Small humanoid robot capable of realizing omni-directional walking and control method thereof

A robot and human-like technology, applied in two-dimensional position/channel control and other directions, can solve the problems of small humanoid robots walking in any direction, to facilitate scientific research debugging and competition adaptation, increase scalability and stability, simplify Effects of sheet metal structures

Inactive Publication Date: 2017-09-26
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiency that existing small humanoid robots cannot walk in any direction, the present invention provides a small humanoid robot capable of omnidirectional walking and its control method

Method used

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  • Small humanoid robot capable of realizing omni-directional walking and control method thereof
  • Small humanoid robot capable of realizing omni-directional walking and control method thereof
  • Small humanoid robot capable of realizing omni-directional walking and control method thereof

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Embodiment Construction

[0041] The following examples refer to Figure 1-6 .

[0042] Structure example:

[0043] The small-sized humanoid robot realizing omnidirectional walking of the present invention includes a front chest 1, an AX18 steering gear 2, a core electronic support 3, a head support 4, a battery box baffle 5, a thigh connecting piece 6, a big arm connecting piece 7, and a forearm Connection piece 8, hand 9, ankle connection piece 10, left thigh 11, right thigh 12, calf connection piece 13, calf 14, foot support 15, steering gear spacer 16, steering gear connection piece 17, thigh support 18, sole of foot Plate 19 , forearm attachment 20 , back fender 21 , battery compartment 22 and hand attachment 23 . The steering gear includes the first steering gear 0-1 to the twentieth steering gear 0-20; the front chest 1 and the back baffle 21 form the body through the cooperation of the third steering gear 0-3 and the fourth steering gear 0-4, plus the core The electronic bracket 3 forms a cl...

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Abstract

The invention discloses a small humanoid robot capable of realizing omni-directional walking and a control method thereof and is used for solving the technical problem that an existing small humanoid robot cannot realize the purpose of walking to the arbitrary direction. The invention adopts the technical scheme that the robot comprises a steering engine and a steering engine connecting piece which form a whole main body; three connecting pieces are arranged on each arm, that is, each arm has three degrees of freedom. Six connecting pieces are arranged on each leg, that is, each leg has six degrees of freedom; two connecting pieces are arranged on the head, that is, the head has two degrees of freedom. A gait algorithm adopted by the control method is an approximation of a real-time zero moment point algorithm; compensation and correction are performed through outputting a coupling oscillation curve and combining with an inverted pendulum system control algorithm; model parameters are adjusted through computer simulation, so that a stable humanoid robot gait simulation model capable of real-time generation is obtained. Finally, an experiment is performed on a physical robot to achieve a final robot gait effect.

Description

technical field [0001] The invention relates to a small humanoid robot, and also relates to a control method of the small humanoid robot realizing omnidirectional walking. Background technique [0002] Small and medium-sized biped humanoid robots have been widely used in many fields such as service, medical treatment, education, and entertainment. In terms of entertainment, small humanoid robots can be used in many aspects such as dancing, playing football, fighting, etc., and the appearance of humanoids can attract people's attention more. At present, domestic small-scale humanoid robots have a low degree of intelligence, weak independent analysis and processing capabilities, and cannot complete tasks independently of external control. There are basically no robots in China that can achieve dynamic walking. The common entertainment robots sold on the market can also edit walking movements through their own motion editing software, but their movements are stiff and slow, an...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 史豪斌刘朝辞师屹东梁田卢海扬波
Owner NORTHWESTERN POLYTECHNICAL UNIV
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