Walking speed adjusting method for biped robot to simulate gait of person

A biped robot and walking speed technology, applied in the field of robotics, can solve complex problems and achieve the effect of improving walking flexibility and environmental adaptability

Active Publication Date: 2020-05-19
ZHEJIANG LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method is more complicated in actual implementation, not only need to store multiple sets of reference gaits in advance, but also need to store the switching gaits between each reference gait, and can only switch between a limited number of walking speeds

Method used

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  • Walking speed adjusting method for biped robot to simulate gait of person
  • Walking speed adjusting method for biped robot to simulate gait of person
  • Walking speed adjusting method for biped robot to simulate gait of person

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Embodiment Construction

[0030] The present invention will be further described below in conjunction with the drawings and embodiments.

[0031] Such as figure 1 As shown, this embodiment considers a biped robot with 11 degrees of freedom, q ankle,roll To support the degree of freedom of the ankle joint in the forward plane, q ankle,st To support the degree of freedom of the ankle joint in the lateral plane, q knee,st Is the degree of freedom of the knee joint of the supporting leg, q yaw,st Is the rotational freedom of the hip joint of the supporting leg, q roll,st Is the swing freedom of the hip joint of the supporting leg, q pitch,st Is the pitching freedom of the hip joint of the supporting leg, q yaw,sw Is the rotational freedom of the hip joint of the swing leg, q roll,sw Is the swing freedom of the hip joint of the swing leg, q pitch,sw Is the pitching freedom of the hip joint of the swing leg, q knee,sw Is the degree of freedom of the knee joint of the swing leg, where q ankle,sw Is the ...

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Abstract

The invention discloses a walking speed adjusting method for a biped robot to simulate the gait of a person. The method comprises steps of double-foot supporting phase adjustment and single-foot supporting phase adjustment, the double-foot supporting phase adjustment refers to adjusting the walking speed by adjusting the duration of a double-foot supporting phase, single-foot support phase adjustment refers to adjusting the walking speed by applying torque to change the track energy relative to the pitching degree of freedom of an ankle joint supported by the single-foot support. Compared witha conventional walking speed switching method, the method does not need to design multiple groups of gaits in advance, and achieves speed adjustment and switching based on the speed feedback throughthe change of gait parameters and the application of torque control. Based on the walking speed adjusting method provided by the invention, the robot can be effectively helped to realize real-time speed switching, so walking flexibility and environmental adaptability of the robot are improved.

Description

Technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method for adjusting the walking speed of a biped robot's human-like gait. Background technique [0002] The biped robot has human appearance characteristics and walking mode, so it can adapt to human life and working environment, can replace human beings to complete various tasks, and has a very broad application prospect. According to the "Statistical Bulletin on the Development of Social Services in 2017", as of the end of 2017, my country had 240.9 million elderly people aged 60 and over, accounting for 17.3% of the total population, of which 158.31 million elderly people aged 65 and over accounted for 11.4% of the total population . How to deal with the future labor shortage and population aging has become a major challenge facing my country's social and economic development, and biped robots are considered to be an important means to solve such problems. In additio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D13/66
CPCG05D13/66
Inventor 袁海辉李玮顾建军朱世强
Owner ZHEJIANG LAB
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