Robot Foot Trajectory Planning Method for Step Terrain Walking

Abstract

The invention provides a planning method of a foot trajectory of a robot for step topography walking. The method comprises the following steps: dividing the motion of a swinging foot of the robot intothree time intervals, that is, 0 to t1, t1 to t2 and t2 to t3, according to time; controlling the swinging foot to uplift vertically for a step height greater than the height of a step within the 0 to t1 time interval; controlling the swinging foot to continuously move to a given horizontal position along a horizontal plane from the height of one step within the t1 to t2 time interval; controlling the swinging foot to continuously move vertically downward from the given horizontal position till the completion of ground touching of the swinging foot within the t2 to t3 time interval, so as toensure that the swinging of the swinging foot is finished. The method has the advantages that the probability that the swinging foot of the robot collides with the vertical plane of a step can be reduced during motion, the fact that whether a vertical plane or a horizontal plane is impacted can be accurately judged after collision, and further the foot trajectory can be correspondingly adjusted according to different situations, so that the fact that the robot can smoothly walk in step topography is guaranteed.

Description

technical field [0001] The application belongs to the technical field of robot trajectory planning, and in particular relates to a robot foot trajectory planning method for walking on step terrain. Background technique [0002] Step terrain is one of the terrains that quadruped robots face during walking. When the quadruped robot walks in the step terrain, the collision detection can provide a good reference for the walking strategy, which is convenient for the quadruped robot to adjust the trajectory of the foot end according to the type of obstacles encountered, so as to ensure the stable walking of the robot. [0003] The ground in the step terrain is mostly composed of horizontal planes and vertical planes, and the trajectory of the foot end of the robot's swing foot is usually a half ellipse. It is easy to encounter the horizontal or vertical surface of the step in the middle. In the prior art, the magnitude of the plantar force is usually used to detect whether the f...

AI Technical Summary

Problems solved by technology

In the prior art, the magnitude of the plantar force is usually used to detect whether the foot end collides with an obstacle. This detection method is difficult to distinguish the type of obstacle, and it is even more difficult to make appropriate processing for different types of obstacles.

When the legged robot encounters the horizontal or vertical surface of the step, if the robot's foot trajectory is not adjusted accordingly, the robot will continue to run along the original foot trajectory, which will easily lead to the instability of the robot

Images