Walking motion planning method for biped walking robot

A walking robot, walking motion technology, applied in motor vehicles, instruments, transportation and packaging, etc., can solve problems such as violation of stability constraints joint trajectory, slow walking speed, and unreasonable footprint planning of robot dynamics.

Inactive Publication Date: 2018-05-29
TSINGHUA INNOVATION CENT IN DONGGUAN
View PDF5 Cites 20 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The above method only considers dynamic constraints in the stage of gait planning to obtain joint trajectories, and does not consider the connection constraints between strides in the footprint planning stage, so it is possible to plan a footprint plan that is very unreasonable for the dynamic characteristics of the robot.
Following such a footprint plan may generate joint trajectories

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Walking motion planning method for biped walking robot
  • Walking motion planning method for biped walking robot
  • Walking motion planning method for biped walking robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0016] The present invention is specifically described below through exemplary embodiments. It should be understood that the scope of the present invention should not be limited to the scope of the examples. Any changes or changes that do not depart from the gist of the present invention can be understood by those skilled in the art. The protection scope of the present invention is determined by the scope of the appended claims.

[0017] 1. Component composite dynamic model:

[0018] Different dynamic models are used in different stages of motion planning, so several different models are constructed into a composite dynamic model to meet the needs of different motion planning stages. In the path planning and path following stages, the omnidirectional mobile car is used as the model, and the car does not overturn as the dynamic constraint condition, considering the dynamic constraints in the footprint transformation, that is, the connection constraints between strides; betwee...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a walking motion planning method for a biped walking robot. The walking motion planning method takes an omnidirectional moving trolley as a model, takes a condition that the trolley does not overturn as a dynamics constraint condition, considers the dynamics constraints in footprint transform, uses a three-dimensional linear inverted pendulum model between partial discrete footprints, generates a hip trajectory online, and obtains driving joint trajectories through inverse kinematics; and finally, the walking motion planning method adopts a multi-rigid-body dynamics model, adopts a ZMP theory to determine stability, verifies the effectiveness of the joint trajectories, optimizes parameters of the omnidirectional moving trolley and the three-dimensional linear inverted pendulum model, and finally realizes biped walking robot walking motion planning constrained by dynamics under a fast walking condition.

Description

technical field [0001] The invention belongs to the field of motion planning of a biped walking robot, in particular to a walking motion planning method for a biped walking robot. Background technique [0002] The existing biped walking motion planning is difficult to balance stability and efficiency, mainly because walking motion is far more complicated than wheeled movement, and there are more than a dozen related degrees of freedom. In order to prevent the robot from falling, it must strictly comply with its dynamic constraints. Fast walking usually has poor stability and is prone to falls; while walking with high stability requires sacrificing walking speed. [0003] The current research on walking motion planning mainly focuses on gait planning and footprint planning. Gait planning is walking motion planning without environmental constraints, and footprint planning is walking motion planning considering the environment. [0004] At present, the relatively mature gait ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02G05D1/08
CPCG05D1/021G05D1/0891G05D2201/0217
Inventor 张继文刘莉刘召陈恳邬新国
Owner TSINGHUA INNOVATION CENT IN DONGGUAN
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap