Biped walking robot and gravity center adjusting device thereof

Abstract

The invention relates to a biped walking robot and a gravity center adjusting device thereof. The center-of-gravity adjustment device for the biped walking robot includes a power part, a rotating shaft, a base, and a counterweight, the base is installed on the waist of the robot, the power part is installed on the base, and the rotating shaft Pierced on the counterweight, the rotating shaft receives power from the power unit to rotate and drives the counterweight to move along the axis of the rotating shaft. The center-of-gravity adjustment device for a biped walking robot of the present invention can achieve the following beneficial technical effects: the center of gravity of the biped walking robot can be adjusted with a relatively simple structure, thereby ensuring stable walking of the robot.

Description

technical field [0001] The invention relates to a center-of-gravity adjusting device for a biped walking robot and a biped walking robot comprising the center-of-gravity adjusting device. Background technique [0002] How to realize the stable walking of the biped walking robot has always been a motion problem for the biped walking robot, because during the walking process of the biped walking robot, the support foot and the ground are unidirectional and undriven. Without effective control, it is easy for the robot to tip over around the edges of its supporting feet. In 1972, the ZMP (Zero Movement Point) control method proposed by Dr. Vukobratovic, a Yugoslav scholar, was used as the basic criterion for the dynamic stability control of humanoid robots. [0003] The prior art proposes a design method of an adaptive PID controller based on an inverse dynamics model, which is realized through complex control and algorithms, and its control and algorithms are complex. For huma...

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Problems solved by technology

[0003] The prior art proposes a design method of an adaptive PID controller based on an inverse dynamics model, which is realized through complex control and algorithms, and its control and algorithms are complex. For humanoid robots subject to ground constraints, this method Cannot achieve its stable control

[0004] The existing paper "Inverse Dynamics Control with Floating Base and Constraints" proposes a method of using an inverse dynamics controller to control the stable walking of a humanoid robot, but this method is to control the stable walking by optimizing the joint torque, which does not necessarily Satisfy the ground constraints such as ZMP, so that the robot cannot be guaranteed to walk stably

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