Biped robot walking plan and control method

Abstract

The invention provides a biped robot walking plan and control method. The method comprises the steps of establishing an equivalent model of a robot; determining a phase change graph meeting the requirement of the equivalent model; determining a phase change graph of a single-step horizontal movement track according to a human gait walking formula, namely, calculating a relationship between the speed of a single step and the step length / period of the single step; calculating a foothold according to the horizontal movement track of the single step; and controllably converting the position of the calculated foothold into an angle required for finishing motion of each joint. According to the method, the human gait formula is associated with the relationship between the walking speed and the step length / period of the single step, so that the calculation of the step length / period of the single step can be simplified; the period of the single step serves as a trigger event of single-step starting and ending, so that the end speed of the single step can be well predicted and the real-time calculation and adjustment of the foothold can be facilitated; and based on the motion description of the phase change graph, the analysis of a motion law of the biped robot can be more visual.

Description

technical field [0001] The invention relates to a walking planning and control method of a biped robot. Background technique [0002] Biped robot is the most promising type of robot serving people in the environment where people live and work, and it has always been a research hotspot in the field of robotics. Although the research on biped robots has made great progress in recent years, the current level of development is still far from meeting the requirements for practical application. One of the main reasons is that the robot's dynamic motion ability and anti-disturbance ability are poor. [0003] Walking ability is the essential motion characteristic that distinguishes biped robots from other types of mobile robots. For a long time, walking planning has been one of the focuses of biped robot research. At present, the walking planning of most biped robots is to generate time-based motion trajectory sequences of joints under the premise of satisfying the zero moment poin...

AI Technical Summary

Problems solved by technology

In addition, for some biped robots without feet, since there is an underactuated joint between the leg and the ground, the motion of this joint is uncontrollable, so the walking planning method based on the joint trajectory sequence is difficult to apply

Images