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Three-dimensional gait self-synchronizing and self-stabilizing method based on control strategy

A technology of control strategy and stabilization method, which is applied in attitude control, non-electric variable control, control/regulation system, etc., and can solve problems such as difficult control.

Inactive Publication Date: 2017-06-20
SHENZHEN WEITESHI TECH
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Problems solved by technology

[0004] Aiming at the problem that the control is difficult, the purpose of the present invention is to provide a control strategy-based three-dimensional gait self-synchronization and self-stabilization method. First, in a simple inverted pendulum model, virtual constraints are defined for the vertical position of the component object model, and then the A guided self-synchronization control strategy for a periodic walking gait at constant height of the component object model, then asymptotically stabilizes the periodic walking gait with vertical oscillations of the component object model of the pendulum model, and finally extends these properties to humanoid robots realistic model of

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[0057] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other if there is no conflict. The present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0058] figure 1 It is a system flowchart of a three-dimensional gait self-synchronization and self-stabilization method based on a control strategy of the present invention. It mainly includes a simple inverted pendulum model, defining virtual constraints, using control strategies for periodic walking gait, using vertical oscillation to stabilize the periodic walking gait, and extending it to the real model of a humanoid robot.

[0059] Define virtual constraints, and define the expected evolution of control variables as a function of the uncontrolled CoM position (X, Y); for planar robots, virtual constraints are usually expressed as a function of a single unexecuted variable; for under-driving with two ...

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Abstract

A three-dimensional gait self-synchronizing and self-stabilizing method based on a control strategy presented by the invention mainly comprises a simple inverted pendulum model, defining virtual constraints, using a control strategy in periodic walking gait, stabilizing periodic walking gait through vertical oscillation, and extending the attributes to a real model of a humanoid robot. Firstly, virtual constraints are defined for the vertical position of a component object model in a simple inverted pendulum model; secondly, a control strategy for guiding self-synchronization is used in the constant-height periodic walking gait of the component object model; thirdly, the periodic walking gait is stabilized asymptotically through vertical oscillation of the component object model of the pendulum model; and finally, the attributes are extended to a real model of a humanoid robot. By using a self-synchronization control strategy, the walking speed, efficiency and adaptability to environment are improved. Moreover, the coordination is stronger, the stability is higher, and the method can be put into application more easily.

Description

Technical field [0001] The invention relates to the field of robot control, in particular to a three-dimensional gait self-synchronization and self-stabilization method based on a control strategy. Background technique [0002] Robotics is an emerging comprehensive discipline. It is a comprehensive application of new technologies in many fields such as computer technology, electronics, machinery, automatic control, artificial intelligence, etc. It represents the latest achievements of mechatronics and is currently the most active technology development. One of the fields. Compared with other foot robots, the biped robot has a higher degree of flexibility, and has broad application potential in the fields of rehabilitation, nursing, general housework and other daily services and dangerous environment operations. Take the walking robot as an example. Because it needs to provide assistance and protection for the operator, maintain the operator's body balance, and at the same time a...

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 夏春秋
Owner SHENZHEN WEITESHI TECH
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