Gait control method and device for dual-foot robot

Abstract

The invention discloses a gait control method and a device for a dual-foot robot. The method comprises the steps of selecting gait control parameters for a starting period, a walking period and a stopping period; acquiring the motion trajectory of the mass center of the dual-foot robot during the walking period when the zero moment point of the dual-foot robot is within a stable area; obtaining the first value of each gait control parameter when the mass center is at the initial moment of the walking period and the second value of the gait control parameter when the mass center is at the ending moment of the walking period; setting a first constraint condition at the ending moment of the starting period by utilizing the first value, and setting a second constraint condition at the starting moment of the stopping period by utilizing the second value; based on the first constraint condition and the second constraint condition, calculating the motion trajectory of the mass center during the starting period and during the stopping period respectively; controlling the walking of the dual-foot robot to enable the motion trajectory of the mass center of the dual-foot robot during walking to meet the motion trajectory of the mass center during the starting period, the walking period and the stopping period respectively. According to the technical scheme of the invention, the stable cohesion of the dual-foot robot during the starting period, the walking period and the stopping period and the walking stability of the dual-foot robot can be ensured.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method and device for controlling the gait of a biped robot. Background technique [0002] A biped robot is a robot system that imitates the structure and motion of human legs. It has the motion characteristics of human legs and has complex interactions with the ground during walking. Biped robots have higher requirements for stability control when walking. Therefore, reasonable gait control is a prerequisite for realizing stable and dynamic walking of biped robots. A complete gait of a biped robot includes three stages: start, middle step and stop. The starting phase and the stopping phase are very critical parts in gait control, which are related to whether the robot can successfully enter the walking state and end the walking state. However, the current research on biped robots mainly focuses on the gait control in the middle step stage, while the research on gait control i...

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Problems solved by technology

[0003] The invention provides a gait control method and device of a biped robot to solve the problem of poor walking stability in the starting phase and the stopping phase existing in the existing biped robot gait control scheme, unable to enter the walking state stably and end stably. problem with walking

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