A robot with stable balance performance and its control method

Abstract

The invention relates to a robot with stable balance performance and a control method of the robot. The robot comprises a body arranged on an iron plate, a left leg driving device and a right leg driving device which are hinged to two sides of the lower end of the body respectively, a left foot driving device hinged to the lower end of the left leg driving device, a right foot driving device hinged to the lower end of the right leg driving device as well as an electric control unit, wherein the left leg driving device and the right leg driving device are identical in structure and are arranged symmetrically about the central line of the body, and the right foot driving device and the left foot driving device are identical in structure and are arranged symmetrically about the central line of the body. The robot is compact in structure, reasonable in design, capable of realizing loaded work and suitable for large-scale popularization.

Description

technical field [0001] The invention relates to a robot with stable balance performance and a control method thereof, in particular to a humanoid robot capable of walking on a road paved with iron plates. Background technique [0002] Humanoid robots widely use self-balancing technology to achieve movement capabilities. The humanoid structure of the robot is constructed with metal parts, and the joint functions of the human body are realized by controlling the motor. The speed, position, acceleration, angle, etc. It is a kind of sensor, which controls the action state of the robot through the analysis of sensor information, maintains the balance of the limbs by controlling the motor adjustment, and realizes various actions such as walking, swinging, squatting, and turning without falling. However, it has the following disadvantages: First, the cost of the robot remains high. To achieve self-balancing walking, ensure that the robot has a stable action state, and prevent the h...

AI Technical Summary

Problems solved by technology

However, it has the following disadvantages: First, the cost of the robot remains high. To achieve self-balancing walking, to ensure a stable movement state of the robot, and to prevent the humanoid robot from falling during the movement, it is necessary to have a perfect sensor perception system, and the sensor response time , The data accuracy requirements are high, and the driving motors of the robot are required to have high control accuracy and response speed. At the same time, the logical relationship of the data processing of the self-balancing robot is complicated. Many reasons make the cost of the humanoid robot high; the self-balancing robot has high requirements for its own materials. In order to reduce the impact of the movement of the center of gravity of the robot's limbs on the balance and avoid falling during the robot's movement, the robot must reduce the weight of each part, and the selection of materials and components is more stringent; because the humanoid robot has no stable, reliable, and continuous balance force, The height of the humanoid robot must be limited. The lower center of gravity improves the stability of the robot. At the same time, there is a large height difference limit between the humanoid robot and the real person, which limits the application places and environments of the humanoid robot; most humanoid robots in the market are only used for Simple language to communicate with humans, able to engage in certain dance movements, but most humanoid machines do not have the ability to carry heavy loads

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