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Method for controlling balance of quasi-humanoid robot

A control method and robot technology, which is applied in the fields of motor vehicles, complex mathematical operations, transportation and packaging, etc., can solve problems such as high computational complexity, inapplicability, and difficulty for robots to perform specified actions, and achieves low computational complexity. , the effect of real-time balance

Inactive Publication Date: 2017-09-26
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0004] However, this method is difficult for the robot to make specified actions. For example, after specifying the angle of most of the joints of the robot's body, this method is not suitable.
Moreover, since the whole body parts of the robot need to be used, the calculation complexity of this method is relatively large, and because the control is realized through negative feedback, this method needs to prevent the shock phenomenon

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  • Method for controlling balance of quasi-humanoid robot
  • Method for controlling balance of quasi-humanoid robot
  • Method for controlling balance of quasi-humanoid robot

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[0026] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0027] figure 1 It is a schematic diagram of an example of a balance control method for a humanoid robot based on joint angles. The present invention mainly includes the contents of "point coordinate projection transformation and position prediction" and "solution of key joint angles in triangles". In this method, the joint angles of the robot are first acquired through sensors, combined with the known dimensions of the robot components, and based on the principle of forward kinematics, the coordinates of the required joint points and the coordinates of the center of gravity are calculated. Then, ...

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Abstract

The invention discloses a method for controlling the balance of a quasi-humanoid robot. The method comprises the steps that according to bending angles of all the joints of a robot body and known robot part sizes, the gravity center and lower limb joint positions of the robot are calculated; according to the state of the robot, the ideal angles, for keeping the balance, of ankle joints and / or hip joints are calculated; the bending angles, obtained by a sensor, of the ankle joints and / or hip joints are replaced by using the ideal angles, for keeping the balance, of ankle joints and / or hip joints. Control is performed through the method, the robot can dynamically maintain the balance in real time, and the computation complexity is smaller.

Description

technical field [0001] The invention relates to a control method for the balance of a humanoid robot, in particular to a control method for calculating and predicting the bending angle of the hip joint and the ankle joint by using the body center of gravity of the humanoid robot and the positions of the joint points of the lower limbs to maintain the balance when the robot moves . Background technique [0002] In today's rapidly developing robotics field, humanoid robots are a major representative. Humanoid robots are similar in appearance to the human body and can perform actions similar to humans. Due to their bipeds, this type of robot can adapt to more environments and complete more tasks. For example, when faced with tasks involving steps-related actions, humanoid robots can easily complete them, while robots that rely on wheels are difficult to do. . [0003] In the process of operating a humanoid robot, it is inevitable to encounter the balance problem of the robot...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/16B62D57/032
CPCB62D57/032G06F17/16
Inventor 胡晓陈建新王冠文沈佳韵裴启程
Owner NANJING UNIV OF POSTS & TELECOMM
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