Gait generation and optimization method for biped robot

Abstract

The invention discloses a gait generation and optimization method for a biped robot. The method is characterized in that a gait library of the biped robot is constructed in a finite state machine according to a target pose of the state of the biped robot; mutual switching conditions among all states of the robot are set and triggered; in each state switching process, a joint cubic interpolation method is used for planning the movement track of support legs, and a gauss pseudo-spectral method is used for optimizing the movement track of swing legs; and finally, the gait of the biped robot in different motion modes is generated by the finite state machine. According to the gait generation and optimization method for the biped robot, the constraint of ZMP is not considered, and all the bipedrobots with or without the sole edges of the feet can generate the walking track by the method; and the planning process is simple and operable and is more suitable for online generation, and the biped walking robot can stably walk and finish walking, running, jumping and other actions by matching with a simple control strategy.

Description

technical field [0001] The invention belongs to the technical field of humanoid robots, and in particular relates to a method for generating and optimizing the gait of a biped robot. Background technique [0002] The biped robot has the characteristics of human appearance, uses bipedal walking, two-handed operation, is easy to adapt to the human working environment and uses human tools, etc., so that it has important applications in the aging society family service, public safety and other dangerous environment operations, national defense and other fields need. Although biped robots have made remarkable achievements in motion planning, balance control, operation and system integration in a structured environment, compared with the wide application of industrial robots in industrial production, biped robots are far from practical applications. big gap. The walking gait of a biped robot directly affects the walking performance of the robot. Different gaits have different ch...

AI Technical Summary

Problems solved by technology

In the base joint transmission method proposed by the above invention patent, the position of the motor is limited by the driven object, occupying a large amount of palm space, increasing the weight of the hand and reducing flexibility, and the complex installation requires high precision, and there is no universality of the driving method.

Images