Switching control system and method for gaits of humanoid biped robot

A biped robot and control system technology, applied in the field of robotics, can solve problems such as complex structure and limited application range

Active Publication Date: 2016-01-27
ZHEJIANG UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

The device uses multiple gears and gear shafts, the structure is complex, and it can only be used for gear drive; at the same time, the invention can only be used in occasions where the stability of the robot is not considered, such as mechanical arms or robot upper limb joints, and the application range is limited

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  • Switching control system and method for gaits of humanoid biped robot
  • Switching control system and method for gaits of humanoid biped robot
  • Switching control system and method for gaits of humanoid biped robot

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Embodiment Construction

[0040] In order to further understand the present invention, the preferred embodiments of the present invention are described below in conjunction with examples, but it should be understood that these descriptions are only to further illustrate the features and advantages of the present invention, rather than limiting the claims of the present invention.

[0041] The invention provides a gait switching control system for a humanoid biped robot, which includes at least one compliant controller, and the compliant controller connects the upper and lower parts of the robot's thigh, lower leg, torso or other joint rods. Among them, the compliance controller includes a length adjustment unit and a feedback loop.

[0042] as attached figure 1 As shown, the compliance controller adjusts the position S of the barycenter of each joint rod of the robot through the reciprocating motion of the piston rod 3 i , speed V i and acceleration a i , the main components of which are the magneto...

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Abstract

The invention relates to a switching control system and method for gaits of a humanoid biped robot based on the magneto-rheological technology. The control system comprises a plurality of compliance controllers, and the compliance controllers comprise magneto-rheological units, length adjusting units and feedback circuit units. The switching method for the gaits comprises the steps that interpolation is carried out on walking (running) final states and running (walking) initial states planned in advance into a continuous, smooth and derivable curve, meanwhile, the motion track of a gait switching instant joint is repeatedly optimized and calculated online, the mass center positions, speed and accelerated speed of rods of the robot are changed by controlling the reciprocating movement of pistons of the compliance controllers, and when the robot tends to incline forwards, a front leg is lengthened, a rear leg is shortened, and the mass center of the robot is adjusted backwards; and when the robot tends to incline backwards, the front leg is shortened, the rear leg is lengthened, the mass center of the robot is adjusted forwards, the stability of the robot is controlled, and free switching of walking and running of the robot is achieved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a gait switching control system and control method for a humanoid biped robot. Background technique [0002] In recent years, with the development of robot technology, the application fields of robots are becoming more and more extensive, and humanoid robot is an important branch of robot research, which involves various fields in robot manufacturing. To apply humanoid robots in various fields, the first thing to solve is the problem of robot gait switching. When the robot is under different road conditions and different external force disturbances (such as being kicked), how to switch gaits at different speeds? What kind of gait to form is the difficulty of difficulties. Existing robots can only complete the prescribed gait in a known environment, and during the actual movement of the robot, sometimes due to unknown external disturbances or sudden changes in the road surface, the robot de...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00
Inventor 甘春标曾桂容杨世锡金鹏程查望华张志宏郭梅
Owner ZHEJIANG UNIV
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