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Virtual passive walking robot speed adjusting method and device and storage medium terminal

A walking robot and speed adjustment technology, applied in control/regulation systems, speed/acceleration control, instruments, etc., can solve problems such as poor stability of virtual passive walking and difficulty in adjusting walking speed

Active Publication Date: 2020-05-26
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is that it is difficult to adjust the walking speed in the existing virtual passive walking that simulates the gait of passive walking, and the stability of the existing virtual passive walking without closed-loop control is very poor

Method used

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  • Virtual passive walking robot speed adjusting method and device and storage medium terminal
  • Virtual passive walking robot speed adjusting method and device and storage medium terminal
  • Virtual passive walking robot speed adjusting method and device and storage medium terminal

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0058] In order to solve the technical problems existing in the prior art, an embodiment of the present invention provides a speed adjustment method of a virtual passive walking robot.

[0059] figure 1 A schematic diagram showing the process of a method for adjusting the speed of a virtual passive walking robot according to an embodiment of the present invention; figure 1 As shown, the speed adjustment method of the virtual passive walking robot in the embodiment of the present invention includes performing the speed adjustment process in a preset manner, and performing the speed adjustment process in a preset manner specifically includes the following steps.

[0060] Step S101, obtaining the final target speed and the actual speed of the virtual passive walking robot, and calculating the speed difference to be adjusted according to the final target speed and the actual speed.

[0061] Specifically, the final target speed of the virtual passive walking robot for speed adjust...

Embodiment 2

[0142] In order to solve the technical problems existing in the prior art, an embodiment of the present invention provides a speed adjustment device for a virtual passive walking robot.

[0143] Figure 11 A schematic structural diagram of a speed regulating device of a virtual passive walking robot in Embodiment 2 of the present invention is shown; refer to Figure 11 As shown, the speed adjustment device of the virtual passive walking robot in the embodiment of the present invention includes an execution target gravitational acceleration and walking kinetic energy calculation module, an actual walking kinetic energy calculation module, a kinetic energy error calculation module and a speed adjustment module connected in sequence.

[0144] The execution target gravitational acceleration and walking kinetic energy calculation module is used to obtain the execution target speed, and calculate the execution target gravity acceleration and the execution target walking kinetic ener...

Embodiment 3

[0150] In order to solve the above-mentioned technical problems existing in the prior art, the embodiment of the present invention also provides a storage medium, which stores a computer program, and when the computer program is executed by the processor, the speed of the virtual passive walking robot in the first embodiment can be achieved. All steps in the conditioning method.

[0151] The specific steps of the method for adjusting the speed of the virtual passive walking robot and the beneficial effects obtained by applying the readable storage medium provided by the embodiment of the present invention are the same as those of the first embodiment, and will not be repeated here.

[0152] It should be noted that the storage medium includes various media capable of storing program codes such as ROM, RAM, magnetic disk or optical disk.

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Abstract

The invention discloses a virtual passive walking robot speed adjusting method and device, a storage medium and a terminal. The method comprises the steps: a speed adjusting process is executed according to a preset mode, wherein the speed adjusting process comprises the steps of acquiring an executing target speed and calculating an executing target gravitational acceleration and executing targetwalking kinetic energy; the actual speed of the virtual passive walking robot is obtained and the actual walking kinetic energy is calculated; a kinetic energy error is calculated according to the executing target walking kinetic energy and the actual walking kinetic energy; the kinetic energy error and the executing target gravitational acceleration are transmitted to a closed-loop virtual passive walking speed controller, and a control signal output by the closed-loop virtual passive walking speed controller is received. According to the method, parameters of controllers such as the executing target speed gravitational acceleration and the target walking kinetic energy are calculated according to the executing target speed, feedback control is carried out according to the error betweenthe actual kinetic energy and the target walking kinetic energy and the executing target gravitational acceleration, finally, speed switching is achieved, and the whole system is ensued to tend to bein a stable state.

Description

technical field [0001] The invention relates to the technical field of virtual passive walking speed adjustment of a compass-like biped walking robot, in particular to a speed adjustment method and device, a storage medium and a terminal of a virtual passive walking robot. Background technique [0002] At present, the dynamic performance, energy efficiency ratio and stability of biped walking robot walking gait are very important indicators. In addition to the active full gait control walking method based on the ZMP rule, the current biped walking robot is becoming more and more important based on the virtual passive walking gait control method based on the simulated passive walking gait. [0003] Passive walking means that the biped walking robot relies entirely on its own gravity to achieve stable walking on a slope with a certain downward inclination angle without the help of external driving torque. This walking method is a natural and low-energy walking gait, which is ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D13/66
CPCG05D13/66
Inventor 许春权徐萍
Owner TONGJI UNIV
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