A device and control method for improving the balance and walking speed of a biped robot

Abstract

The invention discloses a device and control method for improving balance and walking speed of a biped robot. Most biped robots are controlled by using a ZMP(such as ASIMO in Japan). However, the biped robots controlled by the ZMP have the disadvantages that soles are large in size and the walking speed is slow. The device and control method for improving the balance and the walking speed of the biped robot fully utilizes the advantages of the ZMP and overcomes the disadvantages as much as possible. The device for improving the balance and the walking speed of the biped robot mainly comprisesa mechanical structure and a controller. For the existing biped robots, it is only necessary to replace original feet with the device for improving the balance and the walking speed of the biped robot, and it is not necessary to modify remaining structural parts, so higher practicability is achieved in real life. The mechanical structure of the soles dynamically adjusts the center of gravity of the biped robot under the action of the controller, so that the biped robot has good balance in motion and the motion speed of the biped robot is obviously improved. The biped robot adopting the deviceand control method for improving the balance and the walking speed of the biped robot can be widely applied in the fields of industry, rescue, family, medical care and like.

Description

technical field [0001] The invention belongs to the fields of industrial rescue, family and military application, and especially improves the balance and movement speed control of biped robots under the ZMP theory. Background technique [0002] Biped walking robot --- walking upright, it has a good degree of freedom, flexible, free and stable movements. A biped robot is a bionic type of robot that can realize bipedal walking and related actions of the robot. As a dynamic system controlled by machinery, biped robots contain rich dynamic characteristics. In future production and life, humanoid biped walking robots can help humans solve many problems, such as carrying objects, emergency rescue and a series of dangerous or heavy tasks. [0003] The walking of biped robots has always been one of the research hotspots. Many researchers at home and abroad have carried out extensive research on it and achieved certain results. Whether it is Boston's biped robot Atals or Japan's A...

AI Technical Summary

Problems solved by technology

ZMP control has the disadvantages of long adjustment time and slow adjustment speed

[0005] Therefore, designing a biped robot that can quickly adjust the center of gravity without greatly disturbing its own posture can effectively improve the balance of the biped robot, and overcome the traditional ZMP control adjustment period is long, motion A biped robot device and its control method with the disadvantages of slow speed and high power consumption are necessary

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