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Method, device and system for self-adaption balance control of humanoid robot in complex terrain

A humanoid robot, balance control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as extensive limitations

Active Publication Date: 2018-11-23
LUDONG UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Jing Chenglin of Chongqing University proposed a humanoid predictive control walking pattern generation method, combined with humanoid intelligent control and predictive control, proposed a new humanoid predictive control online walking pattern generation method, which overcomes the model of predictive control caused by environmental disturbances Degradation of performance when there is a mismatch disadvantage, enhanced adaptiveness of bipedal walking
[0004] This technology uses the prediction method of walking pattern to realize humanoid intelligent control and predictive control to realize the adaptiveness of bipedal walking. This method can realize more accurate prediction and control of walking pattern in a relatively smooth ground environment. Unavoidable errors such as calculation errors cannot achieve accurate prediction and control on more complex such as slope walking or uneven ground, which has great limitations in the breadth of application

Method used

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  • Method, device and system for self-adaption balance control of humanoid robot in complex terrain
  • Method, device and system for self-adaption balance control of humanoid robot in complex terrain

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Embodiment 1

[0070] figure 1 It is an application environment diagram of a complex terrain humanoid robot adaptive balance control method provided in an embodiment, such as figure 1 As shown, in this application environment, a control system 101 and a humanoid robot 102 are included.

[0071] The control system 101 can be a tablet computer, a notebook computer, or a desktop computer, but it is not limited thereto. The control system can be composed of one or more of the above-mentioned devices, and its completed function is to realize the operation of the humanoid robot. Including programming, start and stop, receiving, storing, sending data and instructions, motion analysis, etc., but not limited to this, that is, devices that can complete the above functions fall within the scope of protection of this application.

[0072] The humanoid robot 102 can be a Nao robot or other similar types of bipedal and quadrupedal robots, mainly for tasks in different motion states. Different motion stat...

Embodiment 2

[0074] Such as figure 2 As shown, in one embodiment, a method for adaptive balance control of a humanoid robot with complex terrain is provided, and this embodiment is mainly applied to the above-mentioned figure 1 The control system 101 in (of course, the control system can also be integrated into the humanoid robot 102) is used as an example for illustration. Specifically, the following steps may be included:

[0075] Step S201, establishing a connecting rod model of the robot;

[0076] Step S202, based on the connecting rod model, calculate the corresponding foothold according to the actual joint angle value of the robot;

[0077] Step S203, adjusting the joint angle value of the robot according to the difference between the actual foothold point of the robot and the planned target point;

[0078] Step S204, monitoring the movement trajectory of the center of mass of the robot when it is moving, and receiving data from the gyroscope sensor at the same time, using the ze...

Embodiment 3

[0102] Such as image 3 As shown, in one embodiment, a complex terrain humanoid robot adaptive balance control method is given. For the convenience of description, only the parts related to the embodiment of the present invention are shown. Compared with the second embodiment, its The difference is that the difference between the actual foothold of the robot and the planned target point in step S203 adjusts the joint angle value of the robot, including:

[0103] Step S2031, deduce the corresponding joint angle value during the actual movement process from the position of the actual foothold point, and at the same time use the position of the target foothold point relative to the hip joint as an input value to derive the expected corresponding joint angle value;

[0104] Step S2032: Feedback the difference between the expected corresponding joint angle value and the actual joint angle value obtained from the actual foothold as a compensation value to the joint sensor, and compe...

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Abstract

The invention relates to the field of robot control, in particular to a method, device and system for self-adaption balance control of a humanoid robot in a complex terrain. The method comprises the following steps of establishing a connecting rod model of a robot; calculating a corresponding foothold; adjusting the joint angle value of the robot; monitoring the mass center curve of the robot, receiving gyroscope sensor data, and judging whether the robot is in a balanced state; receiving a joint angle feedback value and the gyroscope sensor data when the robot is in an unbalanced state, and optimizing and adjusting the foot movement curve of the robot; enabling the robot to be self-adaptively subjected to balance control in the movement process; optimizing the joint angle value and relevant parameters of the robot. The robot can be applied to movement balance control of biped and quadruped robots and the like, the application range is wide, the self-adaptive capacity of the robot to an application environment can be greatly enhanced, and the hardware loss can be effectively reduced in the actual application process.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a complex-terrain humanoid robot adaptive balance control method, device and system. Background technique [0002] Nowadays, in our life, robots are more and more widely used, while conventional wheeled robots have many limitations in practical applications, while humanoid robots are used in more scenarios because they simulate human behavior patterns in different environments . However, due to the system characteristics of humanoid robots and the complex and changeable human environment, it is still a challenge to achieve stable walking of humanoid robots in different application scenarios. Secondly, taking the RoboCup standard platform competition as an example, in the process of algorithm optimization and code integration for the motion module of the Nao robot, through actual testing, we will find that our robot encounters problems such as walking up and downhill, robot contact c...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/163
Inventor 刘飞杨洪勇赵玫张淑宁唐莉刘慧霞韩辅君陈虎杨怡泽李玉玲刘远山
Owner LUDONG UNIVERSITY
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