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CPG (Central Pattern Generator) model-based humanoid robot gait planning method

A humanoid robot and gait planning technology, applied in the field of humanoid robots, to reduce the probability of falling, large stability margin, and improve stability.

Active Publication Date: 2017-11-03
WUHAN INSTITUTE OF TECHNOLOGY
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a gait planning method for a humanoid robot based on the CPG model. With this planning method, when the robot accelerates rapidly or moves quickly, it is not easy to cause front and rear shocks and cause falls

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  • CPG (Central Pattern Generator) model-based humanoid robot gait planning method

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Embodiment Construction

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the present invention is not limited to the following specific embodiments.

[0029] A kind of humanoid robot gait planning method based on CPG model, it comprises the following steps:

[0030] (1) According to the specific hardware parameters of the robot, the corresponding coupled oscillator model is established:

[0031] OSC s (t) = OSC b (t)+OSC m (t);

[0032] In the formula, OSC m (t) represents the movement trajectory of the ends of the legs relative to the fixed center of mass, that is, the output of the Movement Oscillator; OSC b (t) indicates the trajectory of the center of mass relative to the reference coordinate system, that is, the output of the Balance Oscillator; OSC s (t) is the motion trajectory of the ends of the legs relative to the actual center of mass, that is, the output of the coupled oscillator; the two oscilla...

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Abstract

The present invention belongs to the humanoid robot technical field and relates to a CPG (Central Pattern Generator) model-based humanoid robot gait planning method. The method includes the following steps that: (1) a corresponding coupled oscillator model is established according to specific hardware parameters of a robot; (2) the model is improved by adding a centroid offset control item, so that an improved oscillator model can be obtained; and (3) with velocity adopted as an input condition, genetic algorithm optimization is used to obtain the optimal values of parameters in step (2), and the obtained optimal values of the parameters are substituted into the model in step (2). With the planning method adopted, the robot is not prone to vibrating forwards and backwards and tumble when the robot rapidly accelerates to move or moves rapidly.

Description

technical field [0001] The invention relates to the technical field of humanoid robots, in particular to a gait planning method for a humanoid robot based on a CPG model. Background technique [0002] The central pattern generator (CPG) of bionics is a local oscillation network composed of neurons, which can generate stable phase locking through mutual inhibition between neurons, and generate rhythms of related parts of the body through self-excited oscillations. Movement, inspired by it, some researchers propose bionics-based gait methods. However, there are a large number of parameters in the CPG model without clear physical meaning, and it is difficult to determine the value, which makes it difficult for the CPG model to be directly applied to robot gait planning. Therefore, Endo et al. simplified the CPG model and used oscillators with fewer parameters to Planning the gait of a humanoid robot; Ha et al. proposed a Linear Coupled Oscillator (Linear Coupled Oscillator) mo...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 李迅汪利庆李宁刘仁军
Owner WUHAN INSTITUTE OF TECHNOLOGY
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