Biped robot walking plan and control method

A bipedal robot and control method technology, which is applied in the fields of instruments, special data processing applications, electrical digital data processing, etc. Adjusted, robust effects

Inactive Publication Date: 2016-05-25
NANJIANG ROBOT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • Biped robot walking plan and control method
  • Biped robot walking plan and control method
  • Biped robot walking plan and control method

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Experimental program
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Embodiment Construction

[0024] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0025] Step S1: Set the target horizontal movement speed and body height for the robot on the host computer.

[0026] Step S2: Referring to the fact that the body height and posture are almost constant during human walking, the biped robot without feet is equivalent to a linear inverted pendulum system (LinearInvertedPendulumModel, referred to as: LIPM) through virtual force control, such as Figure 1b shown. One of the important characteristics of LIPM is that the center of mass of the body is always kept at a constant height z d , Body posture is always maintained in an upright posture. Therefore, the closed-loop control rate is designed for the height of the body center of mass through the vertical virtual force to control the center of mass at a constant height, and the closed-loop control rate is designed for the body posture through ...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F19/00
CPCG16Z99/00
Inventor 李超
Owner NANJIANG ROBOT
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