Intelligent humanoid robot decision control module and humanoid robot motion control algorithm

Abstract

The invention discloses an intelligent humanoid robot decision control module. The intelligent humanoid robot decision control module comprises a decision controller and an installing box which is arranged on a trunk part of a humanoid robot, a plurality of connecting fastening positions for fixing the decision controller are arranged on the installing box, the decision controller comprises a shell and a control circuit board which is arranged in the shell, the decision controller is fixed into the installing box corresponding to the multiple connecting fastening positions, and a plurality ofoutward electrical interfaces for being connected with the control circuit board is arranged on the shell. The invention further discloses a humanoid robot motion control algorithm which is embedded in the intelligent humanoid robot decision control module. According to the intelligent humanoid robot decision control module and the humanoid robot motion control algorithm, the decision controller is fixed into the installing box of the trunk part of the humanoid robot corresponding to the multiple connecting fastening positions, the structural design is reasonable and ingenious, the decision controller is convenient to install and disassemble, in addition, the humanoid robot motion control algorithm is embedded in the intelligent humanoid robot decision control module, and standardization of the decision control module is facilitated.

Description

technical field [0001] The invention relates to a decision-making control module, in particular to an intelligent humanoid robot decision-making control module and a humanoid robot motion control algorithm. Background technique [0002] A humanoid robot has a human-like appearance, moves by walking on two feet, can adapt to uneven ground, climbs up and down stairs, and climbs ladders. At present, due to the special structure of the humanoid robot, its controller is generally placed inside the chest cavity. In order to enhance the walking stability of the humanoid robot, it is more sensitive to the weight of the chest cavity and upper limbs. Therefore, it is necessary to Try to reduce the weight as much as possible, the cost is high, and the walking stability of the robot is still not well guaranteed. When repairing or testing the decision-making controller, it is necessary to remove the parts on the robot, such as the chest cover, which is inconvenient to operate; [0003] ...

AI Technical Summary

Problems solved by technology

At present, due to the special structure of the humanoid robot, its controller is generally placed inside the chest cavity. In order to enhance the walking stability of the humanoid robot, it is more sensitive to the weight of the chest cavity and upper limbs. Therefore, it is necessary to Try to reduce the weight as much as possible, the cost is high, and the walking stability of the robot is still not well guaranteed. When repairing or testing the decision-making controller, it is necessary to remove the parts on the robot, such as the chest cover, which is inconvenient to operate;

[0003] In addition, the existing decision-making control module needs to rely on other, such as plantar force sensors, to achieve anti-disturbance control of the humanoid robot when walking. Moving the decision-making control module to a humanoid robot without a plantar force sensor will not work properly. Therefore, The existing decision-making control modules have low versatility and cannot achieve module standardization

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