Linear inverted pendulum model-based robot gait planning method

Abstract

The invention discloses a linear inverted pendulum model-based robot gait planning method. The linear inverted pendulum model-based robot gait planning method comprises the following steps of building a linear inverted pendulum model, in which a proportion factor Gamma is introduced on the basis of a dual-connection rod inverted pendulum model (DLIPM) to build a new linear inverted pendulum model; and performing robot gait planning, in which zero-torque point track, trunk mass center motion track and free foot planning track are generated on the basis of the linear inverted pendulum model, and each joint gait motion curve is solved by inverse kinematics. The linear inverted pendulum model built by the method more conforms to actual mass distribution condition of a humanoid robot, the zero-torque point track, the trunk mass center motion track and the feet foot planning track which are generated on the basis of the model and the each solved joint gait motion curve linear are more reasonable and more conform to the gait process of a natural person dual-foot robot, and the gait planning accuracy is high.

Description

technical field [0001] The invention belongs to the field of robot control research, in particular to a robot gait planning method based on a linear inverted pendulum model. Background technique [0002] Due to the unique bipedal movement mechanism, the humanoid bipedal robot has a strong ability to adapt to terrain and a high ability to overcome obstacles. Humanoid biped robots have strong environmental adaptability, can walk on irregular, uneven, and rugged roads, can easily go up and down steps, and even after installing the arm mechanism, they can climb industrial stairs with the help of their arms. This is something that traditional wheeled or tracked robots cannot do, and even humanoid biped robots can help or even replace humans in many dangerous or labor-intensive tasks such as disaster relief, space operations, exploration of other planets and medical care. It further stimulates the research related to humanoid biped robot, so the walking research of humanoid biped...

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Problems solved by technology

However, in reality, the mass of the legs is not located at the geometric center of the legs, but at the upper position, so there

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