Complex environment-oriented lower limb robot gait planning method

A technology for gait planning and complex environment, applied in the field of robotics, it can solve problems such as insufficient application scenarios and less research on gait planning.

Active Publication Date: 2019-07-09
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, the current application scenarios of this method are not wide enough, and most of them stay in a single flat-bottomed walking condition, and there are few studies on gait planning in complex environments

Method used

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  • Complex environment-oriented lower limb robot gait planning method
  • Complex environment-oriented lower limb robot gait planning method
  • Complex environment-oriented lower limb robot gait planning method

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Embodiment Construction

[0041] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0042] Such as figure 1 As shown, the present invention proposes a gait planning method for a lower-limb robot facing complex environments, the method comprising the following steps:

[0043]S1 sets marker points on the lower limbs of the human body. By using motion capture systems such as Vicon optical motion capture system, OptiTrack optical motion capture system or ART optical motion capture...

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Abstract

The invention belongs to the field of robots, and specifically discloses a complex environment-oriented lower limb robot gait planning method. The method comprises the steps of: setting mark points onthe lower limbs of a human body, and obtaining static posture data and moving posture data of the human body through a motion capture system; carrying out inverse kinematic calculation on a human body model according to the moving posture data so as to obtain angle data of each joint in the moving process; and establishing a fitting function according to a relationship between the angle data of each joint and a period, and carrying out lower limb robot gait planning according to the fitting function. According to the method, the discrete joint angle data is serialized, so that the change of the joint angle data in the gait period can be basically restored; experiences prove that the method has relatively fitting results, is capable of enabling the lower limb robots to restore the motionsof the human bodies to the greatest extent, and can be suitable for complex walking environments such as walking, climbing hills and climbing stairs.

Description

technical field [0001] The invention belongs to the field of robots, and more specifically relates to a gait planning method for a lower limb robot facing complex environments. Background technique [0002] Robots with human walking characteristics are one of the research hotspots at home and abroad, including biped robots, lower limb (rehabilitation) exoskeleton robots and lower limb prostheses. Gait planning is an important part of the research on lower limb robots. Since the lower limb robots will eventually achieve adaptive adjustment of gait in different walking environments, in the gait planning part, it is necessary to analyze the gait in different walking environments, and to analyze the gait in advance. The series data of each joint is planned, so that the lower limb robot can call the planned data in real time during the walking process to complete the walking action in a specific walking environment. [0003] The existing gait planning research methods are mainly...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02B62D57/032
CPCB62D57/032G05D1/0251
Inventor 张琴周庆阳孟阳黄波熊蔡华
Owner HUAZHONG UNIV OF SCI & TECH
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