Closed-loop control-based humanoid robot omnidirectional walking method

Abstract

The invention provides a closed-loop control-based humanoid robot omnidirectional walking method, which comprises foot stance planning, robot body movement track, foot space track planning, joint angle calculation and feedback control policy. The method comprises the following steps of planning the stances of the feet of the robot in a two-dimensional space, and calculating a zero moment point (ZMP) value of the robot; establishing a bilinear inverted pendulum model with prediction control according to the ZMP value, and obtaining a reference pose of the robot body; performing cubic spline interpolation on the planned stances to obtain the best moving track of every two stances in a three-dimensional space so as to obtain a foot stance pose; and calculating angles of joints of the robot according to the reference poses of the body and the feet by using inverse kinematics knowledge. In the walking process of the humanoid robot, the omnidirectional walking of the robot is realized through closed-loop control. Compared with the prior art, the robot walking method has the advantages of high robustness and high stability.

Description

technical field

[0001] The invention belongs to the technical field of walking of humanoid robots, and in particular relates to an omnidirectional walking method of humanoid robots based on closed-loop control. Background technique

[0002] The earliest humanoid robot that appeared in the real world should be the WABOT-1 developed by Ichiro Kato's laboratory at Waseda University in 1973. Although the technology is not very mature, WABOT-1 can not only recognize objects through vision, but also communicate with people through hearing and speech synthesis. It can also operate objects through tactile hands and walk on two feet. Then came the amazing P2, P3, ASIMO, and the emergence of NAO in 2008, all aspects of humanoid robot technology are constantly updated.

[0003] In terms of humanoid robot walking, there are also other methods, such as S. Kajita’s method of planning joint trajectory, which analyzes the position and angle values ​​of the ankle joint and hip joint ...

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