An online method for generating walking patterns of humanoid robots

A humanoid robot and model technology, applied in the field of robotics, can solve the problems of not considering the robot ground may not be flat, the method is complicated, etc., to achieve the effect of wide application, simple implementation, and improved accuracy

Active Publication Date: 2017-02-08
ZHEJIANG UNIV
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Problems solved by technology

This method is more complicated, and does not consider the problem that the ground may not be flat when the robot is walking

Method used

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  • An online method for generating walking patterns of humanoid robots
  • An online method for generating walking patterns of humanoid robots
  • An online method for generating walking patterns of humanoid robots

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Embodiment Construction

[0031] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0032] The online generation method of walking pattern of the humanoid robot of the present invention can realize the following paths in four kinds of motion situations: first walk horizontally and then go uphill, first walk horizontally and then go downhill, go uphill first and then walk horizontally, go downhill first and then walk horizontally . In this embodiment, the online generation method of the walking pattern of the humanoid robot in this embodiment is described in detail by taking the horizontal walk first and then going uphill (that is, the trajectory plane of the first stage is horizontal, and the trajectory plane of the second stage is inclined upward) as an example. Including the following steps:

[0033] (1) Add a transitional ZMP point at the turning point of the trajectory plane of the first stage and the second stage, assi...

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Abstract

The invention discloses an online generation method for the walking mode of a humanoid robot. The walking process of the humanoid robot comprises a first stage and a second stage, wherein the humanoid robot moves along a horizontal trajectory plane in one stage, and the humanoid robot moves along an inclined trajectory plane in the other stage. The online generation method comprises the following steps: additionally setting a transition ZMP at the turning place of the first stage and the second stage and allocating a residence time for the transition ZMP, obtaining a time-variable curve of the ZMP, and obtaining a disperse ZMP sequence after dispersing processing; respectively resolving the disperse ZMP sequence on the trajectory planes in the first stage and the second stage, and controlling the walking mode of the humanoid robot in the first stage and the walking mode of the humanoid robot in the second stage based on a corresponding table-trolley model and previewing. The online generation method for the walking mode of the humanoid robot, disclosed by the invention is wide in application range and simple in implementation; moreover, the transition ZMP is additionally set, so that the precision of the produced walking mode is greatly improved so as to guarantee stable walking of the humanoid robot.

Description

technical field [0001] The invention belongs to the field of robots, in particular to an online generation method of walking patterns of a humanoid robot. Background technique [0002] Robot is a comprehensive subject that emerged with the development of modern technology, and humanoid robot is an important branch of robot research, which involves various fields in robot manufacturing, such as autonomous behavior control, artificial intelligence, dynamic management, mechanical design, etc. , so humanoid robots represent the highest level of robot research to a certain extent. Stable walking is one of the key issues in humanoid robot research. [0003] For humanoid robots to be used in various fields, the key and primary issue is stable walking. In response to this problem, many scholars have done research. Among them, the zero-moment point (ZMP, zero-moment point) proposed by Vukobratovic and Stepanenko at the beginning of a paper on the control of humanoid robots in 1972 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/02
Inventor 吴俊朱秋国熊蓉
Owner ZHEJIANG UNIV
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