A Gait Generation and Optimization Method for a Biped Robot

Abstract

The invention discloses a method for generating and optimizing the gait of a biped robot. In a finite state machine, the gait library of the biped robot is constructed according to the target pose of the state of the biped robot; Switching conditions; in each state switching process, use the joint cubic interpolation method to plan the motion trajectory of the supporting leg, and use the Gaussian pseudospectral method to optimize the motion trajectory of the swinging leg; finally, the finite state machine generates a variety of biped robots For gaits of different motion modes, the biped robot gait generation and optimization method proposed by the present invention does not consider the constraints of ZMP, and biped robots with or without soles can use this method to generate walking trajectories. It makes the planning process simple and operable, and is more suitable for online generation. With a simple control strategy, the biped walking robot can walk stably and complete actions such as walking, running, and jumping.

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.

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