Biped robot gait stability control method based on inertial navigation system

Abstract

The invention discloses a biped robot gait stability control method based on an inertial navigation system, and belongs to the technical field of robot control. A biped robot is a hydraulic biped robot and comprises a body, thighs and shanks. The body and the thighs are controlled by hydraulic cylinders, and the thighs and the shanks are controlled by hydraulic cylinders. Motion of joints and legsis controlled through the elongation of hydraulic cylinder shafts. The inertial navigation system is arranged in the body of the robot and is horizontally placed on the waist of the body of the robotand used for collecting posture data of the robot, the posture of the robot is adjusted through data fed back by the inertial navigation system so as to keep the upper body of the body upright, gaitstability of the robot is ensured, and the robot is prevented from toppling over. The biped robot gait stability control method is based on a position control strategy of body posture information, andthe body posture information comprises the pitching angle, the roll angle and the course angle. The method is used for avoiding defects in the prior art so as to provide a simplified control processand improve the walking speed.

Description

technical field [0001] The invention relates to a robot stability control method, in particular to a biped robot gait stability control method based on an inertial navigation system, and belongs to the technical field of robot control. Background technique [0002] The walking and lifting of the biped robot is the gravitational moment generated by the whole machine, which makes the whole machine tend to fall to the lifting side. In order to control the biped robot from toppling, in the prior art, the biped robot needs to be adjusted every time it takes a step. The left and right balance of the robot, and the adjustment of the balance needs to adjust all the joints of the other foot to adjust the position of the center of gravity, otherwise it will not be able to walk or even fall, so the control process is complicated and the walking speed is slow. Contents of the invention [0003] The main purpose of the present invention is to provide a biped robot gait stability contro...

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Problems solved by technology

[0002] The walking and lifting of the biped robot is the gravitational moment generated by the whole machine, which makes the whole machine tend to fall to the lifting side. In order to control the biped robot from toppling, in the prior art, the biped robot needs to be adjusted every time it takes a step. The left and right balance of the robot, and the adjustment of the balance needs to adjust all the joints of the other foot to adjust the position of the center of gravity, otherwise it will not be able to walk or even fall, so the control process is complicated and the walking speed is slow

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