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A biped robot gait control method and biped robot

A biped robot and gait control technology, applied to electric controllers, controllers with specific characteristics, motor vehicles, etc., can solve problems such as walking failure, biped robot fall, robot body posture deviation, etc., to achieve The effect of ensuring walking stability

Active Publication Date: 2021-11-16
UBTECH ROBOTICS CORP LTD
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  • Abstract
  • Description
  • Claims
  • 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 existing biped robots generally do not include processing algorithms for attitude control, so the body posture of the robot will gradually diverge when interference occurs, resulting in failure to walk, and even the phenomenon of biped robots falling down.

Method used

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  • A biped robot gait control method and biped robot
  • A biped robot gait control method and biped robot
  • A 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, integrating the data of the six-dimensional force sensor set on the biped, and 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, double foo...

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Abstract

A biped robot gait control method and biped robot, comprising the following steps: acquiring six-dimensional force information, and judging the support state of the biped robot according to the six-dimensional force information; calculating the biped robot according to the six-dimensional force information ZMP position of each foot; set the ZMP expected value of each foot according to the support state and body attitude error; determine the biped robot according to the ZMP position and the ZMP position change rate and the ZMP expected value and the change rate of the ZMP expected value The ankle joint compensation angle of each foot; according to the ankle joint compensation angle, the current ankle joint angle of the biped robot is tracked and adjusted in real time; the above steps are repeated at the set frequency until the posture control or ankle joint compliance is completed in different support 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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Patent Type & Authority Patents(China)
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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