Humanoid robot gait generation method

A humanoid robot and robot technology, applied in the field of robotics, can solve the problems of little active robot research and lack of adaptability analysis

Active Publication Date: 2015-05-27
TSINGHUA UNIV
View PDF4 Cites 8 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these studies are mainly used to achieve simple flat ground walking, lack of adaptive analysis in complex unstructured enviro...

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Humanoid robot gait generation method
  • Humanoid robot gait generation method
  • Humanoid robot gait generation method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0012] The method for generating the gait of a humanoid robot according to the present invention will be described in detail below with reference to the accompanying drawings.

[0013] refer to figure 1 , according to the humanoid robot gait generation method of the present invention comprises the steps: S1, establishes an initial walking pattern generator by analyzing the driving characteristic of human walking, is used to produce the effective walking pattern that makes robot possible motion, and this initial walking pattern generator Generates a joint drive torque u that can be used to achieve basic walking motion p , joint driving torque u p It is related to the walking mode of the robot and the state of walking; S2, the mathematical model of the stretch reflex and the mathematical model of the vestibular reflex are established by sensing the local characteristics of the reflex, and the stretch reflex is used to ensure that the robot swings the leg effectively off the gro...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a humanoid robot gait generation method. The method comprises the following steps: S1, establishing an initial walking pattern generator by analyzing the driving characteristic of human walking, and generating a joint driving torque up used for realizing basic walking movement; S2, establishing a mathematical model of a stretch reflex and a mathematical model of a vestibular reflex through the partial characteristic of a sensory reflex, overlaying a joint driving torque ustretch generated by the stretch reflex and a joint driving torque uvest generated by the vestibular reflex to the joint driving torque up, and adjusting the joint trajectory of a robot in the movement space by adjusting the joint driving torques ustretch and uvest, so as to ensure that a supporting leg of the robot does not leave the ground and a swinging leg of the robot can reach a right position in the walking process; S3, establishing a ZMP (Zero Moment Point) reflex model, overlaying a joint driving torque uzmp generated by a ZMP reflex to the joint driving torques ustretch, uvest and up, further adjusting the joint trajectory by adjusting the joint driving torque uzmp. Thus, the robot can realize stable walking movement, and the adaptive capacity to environment of movement of the robot is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for generating gaits of a humanoid robot. Background technique [0002] Gait planning, that is, gait generation algorithm, refers to generating joint trajectories that satisfy specified gait parameters. The gait planning of humanoid robot must not only satisfy the geometric configuration and kinematics characteristics, but also must maintain the stability of walking. On the other hand, the flexibility of walking movement and environmental adaptability must also be considered. So far, there are two main types of gait planning for humanoid robots. One is the model-based method, which is currently the main method used for gait planning of humanoid robots. The other is the non-model-based method, which mainly utilizes the biological characteristics of human walking and combines certain correction algorithms or control strategies to obtain an effective gait. [0003] The mod...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05B13/04
Inventor 伊强徐静王国磊缪东晶付成龙刘少丽陈恳
Owner TSINGHUA UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap