Humanoid biped robot walking posture control method based on genetic algorithm

A biped robot and genetic algorithm technology, which is applied in the field of walking posture control of humanoid biped robots based on genetic algorithms, can solve the problems of large amount of calculation and low efficiency in the inverse operation of pose matrix, so as to enhance real-time performance and avoid complexity , to avoid the effect of solving a large amount of computation

Inactive Publication Date: 2016-09-28
北京格分维科技有限公司
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Problems solved by technology

[0003] The purpose of the present invention is to solve the above problems, to provide a humanoid biped robot walking attitude control method based on genetic algorithm that overcomes the problem of large amount of computation and low efficiency in inverse operation of pose matrix, and improves the real-time response capability of the system

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  • Humanoid biped robot walking posture control method based on genetic algorithm
  • Humanoid biped robot walking posture control method based on genetic algorithm
  • Humanoid biped robot walking posture control method based on genetic algorithm

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Embodiment 1

[0068] The walking posture control method of the humanoid biped robot based on the genetic algorithm of the present embodiment comprises the following steps:

[0069] S1: Input the specific parameters of the robot body with 17 degrees of freedom: 330mm, robot width: 180mm, minimum support area of ​​both feet: 93mm×45mm and robot leg length: 185mm.

[0070] S2: First, according to the robot's shape and motion state, as well as the specific parameters of the robot body input in the above steps, we set: walking cycle T, pace V, height H, arm swing R, body center up and down swing C, The range of the six key parameters of the swing A around the center of the body: V ∈ [0, 20]; H ∈ [200, 500]; T ∈ [0, 10]; C ∈ [0, 50]; A ∈ [ 0, 40]; R ∈ [0, 90]; and the anthropomorphic gait planning of the humanoid biped robot is as follows:

[0071] The x-coordinate of the body center: Vt;

[0072] The y coordinate of the body center: Asin(πt / T);

[0073] The z coordinate of the body center: H-...

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Abstract

The invention discloses a walking posture control method of a humanoid biped robot based on a genetic algorithm. A mathematical model of a biped robot is established based on the ZMP control theory and a pose matrix, and the basic gait of a human is simulated. V, height H, arm swing R, body center up and down swing C, body center left and right swing A These six parameters plan the robot's gait, and select optimized T, V, H, R through genetic algorithm The six parameters of , C, and A are brought into the inverse operation of the pose matrix to obtain the values ​​of other joint coordinates of the robot, and solve the method of generating data that stably controls the gait of the robot. It overcomes the problem of large amount of calculation and low efficiency in inverse operation of pose matrix, improves the real-time response ability of the system, and uses the data generated by this method in the humanoid biped robot system to achieve a good control effect.

Description

technical field [0001] The invention belongs to the technical field of robot automation, and in particular relates to a walking posture control method of a humanoid biped robot based on a genetic algorithm. Background technique [0002] At present, compared with other robots, humanoid biped robots have the characteristics of small size, light weight, flexible movement, and quick response, and are more similar to human action characteristics, so the research on biped robots has great practical significance . Stability control is very important in the research of humanoid biped robots. Without stability as a premise, other actions such as walking, backing, forward turning, and back turning are out of the question. At present, in the control of humanoid biped robots, there are problems of poor stability control, unstable walking, and falling, and there are uncoordinated walking postures, which are not like human walking. In the robot control process, the inverse operation of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 赵积春陈志成冀振华安阳梅若雪徐蕾
Owner 北京格分维科技有限公司
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