Gait planning and synthetic method for humanoid robot

Abstract

The invention discloses a gait planning and synthetic method for a humanoid robot, and belongs to the technical field of motion planning of the humanoid robot. The method comprises the steps of adopting a polynomial function to show the track of a hip joint and the track of the tail end of a swing leg of the robot, respectively planning gaits of the single-leg supporting period and the double-leg supporting period in robot walking according to constraint conditions in humanoid robot walking, such as geometric constraint, the largest crossing height of the tail end of the swing leg, the influences of periodicity and collision of the gaits, and motion of the hip joint, then conducting synthesis on the planned gaits, and judging whether the obtained gait track is stable or not according to zero moment criterion. According to the method, the gaits of the single-leg supporting period and the double-leg supporting period of the robot are planned and synthesized into the complete gait, the problem of the influence of the collision of the legs and the ground on walking stability in robot walking is solved, the walking stability of the robot is improved, and meanwhile the important effect of the gaits of the robot in the double-leg supporting period on the complete gait period is achieved.

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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