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Gesture control method for biped robot based on spatial second-order inverted pendulum model

A biped robot and attitude control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of low energy utilization efficiency, limited control accuracy and application range, unnatural movement, etc. The effect of energy efficiency

Active Publication Date: 2019-11-05
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The above methods all ignore the coupling relationship between attitude angles, the control accuracy and scope of application are limited, and the dynamic characteristics of the robot body are not considered, resulting in unnatural motion and low energy utilization efficiency

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  • Gesture control method for biped robot based on spatial second-order inverted pendulum model
  • Gesture control method for biped robot based on spatial second-order inverted pendulum model
  • Gesture control method for biped robot based on spatial second-order inverted pendulum model

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Embodiment Construction

[0017] In the following, the technical solution of the present invention will be further described by taking the BHR-6P biped robot of Beijing Institute of Technology as an example in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited thereto.

[0018] The spatial second-order inverted pendulum model adopted in the present invention and its mapping relationship with the biped robot are as follows: figure 1 as shown, figure 1 (a) is a schematic diagram of the second-order inverted pendulum model in space, where the positive direction of the X-axis is the forward direction of the robot, the rotation around the positive direction of the X-axis is Roll (rolling), the positive direction of the Y-axis is the left side of the robot, and the rotation around the positive direction of the Y-axis is Pitch (pitch), the positive direction of the Z axis is the vertical upward direction of the robot, the space second-order inverted pe...

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Abstract

The invention discloses a gesture control method for a biped robot based on a spatial second order inverted pendulum model and belongs to the technical field of movement control of biped robots. The method maps control on an upper body gesture of the biped robot to control of four joints of the spatial second-order inverted pendulum model to achieve coupling non-linear control of the gesture of the biped robot, so that the coupling and non-linear characteristics of the gesture angle are reserved while a kinetic model of the robot is simplified. The calculating speed and the control precision are considered, the balanced capacity and the dynamic characteristic of the biped robot are improved, and the utilization efficiency of energy is improved.

Description

technical field [0001] The invention belongs to the technical field of biped robot motion control, and in particular relates to a biped robot attitude control method based on a space second-order inverted pendulum model. Background technique [0002] The biped robot uses the way of rotating legs to move, has the ability to cross obstacles, pass through rough roads, etc., and can adapt to various environments such as indoors, buildings, roads, and the wild. Generally, the biped robot can produce the desired motion by giving the trajectory of the leg joints. When the error between the actual execution trajectory and the expected trajectory is large, the error of environmental information is large, and the external disturbance is large, the robot is easy to lose balance, fall over and be damaged. The upper body attitude angle is an important basis for judging whether a biped robot is balanced. Therefore, feedback control based on the upper body attitude angle is often used to ...

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Application Information

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IPC IPC(8): B25J9/16B25J17/02
CPCB25J9/1664B25J17/0266
Inventor 余张国李庆庆黄强张润明陈学超朱西硕
Owner BEIJING INSTITUTE OF TECHNOLOGYGY