Humanoid robot gait planning and synthesizing method

Abstract

The invention discloses a humanoid robot gait planning and synthesizing method, and belongs to the technical field of humanoid robot motion planning. The humanoid robot gait planning and synthesizing method comprises the following steps that a polynomial function is adopted to represent tracks of hip joints and the tail ends of swing legs of a robot, a one-foot support period gait and a double-feet support period gait are respectively planned when the robot walks according to constraint conditions including geometric constraints, maximum stride height of the tail end of each swing leg, gait periodicity, impact effect, hip joint motions and the like when the humanoid robot walks, then the planned gaits are synthesized, and whether obtained gait tracks are stable is judged according to a zero moment point criterion. According to the humanoid robot gait planning and synthesizing method, the one-foot support period gait and the double-feet support period gait of the robot are planned and synthesized into a complete gait, the problem that collisions between legs of the robot and ground affect walking stability when the robot walks is solved, walking stability of the robot is improved, and an important effect, of the double-feet support period gait of the robot, on a complete gait period is explained at the same time.

Description

technical field [0001] The invention relates to the field of motion planning of a humanoid robot, in particular to a gait planning and synthesis method of a humanoid robot. Background technique [0002] Humanoid robot gait planning refers to the determination of the timing and phase characteristics of each joint angular motion during the robot's walking process in order to complete the robot's walking, so that the robot can complete some simple tasks, such as the target grasping and moving of the upper limbs. , To simply work collaboratively with humans, the robot must be able to walk stably. At present, there are mainly three methods of gait planning for humanoid robots: offline planning, online planning, and offline planning plus online correction. However, no matter which planning method is used, the obtained gait must be stable and periodic. [0003] In the prior art prior to the present invention, a complete gait cycle of a humanoid robot generally includes a single-l...

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Problems solved by technology

[0004] After analyzing the prior art, the inventor found that: when the robot walks, although the robot's feet support period is very short, it has a great impact on the stability of the entire gait cycle

If according to the existing technology, only the gait of a complete walking cycle of the robot's walking is planned, then the foot of the robot will collide with the ground at the moment before the end of the single-leg support period, which may cause the robot to lose stability and affect the stability of the robot. Stability of robot walking

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