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DMP-based robot workspace adaptive walking control system and method

A technology of workspace and walking control, applied in the field of bionic control, to achieve the effect of reducing complexity and calculation difficulty, avoiding tediousness, and improving efficiency and accuracy

Inactive Publication Date: 2018-08-31
TONGJI UNIV
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AI Technical Summary

Problems solved by technology

The advantage of DMP is that it can control the time and amplitude of trajectory generation, but this trajectory generation method can only be applied to the case where the end is stationary. By improving the original method, it can be applied to some cases where the end velocity is not zero, so it needs Redesign the model for different trajectories

Method used

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  • DMP-based robot workspace adaptive walking control system and method
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Embodiment

[0055] Taking the humanoid robot NAO as an example, the DMP-based workspace trajectory generation method proposed by the present invention and its application in the adaptive walking of the NAO robot will be described.

[0056] (1) Robot centroid trajectory generator based on DMP

[0057] The DMP model selected in this embodiment is a nonlinear system with good target attraction. In the trajectory generator of the center of mass of the robot, two DMP units are used to generate trajectories in the x and y directions, and the z direction can be obtained by mapping the sole trajectory without design. The specific description of each DMP unit is as follows:

[0058] Transfer system:

[0059]

[0060]

[0061] Specification system:

[0062]

[0063]

[0064]

[0065] Among them, x, y, z are 3 variables, y, z, The position, velocity and acceleration in the system can be expressed separately, τ represents the time constant, y 0 Represents the initial position of ...

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Abstract

The invention relates to a DMP-based robot workspace adaptive walking control system and method. The control system comprises: a DMP centroid track generator which generates a centroid track of a humanoid robot based on DMP training according to a planning target and feedback information; a DMP foot sole track generator which generates a foot sole track of the humanoid robot based on DMP trainingaccording to the planning target and the feedback information; and a joint mapping module which performs inverse kinematic calculation on the centroid track and the foot sole track, and uses a motionengine to map the adaptability of the workspace to a joint space, so as to achieve the adaptive walking control of the humanoid robot. The DMP centroid track generator and the DMP foot sole track generator are obtained based on the example track training study of the robot working space. Compared with the prior art, the system and the method have the advantages of adjusting the gait and body posture in real time, and enhancing the environmental adaptability of the humanoid robot walking.

Description

technical field [0001] The invention relates to the technical field of bionic control, in particular to a DMP-based robot working space adaptive walking control system and method. Background technique [0002] The generation method of robot trajectory is the focus and difficulty in the field of robotics research. It mainly solves two problems, how to represent the robot trajectory, and how to generate a new trajectory according to the current task and environment. Traditional industrial robots usually use 3-degree or 5-degree curves to fit the trajectory. The disadvantage of this method is that it can only provide the path of the robot and does not contain time information. This method does not consider the kinematics and dynamics characteristics of the robot, so the robot trajectory generated by this method cannot guarantee its feasibility, and the path generated by this curve can only generate low-dimensional simple shapes, and cannot generate complex track. DMP (Dynamic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘成菊耿烷东
Owner TONGJI UNIV
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