Gait planning method of 3D (3 dimensional) underactuated biped robot jumping motion

Abstract

The invention relates to a gait planning method of a 3D (3 dimensional) underactuated biped robot jumping motion. The bionic characteristics of the gait planning method are mainly embodied in two aspects of: (1) simulating the jumping motion of human, namely, in the process of jumping, a robot supports leg knee joints to quickly stretch, and the hip joint of the robot simultaneously moves so that the included angle between the body of the robot and the vertical direction of gravity is quickly reduced; (2) meeting the joint constraints in the jumping motion of human, mainly including crotch angle constraint, body angle constraint, and knee joint angle constraint. Thus, compared with the previous jumping motion gait planning method, the gait planning method provided by the invention can not only realize the jumping motion of robots but also embody the humanoid gait characteristics. Furthermore, the invention also provides a set of program design scheme of effectively realizing the gait planning of 3D underactuated biped robot jumping motion.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a gait planning method for jumping motion of a 3D underactuated biped robot. Background technique [0002] A biped robot is a robot that imitates the structural characteristics of human beings, and its ultimate goal is to achieve motion behavior similar to human beings. At present, many biped robots capable of walking motion have been successfully developed at home and abroad, such as ATLAS and Petman of Boston Dynamics, HRP of AIST of Japan, ASIMO of Honda of Japan, KHR of AKIST of South Korea, iCub of the European open source robot, HIT and GoRoBoT of Harbin Institute of Technology in my country, KDW of National University of Defense Technology, BHR of Beijing Institute of Technology, THBIP of Tsinghua University, etc. Although these advanced biped robots can achieve stable walking motion, few 3D biped robots can achieve jumping motion. Compared with walking biped r...

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Problems solved by technology

[0004] Although the gait planning method based on the elastic telescopic leg drive control model can achieve jumping motion, there are still some unsatisfactory aspects

On the one hand, due to the introduction of the ejection system, the mechanical system design of the robot has become more complicated, and in the process of gait planning, the stretching control of the spring needs to be consistent with the rhythm of the robot’s gait throughout the jumping movement process. For example, when the robot lands, the spring should be compressed to the shortest and just released, which requires the robot system's spring expansion and contraction control to have a high collaborative control accuracy, which increases the difficulty of the robot system; on the other hand, from the human bionic From a scientific point of view, the mechanism of action of the stretchable legs of a jumping robot is quite different from that of human jumping: human legs do not change in length, so the gait of this jumping robot cannot reflect the movement of humans features

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