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Robot balance control method and device, storage medium and robot

A technology of balance control and robotics, applied in the field of intelligent robots to achieve the effect of reducing production costs

Active Publication Date: 2020-04-21
CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the embodiment of the present invention is to provide a robot balance control method, device, storage medium and robot, which solves the problem of robot dynamic balance control and can reduce the production cost of the robot

Method used

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  • Robot balance control method and device, storage medium and robot
  • Robot balance control method and device, storage medium and robot
  • Robot balance control method and device, storage medium and robot

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Embodiment Construction

[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, various implementation modes of the present invention will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that in each implementation manner of the present invention, many technical details are proposed in order to enable readers to better understand the present invention. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in the present invention can also be realized.

[0026] The first embodiment of the present invention relates to a robot balance control method, the specific process is as follows figure 1 shown, including:

[0027] S101: Obtain the position of the center of mass of the robot.

[0028] Regarding step S101, specifically, the way to obtain...

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PUM

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Abstract

The embodiment of the invention relates to the field of intelligent robots, and discloses a robot balance control method and device, a storage medium and a robot. The method comprises obtaining a centroid position of the robot, obtaining a characteristic physical quantity used for representing the motion state of the robot, and calculating a resultant moment value of the centroid position according to the characteristic physical quantity; and calculating a compensation position value of the robot according to the resultant moment value, and adjusting the posture and / or motion state of the robot according to the compensation position value. According to the robot balance control method and device, the storage medium and the robot, the problem in dynamic balance control of the robot is solved, and the production cost of the robot can be reduced.

Description

technical field [0001] The embodiments of the present invention relate to the field of intelligent robots, and in particular to a robot balance control method, device, storage medium and robot. Background technique [0002] Nowadays, in our life, robots are more and more widely used, while conventional wheeled robots have many limitations in practical applications. Humanoid robots are used in more scenarios because they simulate human behavior patterns in different environments. Humanoid robots serve people, can meet the technical needs of different groups of people and have a reasonable price. Due to the system characteristics of humanoid robots and the complex and changeable human environment, it is still a challenge to realize the stable walking of humanoid robots in different application scenarios. The dynamic balance control ability of humanoid robot chassis is the key to humanoid robot products. The top priority of landing. For example, when a humanoid robot is movin...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/16B25J9/1674B25J19/00B25J19/0008B25J19/0095
Inventor 徐慎华王天昊
Owner CLOUDMINDS SHANGHAI ROBOTICS CO LTD