System and method for controlling foot compliance and balance of a biped robot

Abstract

The invention provides a biped robot foot compliance and balance control system and method. The six-dimensional force sensor and the inertial measurement unit respectively collect the force and posture of the foot in the actual state of the robot, and transmit them to the control law classifier; combined with the robot According to the walking state, robot posture and robot foot force information, design a control law classifier to infer the corresponding control law; the attitude controller obtains the virtual force and virtual torque according to the control law and the real-time posture of the robot, and converts the virtual force, virtual torque and The actual force of the foot is input into the foot compliance model, thereby outputting the adjustment amount of the ankle joint angle to maintain the balance of the robot. The invention is used to realize the compliant balance control of the robot standing on the ground with changing angles and walking on the uneven ground.

Description

technical field [0001] The invention belongs to the technical field of biped robot balance control, in particular to a biped robot foot compliance and balance control system and method. Background technique [0002] Zero Moment Point (ZMP) is a very important concept in the research of biped robots, which plays a decisive role in the walking planning and stability of biped robots. Whether the robot is standing or walking, the necessary condition for the robot to maintain stability is that the ZMP is in the support domain of the robot. The support domain is the polygonal area drawn by the outline of the robot's biped. Therefore, there are many methods starting from the perspective of controlling ZMP, controlling the actual ZMP of the robot to ensure that it is in the support domain, which belongs to walking stability control. [0003] From another point of view, maintaining the balance of the robot's posture is a sign of the stability of the robot. If the actual posture of...

AI Technical Summary

Problems solved by technology

The former focuses on considering the influence of ground information on the balance control of the robot, and is not sensitive to the overall attitude deviation of the robot.

The latter focuses on the deviation of the robot's own attitude, but does not have sufficient grasp of the ground information, and it is easy to cause the controller to fail due to the local unevenness of the ground.

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