Biped robot design containing waist structure and feedback control method

Abstract

The invention relates to a biped robot design containing a waist structure and a feedback control method. For the problem that high-torque work of ankle joints and a hip joint of a biped robot causessharp reduction of the life since the biped robot without the waist structure can stably walk by adjusting a center-of-gravity position by means of the ankle joints and the hip joint, the waist structure adding is proposed, and a waist structure design method and an optimization evaluation method are obtained through mechanics modeling and analysis; and meanwhile, in the walking process of the biped robot, a waist angle of pitch and the rollover angle are collected in real time, the robot waist gesture is online adjusted by combining a feedback control method based on waist adjusting, so thata center-of-gravity projection point of the robot is always located in a sole support polygon range. The biped robot can achieve an aim of stably walking by adjusting centroid distribution through waist feedback through the biped robot design disclosed by the invention, and an effective waist structure design and assessment method is proposed, and the design has the theoretic guidance and application value.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to the design and feedback control method of a biped robot with a waist structure. Background technique [0002] The walking of the biped robot is mainly completed by the lower limb mechanism, and the lower limb mechanism of the biped robot has more degrees of freedom. The robots developed by scientific research are usually equipped with hip joint pitch, roll, and yaw freedom, and knee joint pitch freedom. The ankle joint has pitch and roll degrees of freedom, with a total of 12 degrees of freedom. Robot actuators mainly include hydraulic devices and motor drives. Due to the design size and high efficiency requirements of small and medium-sized biped robots, many are driven by motors and reducers. Therefore, when designing small and medium-sized biped robots, the number of robot degrees of freedom to configure corresponds to the number of motors and reducers. [0003] H...

AI Technical Summary

Problems solved by technology

This method uses the posture sensor to measure the upper body inclination angle, which is completely separated from the actual running posture of the lower body, and cannot solve the problem of unstable walking caused by the external disturbance of the lower body or the lower body itself.

This method is used when the projection point of the center of gravity of the robot deviates from the range of the ZMP support polygon. If the inclination angle is still corrected to match the original planned upper body posture, and the lower body posture has already deviated from the original planned posture, it will not be able to control the state of the robot.

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