Biped robot walking planning and control method

The technology of a biped robot and a control method is applied to manipulators, motor vehicles, manufacturing tools, etc., and can solve problems such as poor mobility of biped robots

Inactive Publication Date: 2019-10-25
沈阳城市学院
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a walking planning and control method for a biped robot, which can solve the technical problem of poor mobility of the current biped robot, has high stability, and enables the biped robot to stably realize any change of footsteps during the walking process

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  • Biped robot walking planning and control method
  • Biped robot walking planning and control method
  • Biped robot walking planning and control method

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Embodiment Construction

[0042] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0043] refer to figure 1 As shown, the biped robot walking planning and control method provided by the embodiment of the present invention includes:

[0044] S11. Obtain a control instruction, where the control instruction includes target location information;

[0045] S12. According to the composition mechanism of the biped robot, a coordinate system is established for the robot by using the D-H method;

[0046] S13. Generate a ...

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Abstract

The invention discloses a biped robot walking planning and control method, which comprises the following steps of acquiring a control instruction, wherein the control instruction comprises target place information; establishing a coordinate system for a robot by adopting a D-H method according to a composition mechanism of the biped robot; generating a footprint according to the control instruction and the coordinate system; establishing a forward dynamics model of the biped robot, and deriving a dynamics equation of the robot; analyzing an on-line synchronized planning mass center orbit and azero moment point track according to the dynamics equation; and controlling the biped robot to reach a target place according to the footprint, the mass center orbit and the zero moment point track.According to the method, the technical problem of poor maneuverability of the existing biped robot can be solved, the stability is higher, and any footprint of the biped robot can be stably changed ina walking process.

Description

technical field [0001] The invention relates to the technical field of biped robot motion planning, in particular to a biped robot walking planning and control method. Background technique [0002] With the enhancement of human beings' ability to detect deep sea, deep space and deep ground, it is impossible to realize deep sea, deep space and deep ground detection solely relying on human beings. Therefore, people have developed robots adapted to various functions to assist human beings to complete these impossible tasks. completed tasks. Due to the complexity of external working condition information or the real-time perturbation of internal parameters, the dynamic biped walking robot will produce an unstable walking gait. Therefore, people hope that the dynamic biped walking robot can better deal with disturbances and achieve efficient and stable working conditions. . [0003] A biped robot is a bionic type of robot that can realize bipedal walking and related actions of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032B25J17/02
CPCB25J17/02B62D57/032
Inventor 金鑫吴峰华王昊
Owner 沈阳城市学院
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