Under-actuated biped robot walking control method

A technology of a biped robot and a control method, which is applied in the field of biped robot power walking, can solve the problems of biped robot impact and other problems, and achieves the effect of reducing energy consumption and low energy consumption.

Inactive Publication Date: 2013-07-17
ZHEJIANG UNIV
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  • Abstract
  • Description
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  • Under-actuated biped robot walking control method
  • Under-actuated biped robot walking control method
  • Under-actuated biped robot walking control method

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Embodiment Construction

[0022] Such as figure 1 As shown, the biped robot includes a trunk 1, a first thigh 2, a second thigh 3, a first calf 4, and a second calf 5, wherein the trunk 1 is connected to the first thigh 2 through a first motor 6, and the second motor 7 is connected with the second thigh 3, the first thigh 2 is connected with the first calf 4 through the third motor 8, and the second thigh 3 is connected with the second calf 5 through the fourth motor 9. The angle between torso 1 and the vertical direction is θ 1 , the angle between the first thigh 2 and the vertical direction is θ 2 , the angle between the second thigh 3 and the vertical direction is θ 3 , the angle between the first lower leg 4 and the vertical direction is θ 4 , the angle between the second lower leg 5 and the vertical direction is θ 5 . The length and mass of the underactuated biped robot torso 1, first thigh 2, second thigh 3, first lower leg 4 and second lower leg 5 are l i and m i , i=1,2,...,5. In order ...

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Abstract

The invention discloses an under-actuated biped robot walking control method aiming at the problem of planar walking control of a biped robot. By adopting a MACCEPA flexible actuator and utilizing self dynamic characteristics of the biped robot, quick walking is achieved effectively. In continuous interaction of the robot with the ground, the robot learns walking independently in a trial and error mode by fully utilizing trial-and-error learning capability of a Q learning method; and stable, natural and periodical quick walking of the robot is achieved, and the method has high application value.

Description

technical field [0001] The invention relates to a power walking method of a biped robot, in particular to a walking control method of an underactuated biped robot. Background technique [0002] At present, the walking methods of biped robots mainly include ZMP criterion walking and limit cycle walking. Walking according to the ZMP criterion requires that the zero point of the robot is always kept within the polygon formed by the bipeds. The ZMP stability criterion plans the trajectory of the joints, which can realize the walking of the robot in various gaits. At present, the successful examples of ZMP criterion walking are mainly ASIMO of Honda Corporation of Japan. However, ZMP criterion walking adopts more artificial constraints, and uses high-stiffness, high-inertia, high-gain motors to accurately track the desired trajectory, which does not make full use of the dynamic characteristics of the robot itself, resulting in high energy consumption. In addition, the ZMP crite...

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Application Information

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IPC IPC(8): B62D57/032
Inventor 刘道远潘刚彭自强
Owner ZHEJIANG UNIV
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