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Robot foot-waist coordination gait planning method and device, medium and robot

A gait planning and robotics technology, applied in the field of robotics, can solve problems such as low accuracy, difficulty in completing complex movements, and inability to coordinate foot and waist, and achieve the effect of improving accuracy

Active Publication Date: 2020-03-27
UBTECH ROBOTICS CORP LTD
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Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a foot-waist coordinated gait planning method, device, computer-readable storage medium, and robot for a robot, so as to solve the problem that the existing robot gait planning method does not fully consider the posture of the foot and the waist. Changes, inability to perform effective foot-waist coordination, low precision, and difficulty in completing various complex movements

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  • Robot foot-waist coordination gait planning method and device, medium and robot

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[0073] In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0074] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other features. , whole, step, operation, element, component and / or the presence or...

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Abstract

The invention belongs to the technical field of robots, and particularly relates to a foot-waist coordination gait planning method and device of a robot, a computer readable storage medium and the robot. The method comprises the steps that the foot posture angle of the biped robot is obtained, and the ankle joint position compensation amount of the biped robot is calculated according to the foot posture angle; acquiring a waist attitude angle of the biped robot, and calculating hip joint position compensation amount of the biped robot according to the waist attitude angle; calculating a hip-ankle position vector of the biped robot, wherein the hip-ankle position vector is a position vector from a hip joint to an ankle joint; compensating the hip-ankle position vector according to the anklejoint position compensation amount and the hip joint position compensation amount to obtain a compensated hip-ankle position vector; and inverse kinematics analysis is carried out on the compensatedhip and ankle position vector to obtain the joint angle of the biped robot, so that effective foot and waist coordination is realized, the accuracy of actions is improved, and various complex actionsare completed.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a robot foot-waist coordination gait planning method, device, computer-readable storage medium and robot. Background technique [0002] The anthropomorphic bipeds of the humanoid robot can not only walk on flat ground, but also walk in complex environments, for example, up and down steps or slopes, cross obstacles, and move on uneven ground. The typical biped walking gait is based on the sole of the foot and the ground (regardless of the influence of the attitude angle of the foot when it is in contact with the ground), and then solves the inverse kinematics to convert the planned motion trajectory into the desired joint Angle, and controlled by the joint servo drive to achieve trajectory tracking. This method fails to fully consider the changes in the posture of the feet and the waist, and cannot perform effective foot-waist coordination. The accuracy is lo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032B25J5/00B25J9/162B25J9/1633B25J9/1664
Inventor 白杰葛利刚刘益彰王鸿舸庞建新熊友军
Owner UBTECH ROBOTICS CORP LTD
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