Humanoid gait planning method of biped robot

A bipedal robot and gait planning technology, applied in the field of robotics, can solve the problems of difficult practical application, low walking energy efficiency, weak endurance, etc., and achieve the effect of improving endurance and improving walking energy efficiency.

Active Publication Date: 2020-06-05
ZHEJIANG LAB
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although these biped robots can achieve stable walking motion, their walking energy efficiency is low, resulting in weak battery life, and it is difficult to go to practical application

Method used

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  • Humanoid gait planning method of biped robot
  • Humanoid gait planning method of biped robot
  • Humanoid gait planning method of biped robot

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Embodiment Construction

[0031] The present invention will be further described below in conjunction with drawings and embodiments.

[0032] Such as figure 1 As shown, this embodiment considers a biped robot with 11 degrees of freedom, q ankle,roll is the degree of freedom of the supporting ankle joint in the forward plane, q ankle,st is the degree of freedom of the supporting 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 degree of freedom of the hip joint of the supporting leg, q roll,st is the swing degree of freedom of the hip joint of the supporting leg, q pitch,st is the pitching degree of freedom of the hip joint of the supporting leg, q yaw,sw is the rotational degree of freedom of the hip joint of the swinging leg, q roll,sw is the swing degree of freedom of the hip joint of the swing leg, q pitch,sw is the pitch degree of freedom of the swing leg hip joint, qknee,sw is the degree of freedom of th...

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Abstract

The invention discloses a humanoid gait planning method for a biped robot, and the method enables the movement characteristics of human walking to be integrated into the gait planning of the biped robot, so as to improve the walking energy efficiency of the robot and improve the endurance of the robot. The humanoid gait planning method comprises double-foot support phase planning and single-foot support phase planning, in the biped support phase, the robot enables the mass center of the robot to move forwards by means of the thrust of the ankle, meanwhile the mass center of the robot gets close to the supporting legs in a forward plane, so that the landing time is provided to the single-foot supporting phase; and in the single-foot supporting phase, the degree of freedom of the single-footsupporting phase and the degree of freedom of the lateral plane of the robot supporting ankle joint are in a passive state, the mass center of the robot moves forwards naturally under the action of gravity, and the swinging foot moves to the foot falling point quickly within the estimated landing time.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a humanoid gait planning method of a biped robot. Background technique [0002] Human walking movement includes two-foot support phase and one-foot support phase. In the two-foot support phase, human beings rely on the thrust of the rear ankle to push the body center of mass forward, while in the one-foot support phase, the human body’s center of mass naturally moves forward under the action of gravity. Move forward, and at the same time, the joints of the supporting legs are basically in a locked state to improve walking energy efficiency. [0003] A biped robot is a robot that imitates the structural characteristics of human beings, and its ultimate goal is to achieve motion behavior similar to human beings. At present, many biped robots capable of walking motion have been successfully developed at home and abroad, such as ATLAS and Petman of Boston Dynamics, HRP of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223
Inventor 袁海辉杜睿龙顾建军朱世强
Owner ZHEJIANG LAB
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