Biped walking parameter measuring method and apparatus

Abstract

The invention provides biped walking parameter measurement and belongs to the technical field of robots. A biped walking parameter measuring apparatus is provided and comprises a zero moment point measuring system, a foot contour measuring system and a walking parameter calculating system. A biped walking parameter measuring method provided can accurately and effectively measure biped walking parameters including stand state parameter before walking, step, step period, zero moment point track, and the contours of feet contacting the ground. The method for measuring biped walking parameters of a human being is of great importance to analysis of walking gaits of the human being, thereby providing important basis for planning track of a biped robot. The method is used for measuring the walking parameters of a biped robot, and feedback parameters of biped robot walking gaits, walking track on-line adjusting, and enclosed control of a host computer and each joint of leg portions are provided. The method is of great significance to stable walking of a biped robot.

Description

technical field [0001] The invention provides a method for measuring walking parameters in a biped walking process based on a distributed six-dimensional force sensor, and belongs to the technical field of robots. Background technique [0002] Biped robot is a comprehensive platform integrating mechanical technology, electronic technology, control technology, computer technology, sensor technology, artificial intelligence, bionics and other disciplines. Compared with other legged robots, biped robots have lower requirements on the walking environment, small moving blind spots, can adapt to various unstructured complex terrains, can cross obstacles, have higher flexibility, and are more suitable for human life or working environments Work in harmony with humans. In order to make biped robots better adapt to the environment and serve humans better, biped robots must have the ability to walk stably. [0003] In order to realize the stable walking of the biped robot, its gait ...

AI Technical Summary

Problems solved by technology

[0005] The existing patent CN03152815.5 proposes a method for detecting the pressure center point COP and the zero-moment point ZMP during the walking process of a humanoid robot, but this method is only for humanoid robots, and cannot realize the measurement of the zero-moment point ZMP when the human body is walking, nor can it Measure parameters such as step length and walking cycle during the walking process of humanoid robots. At the same time, since the calculation of the coordinates of the zero-moment point is in the robot's carrier coordinate system, the trajectory of the zero-moment point in the world coordinate system cannot be obtained.

[0006] The existing patent CN200410014352.9 provides a method for obtaining human walking gait information. This method can obtain information such as human stride, step distance, and pace, and realize real-time measurement of the pressure center point COP during human walking. However, this method It is impossible to obtain the change of the contact contour between the foot and the ground in the process of human walking, the corresponding relationship between the contour of the human foot and the ZMP point in the process of human walking, and it is impossible to distinguish between single and double foot support periods. May be different, multiple comparable repeatable tests cannot be achieved

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