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Gait control method and device

A gait control and gait technology, applied in the field of robotics, can solve problems such as difficulty in ensuring walking stability and large head size.

Inactive Publication Date: 2019-04-19
BEIJING SOGOU TECHNOLOGY DEVELOPMENT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a gait control method and device to solve the problem in the prior art that it is difficult to ensure walking stability when the head size of a biped robot is large

Method used

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  • Gait control method and device
  • Gait control method and device

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Experimental program
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Embodiment 1

[0074] refer to figure 1 , which shows a flow chart of the steps of Embodiment 1 of a gait control method of the present invention, which may specifically include:

[0075] Step 101, collect the deflection angle information of the torso of the biped robot through the sensor in the biped robot;

[0076] Step 102. According to the deflection angle information, adjust the gait parameters of the biped robot so that the center of mass of the biped robot is located in a stable region.

[0077] The embodiments of the present invention are applicable to controlling the gait of the biped robot (hereinafter referred to as the robot for short) during the walking process of the robot, so as to realize the stable walking of the robot. Among them, gait refers to the movement process of each leg of the robot in a certain order and trajectory.

[0078] Usually, the gait parameters of the robot can be pre-planned, such as the height of the foot, the angle information of each joint, etc., so ...

Embodiment 2

[0103] In the embodiment of the present invention, a center-of-mass motion trajectory with relatively high walking quality and the gait parameters corresponding to the center-of-mass motion trajectory can be pre-planned. During the walking process of the robot, the robot is gaited according to the planned gait parameters. control, so that the actual trajectory of the center of mass of the robot approaches the pre-planned trajectory of the center of mass to ensure that the walking quality of the robot is high.

[0104] refer to figure 2 , which shows a flow chart of the steps of Embodiment 2 of a gait control method of the present invention, which may specifically include:

[0105] Step 201. Determine the trajectory of the center of mass of the biped robot and the gait parameters corresponding to the trajectory of the center of mass; the trajectory points in the trajectory of the center of mass are located in a stable area;

[0106] In the embodiment of the present invention,...

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Abstract

The embodiment of the invention provides a gait control method and device, and the method specifically comprises the steps: collecting deflection angle information of a trunk of a biped robot througha sensor in the biped robot; according to the deflection angle information, adjusting gait parameters of the biped robot, so that the mass center of the biped robot is located in a stable area. The stability of the biped robot in the walking process can be improved, and stable walking of the biped robot can be achieved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a gait control method and device. Background technique [0002] In recent years, research on biped robots has become one of the hotspots in the field of robotics. Due to the similarity in shape and function between biped robots and humans, biped robots can assist and serve humans. [0003] Biped robots have the characteristics of high center of mass, multi-degree-of-freedom coupling, and small support area, which make them easy to lose stability during walking. Therefore, most of the current biped robots adopt smaller-sized heads (the head size is far smaller than the width of the shoulders), in order to ensure the balance of the biped robot when walking. [0004] However, for a biped robot with a large head size, such as a biped robot with a head-to-shoulder width ratio of 0.75:1, it is difficult to ensure stability during walking. Contents of the invention [0005] Embodime...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 李子琪王毅毛蕾武健
Owner BEIJING SOGOU TECHNOLOGY DEVELOPMENT CO LTD
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