Biped robot walking control method and device and robot

Abstract

The invention discloses a biped robot walking control method and device and a robot. The method comprises the steps of obtaining natural vibration frequency of a biped robot; determining step frequency corresponding to the natural vibration frequency of the biped robot based on a preset relationship, wherein the step frequency is the walking frequency of the biped robot; controlling the biped robot to walk according to the step frequency. The biped robot walking control method and device and the robot solve the technical problem of slow walking of the biped robot in the related art.

Description

technical field [0001] The invention relates to the field of robots, in particular to a walking control method, device and robot for a biped robot. Background technique [0002] With the development of the economy, people's lives are becoming more and more intelligent, and various robots are applied to daily life. Although robots are widely used in daily life, there are still many problems, such as slow walking. slow problem. [0003] For example, the robot walking scheme disclosed in the paper "Research on the Balance Control Algorithm for Bipedal Walking of Humanoid Robots" is mainly aimed at the anthropomorphic walking mode with six degrees of freedom in the legs. The control of this scheme is complicated, and the current technology is not mature. The anti-interference ability of the medium is poor, and its many degrees of freedom lead to extremely high cost of use, and the walking speed is slow; for another example, for a robot with two degrees of freedom on the legs, b...

AI Technical Summary

Problems solved by technology

[0002] With the development of the economy, people's lives are becoming more and more intelligent, and various robots are applied to daily life. Although robots are widely used in daily life, there are still many problems, such as slow walking. slow problem

[0003] For example, the robot walking scheme disclosed in the paper "Research on the Balance Control Algorithm for Bipedal Walking of Humanoid Robots" is mainly aimed at the anthropomorphic walking mode with six degrees of freedom in the legs. The control of this scheme is complicated, and the current technology is not mature. The anti-interference ability of the medium is poor, and its many degrees of freedom lead to extremely high cost of use, and the walking speed is slow; for another example, for a robot with two degrees of freedom on the legs, by alternately adjusting the center of gravity to two degrees of freedom during walking Only one foot achieves static balance and can walk at a slower speed. Although the control of this scheme is relatively simple and the cost is relatively low, the walking speed is restricted by the static balance, and the stride frequency cannot be too high, and the stride frequency per second is less than 1 step

[0004] Aiming at the technical problem of slow walking of biped robots in related technologies, no effective solution has been proposed yet

Images