. Compared with the prior art, the method has the advantages that abundant dynamic characteristics and the characteristic of capabilities of coupling walking environments and feeding information of the oscillator neural network are sufficiently utilized, so that the gait path generated in an online manner is adaptable to the walking environments to a certain degree.

Description

technical field [0001] The invention relates to a biped robot walking control method, in particular to a biped robot real-time gait trajectory planning method. Background technique [0002] At present, the gait planning methods of biped robots are mainly offline trajectory planning and optimization. Offline planning limits the flexibility of robot walking to a certain extent, especially in uncertain or unstructured environments. The method of pre-planning the gait trajectory cannot fundamentally solve the problem of the robot's environment-adaptive walking control. This is also the main reason why biped and humanoid robots cannot be applied to the field at present. Therefore, it is necessary to study real-time gait planning and control strategies, and use online gait generation methods to solve the adaptability of biped robots to complex environments. Contents of the invention [0003] The object of the present invention is to provide a real-time gait trajectory generatio...

AI Technical Summary

Problems solved by technology

[0002] At present, the gait planning methods of biped robots are mainly offline trajectory planning and optimization. Offline planning limits the flexibility of robot walking to a certain extent, especially in uncertain or unstructured environments.

The method of pre-planning the gait trajectory cannot fundamentally solve the problem of the robot's environment-adaptive walking control

This is also the main reason why biped and humanoid robots cannot be applied to the field at present. Therefore, it is necessary to study real-time gait planning and control strategies, and use online gait generation methods to solve the adaptability of biped robots to complex environments.

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