Biped robot design containing waist structure and feedback control method

A bipedal robot and design method technology, applied in the field of robotics, can solve the problems of uncontrollable robot state, unstable walking, etc., and achieve the effect of strong practical guidance value

Active Publication Date: 2018-12-18
ZHEJIANG UNIV
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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

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  • Biped robot design containing waist structure and feedback control method
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  • Biped robot design containing waist structure and feedback control method

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[0040] In order to facilitate those skilled in the art to better understand the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments. The following is only exemplary and does not limit the protection scope of the present invention.

[0041] Such as figure 1 , the biped robot of the present invention is configured with 14 degrees of freedom q1~q14, including 4 degrees of freedom (q5, q6, q11, q12) of double ankle pitch and roll, and 2 degrees of freedom (q4, q10) of double knee pitch , 4 degrees of freedom of hip pitch and roll (q3, q2, q8, q9), 4 degrees of freedom of waist pitch, roll and yaw (q1, q7, q13, q14).

[0042] Such as figure 2 , the mass M3 of the upper body of the biped robot is concentrated at one point, and the vertical distance from the waist is L2; ​​the mass M1 and M2 of the left and right legs are also based on the midpoint of the legs, and the leg length i...

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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...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223
Inventor 甘春标田蒋仁袁海辉葛一敏能一鸣徐小锋叶靖朱小京
Owner ZHEJIANG UNIV
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