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

A technology of balance control and robotics, applied in the field of robotics, can solve the problems of poor robot stability and easy dumping

Active Publication Date: 2020-05-05
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the embodiments of the present application provide a robot balance control method, device, computer-readable storage medium, and robot to solve the problem that the existing robot has poor stability when bending over and is prone to fall

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

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Embodiment Construction

[0101] 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.

[0102] 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 application belongs to the technical field of robots, and particularly relates to a robot balance control method and device, a computer readable storage medium and a robot. The method comprises the steps as follows: acquiring left and right foot stress information of the robot; calculating a zero moment point of a body centroid of the robot according to the left and right foot stress information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the body centroid respectively; updating the position track of the robot according to the first position offset and the second position offset to obtain an updated body centroid position; performing inverse kinematics analysis on the updated body centroid position to obtain eachjoint angle of the left leg and the right leg of the robot; and controlling the robot to move according to each joint angle. Stability of the robot in the bending process is improved, and toppling isavoided.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a robot balance control method, a device, a computer-readable storage medium and a robot. Background technique [0002] In the prior art, when the biped robot needs to bend down to pick up things, it is often difficult to reasonably plan the trajectory of its center of mass, the stability is poor, and it is easy to fall over. Contents of the invention [0003] In view of this, the embodiments of the present application provide a robot balance control method, device, computer-readable storage medium, and robot, so as to solve the problem that the existing robot has poor stability and is prone to fall when bending over. [0004] The first aspect of the embodiments of the present application provides a robot balance control method, which may include: [0005] Obtain the force information of the robot's left foot and right foot; [0006] calculating the zero ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1602B25J9/1679B25J9/1628B62D57/02G05B2219/40264B25J9/1664G05B2219/40586G05B2219/40599G05B2219/39215G01L5/16G05B19/4155G05B2219/50391G05D1/0212G05D1/0268
Inventor 陈春玉刘益彰葛利刚谢铮熊友军庞建新
Owner UBTECH ROBOTICS CORP LTD
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