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A complex terrain humanoid robot adaptive balance control method, device and system

A humanoid robot and balance control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as extensive limitations, achieve the effects of reducing hardware loss, wide application range, and strengthening self-adaptive ability

Active Publication Date: 2022-06-17
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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  • A complex terrain humanoid robot adaptive balance control method, device and system
  • A complex terrain humanoid robot adaptive balance control method, device and system
  • A complex terrain humanoid robot adaptive balance control method, device and system

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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 one 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 is not limited to this. The control system can be combined by one or more of the above-mentioned devices, and the completed function is to realize the operation of the humanoid robot, Including programming, starting and stopping, 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 protection scope of this application.

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

Embodiment 2

[0074] like 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 method. figure 1 The control system 101 in (of course, the control system can also be integrated into the humanoid robot 102 ) as an example. Specifically, the following steps can 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 landing point of the robot and the planned target point;

[0078] Step S204, monitoring the movement trajectory of the center of mass of the robot during movement, simultaneously receiving data from the gyroscope sensor, and using the zero moment point to deter...

Embodiment 3

[0102] like image 3 As shown, in one embodiment, an adaptive balance control method for a humanoid robot with complex terrain 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, the The difference is that in step S203, the robot joint angle value is adjusted by the difference between the actual landing point of the robot and the planned target point, including:

[0103] Step S2031, derive the corresponding joint angle value in the actual movement process from the position of the actual foothold, and at the same time deduce the position of the target foothold relative to the hip joint as the input value to obtain the desired corresponding joint angle value;

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

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Abstract

The invention relates to the field of robot control, in particular to a complex-terrain humanoid robot adaptive balance control method, device and system. The method includes establishing a connecting rod model of the robot; calculating the corresponding foothold; adjusting the angle value of the robot joint; monitoring the trajectory of the center of mass of the robot, receiving data from a gyroscope sensor, and judging whether the robot is in a balanced state; when the robot is in an unbalanced state Receive joint angle feedback values ​​and gyroscope sensor data at any time, optimize and adjust the trajectory of the robot's foot; make the robot adaptively perform balance control during the movement process; optimize the joint angle value and corresponding parameters of the robot, this invention can be applied to The motion balance control of biped, quadruped and other humanoid robots has a wide range of applications, which can greatly enhance the robot's ability to adapt to the application environment, and can effectively reduce the hardware loss 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, the application of robots is more and more extensive, while conventional wheeled robots have many limitations in practical applications, and 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 group competition as an example, in the process of algorithm optimization and code integration of the motion module of the Nao robot, through actual tests, we will find that our robot encounters such as walking up and downhill, robot ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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