Three-dimensional path planning method for biped robot

Abstract

The invention provides a three-dimensional path planning method of a biped robot and belongs to the technical field of robot path planning. The method comprises steps of comprehensively considering the maximum height of the biped robot capable of crossing an object or climbing steps, the maximum width of the biped robot capable of crossing the object, the foot length of the biped robot and the position and size of the object in a three-dimensional environment; redesigning the cost of the node, carrying out cost evaluation, and calculating a three-dimensional path with the minimum cost in advance in a complex environment with various types of objects. The path planned by the method can guide the robot to cross, bypass and go upstairs in a corresponding environment. Compared with the prior art, the motion potential of the biped robot can be brought into full play, and passing efficiency is improved, and meanwhile, the operation load of the biped robot is reduced, and the calculation speed is higher.

Description

technical field [0001] The invention belongs to the technical field of robot path planning, and in particular relates to a three-dimensional path planning method for a biped robot. Background technique [0002] Because of its human appearance, the biped robot was originally designed in the hope that it could replace or assist humans to complete some tasks in the future. Human beings move in a variety of ways in a complex three-dimensional environment, such as bypassing impenetrable obstacles, stepping over low obstacles, and stepping up multi-level steps; and in the process of completing tasks through the environment Whether it is necessary to perform one or more of these actions is determined by the available path selected according to one's own conditions and experience. [0003] In a complex environment containing multiple types of obstacles, there may be multiple feasible routes for a biped robot to move from one location to another. Some routes bypass all objects with...

AI Technical Summary

Problems solved by technology

[0004] (1) The existing method does not fully consider the advantages of the legs of the biped robot (that is, the spanning of the legs) and the ability to move up the steps. The planned route simply stays on a two-dimensional plane, and all obstacles with heights are removed Detour, the route planned in this way is not optimal, which severely limits the movement potential of the biped robot and reduces the efficiency of movement

[0005] (2) Although the route planned by the existing method is a three-dimensional route, this route serves mobile mechanical equipment and does not meet the motion constraints of biped robots at all; objects, the planned results are only for simpler types of environments

[0006] (3) The existing method combines path planning and gait planning, which is complicated and costly, which seriously affects the rapid response ability of biped robots

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