Biped robot gait control method and biped robot

A biped robot and gait control technology, applied in electric controllers, controllers with specific characteristics, motor vehicles, etc., can solve problems such as biped robots falling down, walking failure, robot fuselage error, etc.

Active Publication Date: 2020-07-07
UBTECH ROBOTICS CORP LTD
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  • Abstract
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  • Application Information

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Problems solved by technology

However, if there is an error in the posture of the robot body during the movement of the biped robot, for example, when it is disturbed by an external force or the ground is uneven, it will cause a deviation in the posture of the robot body.
However, the

Method used

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  • Biped robot gait control method and biped robot
  • Biped robot gait control method and biped robot
  • Biped robot gait control method and biped robot

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Embodiment Construction

[0052] In order to make the purpose, technical solutions, and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments of the application and their descriptions are used to explain the application, but not to limit the application.

[0053] Such as figure 2As shown, the present application relates to a biped robot gait control method, using the inertial measurement unit 20 data of the biped robot's own attitude control, and integrating the data of the six-dimensional force sensor arranged on the biped, when the biped robot walks under external force or unstable complete posture correction.

[0054] In this method, the six-dimensional force sensor arranged on the soles of the first foot 31 and the second foot 32 of the biped robot detects the supporting states of the biped robot, such as single foot, doubl...

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Abstract

The invention discloses a biped robot gait control method and a biped robot. The method comprises the steps of obtaining six-dimensional force information, and judging a supporting state of the bipedrobot according to the six-dimensional force information; calculating the ZMP position of each foot of the biped robot according to the six-dimensional force information; setting a ZMP expected valueof each foot according to the supporting state and a body posture error; determining an ankle joint compensation angle of each foot of the biped robot according to the ZMP position, the change rate ofthe ZMP position, the ZMP expected value and the change rate of the ZMP expected value; tracking and adjusting the current ankle joint angle of the biped robot in real time according to the ankle joint compensation angle; and circulating the steps at a set frequency until posture control or ankle joint compliance is completed in different supporting states.

Description

technical field [0001] The present application relates to the technical field of biped robot gait control, in particular to a biped robot gait control method and a biped robot. Background technique [0002] With the advancement of science and technology, biped robots have developed rapidly and are widely used in many fields. At present, most buildings and tools are designed according to the height and shape of people, so biped robots have better flexibility in use as a robot platform. At the same time, the stability control of the biped robot's gait is the premise and basis for the smooth walking of the robot. Gait refers to the interrelationship of each joint in time and space during standing or walking, which can be described by the motion trajectory of the joints. [0003] The existing biped robot gait stability research is based on the method of Zero Moment Point (ZMP), establishes the mathematical model of the biped robot, and must fall in a stable area according to t...

Claims

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Application Information

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IPC IPC(8): B62D57/032G05B11/42
CPCB62D57/032G05B11/42
Inventor 熊友军葛利刚刘益彰陈春玉谢铮庞建新
Owner UBTECH ROBOTICS CORP LTD
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