Humanoid robot stable waling control method

A technology of a humanoid robot and a control method, which is applied in the control field of the stable walking of a humanoid robot, can solve the problems such as the in-depth discussion of the internal relationship between the swing arm and the balance.

Active Publication Date: 2015-03-11
TONGJI UNIV
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Problems solved by technology

Later, more researchers used the swing of the robot arm for balance compensation. Most of them only controlled the arm and walking to mai

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  • Humanoid robot stable waling control method
  • Humanoid robot stable waling control method
  • Humanoid robot stable waling control method

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Embodiment Construction

[0055] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0056] Such as figure 1 As shown, a control method for stable walking of a humanoid robot, the method includes the following steps:

[0057] Step S1: Obtain the momentum and angular momentum that the robot system needs to generate to compensate the ZMP tracking error.

[0058] Step S1 specifically includes:

[0059] 101: It is known that for a humanoid robot, when considering the inertia tensor of each connecting rod when rotating, the ZMP calculation formula of the robot is constructed based on the coordinate system, and the ZMP of the robot can be calculated by the following formu...

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Abstract

The invention relates to a humanoid robot stable waling control method comprising the steps that step S1: momentum and angular momentum generated for compensation of a ZMP tracking error by a robot system are acquired; step S2: mapping from a robot configuration space to the momentum and the angular momentum is acquired by utilizing a momentum jacobian matrix based on the mode of differential kinematics; step S3: damping pseudo inverse calculation is performed on the momentum jacobian matrix so that inverse mapping of mapping in the step S2 is obtained, and thus a robot configuration space command is acquired and is corresponding to momentum compensation control task in walking; and step S4: the momentum compensation control task is allocated by adopting a dynamic priority switching mode, and movement commands of all joints are generated. Compared with methods in the prior art, parsing momentum control is applied to humanoid robot balance control via a ZMP calculation formula, and the control problem is integrated into a task space control system so that unknown disturbance can be suppressed by the humanoid robot by utilizing compensation momentum generated by local movement.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a control method for stable walking of a humanoid robot. Background technique [0002] From the observation of the human walking process, it can be found that human beings can obtain the ability to suppress disturbances by accelerating local balance skills of the body, such as swinging arms, shaking feet, and rotating the body. Some researchers imitate the method of human acceleration and local disturbance suppression to perform motion compensation for humanoid robots. In the early days, Taknishi and Michael et al. compensated the ZMP tracking error by adding a rotatable mass block, which suppressed the external disturbance to a certain extent. However, such methods require additional masses and are not suitable for general-purpose humanoid robotic systems. Later, more researchers used the swing of the robot arm for balance compensation. Most of them only controlled the arm and wal...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 陈启军刘成菊许涛
Owner TONGJI UNIV
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