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Stable walking control method and device for biped robot, equipment and readable medium

A biped robot and control method technology, applied in the direction of program control of manipulators, manipulators, motor vehicles, etc., can solve problems such as inability to recover from disturbances in time, and achieve the effects of quickly predicting the state of the robot's center of mass, increasing the solution speed, and reducing complexity

Active Publication Date: 2020-09-18
ZHEJIANG UNIV
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Problems solved by technology

[0008] The object of the present invention is a method, device, equipment and readable medium for controlling stable walking of a biped robot, so as to solve the problem in the related art that the robot cannot recover from disturbance in time when walking on an unknown rough road.

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  • Stable walking control method and device for biped robot, equipment and readable medium
  • Stable walking control method and device for biped robot, equipment and readable medium
  • Stable walking control method and device for biped robot, equipment and readable medium

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Embodiment Construction

[0048] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0049] Here, the structure of the biped robot is described first. The structure of the biped robot is shown in Figure 1(a) and Figure 1(b), which mainly consists of the trunk 1 and lower limbs, which include the right thigh link 2, the right thigh Calf link 3, right foot 4, left thigh link 5, left calf link 6, left foot 7, right hip yaw joint 8, right...

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Abstract

The invention discloses a stable walking control method and device for a biped robot, equipment and a readable medium. The stable walking control method comprises the steps: constructing a simplifiedrigid body dynamic model of a biped robot; constructing a centroid state prediction model by using the simplified rigid body dynamic model of the biped robot based on a model prediction control method; simplifying an optimization equation set in the model prediction control method into a quadratic programming equation set according to the centroid state prediction model; solving the quadratic programming equation set to obtain optimized ground reaction force so as to obtain stable walking control parameters; and controlling the biped robot according to the stable walking control parameters. According to the method, a problem is analyzed through the centroid control framework, and analysis of control over all parts of the body in the walking process of the robot is simplified; meanwhile, compared with a traditional feedback control method, the model prediction control method has high predictability, so that the robot has better robustness when walking on an unknown rugged road surface.

Description

technical field [0001] The invention relates to a robot control method, in particular to a biped robot stable walking control method, device, equipment and readable medium. Background technique [0002] As a tool used by humans to improve production efficiency and improve life, robots have always received a lot of attention. Compared with industrial robots and wheeled robots, biped robots can better adapt to complex road surfaces and cross obstacles to a certain extent through discrete footholds because of their human-like structure. flexibility. At the same time, biped robots have the same flexibility as humans, and can easily adapt to the environment of human life and use tools made by humans. It is foreseeable that in the future, humans will use a large number of biped robots to replace humans to complete dangerous or repetitive tasks. [0003] Stable walking of biped robots has always been one of the hotspots in the research field of biped robots. As the basis of a s...

Claims

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Application Information

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IPC IPC(8): B62D57/032B25J9/16
CPCB25J9/161B25J9/163B62D57/032
Inventor 朱秋国黄涛涛吴俊熊蓉
Owner ZHEJIANG UNIV
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