Singular-avoiding gait planning method and device, readable storage medium and robot

A technology for gait planning and singularity avoidance, applied in the computer field, can solve problems such as inverse kinematics unsolved, singularity of gait planning methods, etc., to achieve the effect of avoiding singularity problems

Pending Publication Date: 2020-04-10
UBTECH ROBOTICS CORP LTD
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  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a singularity-avoiding gait planning method, device, computer-readable storage medium, and robot to solve the singular problem that may occur in the existing robot gait planning method, resulting in inverse kinematics unsolvable problem

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  • Singular-avoiding gait planning method and device, readable storage medium and robot

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[0064] In order to make the purposes, features, and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the following The described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this application.

[0065] It should be understood that when used in this specification and appended claims, the term "comprising" indicates the existence of the described features, wholes, steps, operations, elements and / or components, but does not exclude one or more other features , The existence or addition of a whole, a step, an op...

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Abstract

The invention belongs to the technical field of computers, and particularly relates to a singularity-avoiding gait planning method and device, a computer readable storage medium and a robot. The method comprises the steps of acquiring the waist posture and the foot posture of the biped robot; calculating a first position vector according to the waist pose and the foot pose, wherein the first position vector is a hip joint position vector in an ankle joint coordinate system; calculating a scaling factor corresponding to the first position vector; if the scaling factor meets a preset singularityjudgment condition, adjusting the first position vector according to the scaling factor to obtain a second position vector; and performing inverse kinematics analysis on the second position vector toobtain each joint angle of the biped robot. According to the embodiment of the invention, on the basis of the prior art, the consideration of a singular problem is added, and the possible singular problem is effectively avoided through the adjustment of the hip joint position vector.

Description

Technical field [0001] This application belongs to the field of computer technology, and in particular relates to a gait planning method, device, computer readable storage medium and robot for avoiding singularity. Background technique [0002] The gait planning of humanoid robots has always been a research hotspot. Biped gait planning can directly plan the desired trajectory of the joints, or plan the body and the posture of the foot (that is, foot-waist trajectory planning) and perform inverse kinematics analysis. Get the desired trajectory of the joint, and then realize the tracking of the desired trajectory through the joint controller. The former does not have singular problems, while the latter may have singular problems, which leads to inverse kinematics without solutions. Summary of the invention [0003] In view of this, the embodiments of the present application provide a singularity avoidance gait planning method, device, computer-readable storage medium, and robot to ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02B62D57/032
CPCG05D1/0214B62D57/032G05D1/0221G05D1/0276
Inventor 白杰葛利刚陈春玉刘益彰王鸿舸庞建新熊友军
Owner UBTECH ROBOTICS CORP LTD
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