Humanoid robot uneven ground walking stability control method

Abstract

The invention discloses a humanoid robot uneven ground walking stability control method, and belongs to the technical field of robots. The method comprises four steps of maximum stability region based landing instep posture control, second-order spring damping impedance control, instep state estimation with forward kinematics calculation and instep inertial sensor measurement being combined and mass center acceleration control based on the supporting foot pressure center. The method disclosed by the invention uses landing compliance control, can effectively reduce impacts imposed on the instep by uneven ground, and enables the landing foot to have a large supporting region; and balance and stable control for the inclined instep enables the robot to realize stable walking of various supporting instep postures. Therefore, stable walking of a humanoid robot can be realized on the uneven ground, and the safety of the humanoid robot in the application process is effectively improved.

Description

Technical field: [0001] The invention discloses a stable control method for a humanoid robot walking on uneven ground, which belongs to the technical field of robots. Background technique: [0002] A humanoid robot refers to a humanoid robot that has human appearance characteristics and humanoid functions corresponding to its appearance characteristics. It is a combination of machinery, electronics, materials, computers, sensing technology, control technology, artificial intelligence, ergonomics, bionics, etc. A comprehensive platform integrating multiple disciplines is a high-tech intensive mechatronics product. The purpose of humanoid robot research is to study a humanoid robot that can live in harmony with people, it can work in the real human environment, use the tools used by people, and at the same time, it can communicate with humans emotionally as a human partner. [0003] In order to achieve the goal of humanoid robots stepping out of the laboratory, participating ...

AI Technical Summary

Problems solved by technology

However, this invention does not explain the impact of changes in the state of the feet on the balance and stability control of the humanoid robot

[0005] Chinese patent CN200810171985.9 proposes a method and system for controlling the foot landing time of a humanoid robot for stable walking. By controlling the foot landing time, it can solve the protrusion and depression of the ground to a certain extent, but does not consider the rotation of the foot surface. Tilting to adapt to the landing process on uneven ground

However, this method has limitations and cannot adapt to various uneven grounds, such as the situation where the middle of the sole is stepped on a bump, that is, the comprehensive consideration of the soft landing control and the support area of ​​the sole

[0007] Japanese patent document JP2012-196743A discloses a control method for a legged robot, which determines the walking gait according to the contact condition between the sole of the foot and the ground detected by the sensor, and then drives the joints to move, but the method includes: Contact point, ZMP, cannot fully meet the stability control requirements, not the balance control with the maximum stability margin

[0008] Although there are many existing documents and patents trying to solve the problem of humanoid robots walking on uneven ground, most of the research has limitations and can only adapt to the unevenness of the edge of the instep, and there are few studies on the middle of the instep. Therefore, the present invention proposes a landing control and stability control adaptable to various contact situations, so as to realize the stable walking of the humanoid robot on the uneven ground

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