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Gait planning method for walking of biped robot along slope

A biped robot and gait planning technology, applied in the field of robotics, can solve problems such as lack of support period for both feet, uncoordinated left and right leg movements, and unnatural gait

Active Publication Date: 2015-02-04
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, in the modeling process of this invention, the forward direction of the humanoid robot coincides with the maximum / small gradient direction of the slope by default, that is, the special case of going up and down the slope, so this method is not suitable for walking in all directions on the slope
[0006] The existing paper "3-D Biped Robot Walking along Slope with Dual Length Linear Inverted Pendulum Method (DLLIPM)" proposes a gait planning method for a biped robot walking along an incline. The center of mass of the robot is kept horizontal during the walking process to achieve the purpose of reducing ground impact, but this method is only limited to walking on a slope in a special direction. The lack of coordination makes the gait unnatural
[0007] Although the existing literature and patents try to solve the problem of biped robots walking on slopes, most of the research has limitations, and can only realize walking in special directions on slopes (such as uphill and downhill, along slopes), not applicable to all directions on slopes This general situation of walking, therefore, the present invention proposes a kind of gait planning method of general-purpose biped robot inclined-plane walking, to realize the stable walking of biped robot in all directions on the inclined surface, thereby reach and improve the environmental adaptability of biped robot this purpose

Method used

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  • Gait planning method for walking of biped robot along slope
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  • Gait planning method for walking of biped robot along slope

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specific Embodiment 1

[0094] Specific embodiment 1 is to utilize the method of the present invention to realize that biped robot walks along a 10° inclined plane, and becomes 10° direction (α=10°, β=10°) with the maximum gradient direction, figure 1 It is the schematic diagram of specific embodiment 1.

specific Embodiment 2

[0095] Specific embodiment 2 is to utilize the method of the present invention to realize that biped robot walks in a straight line along the minimum gradient direction (α=-15°, β=0) of the slope of -15 °, figure 2 It is the schematic diagram of specific embodiment 2.

specific Embodiment 3

[0096] Specific embodiment 3 is to utilize the method of the present invention to realize that the biped robot walks straight along the direction (α=8°, β=90°) that the slope gradient of 8° is 0, image 3 It is the schematic diagram of specific embodiment 3.

[0097] The specific embodiment 2 and the specific embodiment 3 are special cases of the specific embodiment 1. The process of bipedal walking gait planning of the three is basically the same, and the difference is only in the relevant parameters of the gait planning. Therefore, the following specific implementation mode only introduces the specific embodiment 1.

[0098] The biped robot used in the embodiment of the present invention has 2 legs and 1 upper body trunk, each leg has 6 degrees of freedom, including 3 hip joints, 1 knee joint, and 2 ankle joints; The middle and upper torso keeps translation in a straight line, and the feet also keep translation during the stepping process, and the center of mass is approxim...

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Abstract

The invention discloses a gait planning method for walking of a biped robot along a slope, and belongs to the technical field of robots. The method contains two core theories, namely, non-orthogonal decomposition and synthesis of a three-dimensional linear inverted pendulum and gait planning based on a biped long linear inverted pendulum. The method comprises the steps of gait parameter configuration, non-orthogonal decomposition of a three-dimensional linear inverted pendulum, foot trajectory planning based on three times of spline interpolation, centroid trajectory planning of a sagittal plane and a coronal plane based on a biped long linear inverted pendulum, non-orthogonal synthesis of the centroid trajectories of the sagittal plane and the coronal plane, and solving of joint trajectories of a robot based on inverse kinematics. By adopting the method of the invention, stable walking of a biped robot along all directions of a slope can be effectively achieved. The method is universal, simple in algorithm and high in practicality.

Description

technical field [0001] The invention relates to a gait planning method for a biped robot walking on an inclined plane, belonging to the technical field of robots. Background technique [0002] Due to the similarity with humans in appearance and function, biped robots have strong adaptability to human's daily life environment, so the research of biped robots has always been one of the hot spots in the field of robotics. The biped robot is a comprehensive platform integrating multiple disciplines such as machinery, electronics, materials, control, artificial intelligence and bionics. It is a high-tech intensive mechatronics product. The research of biped robot also promotes the development of other disciplines. [0003] The prerequisite for biped robots to assist and serve humans is to be able to walk stably in various environments in which humans live. However, the biped robot itself has the characteristics of high center of mass, multi-degree-of-freedom coupling, and small...

Claims

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Application Information

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IPC IPC(8): G05D1/08
Inventor 黄强张文余张国陈学超孟立波张伟民高峻峣
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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