Robot gait planning method, device, robot and storage medium
A gait planning and robotics technology, applied in the field of robotics, can solve problems such as high cost, limited speed and stability, and achieve the effects of simple algorithm, improved speed and stability, and fast calculation speed.
Active Publication Date: 2021-08-27
UBTECH ROBOTICS CORP LTD
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[0003] In view of this, the embodiment of the present invention provides a robot gait planning method, device, robot and computer-readable storage medium, to solve the existing technology needs to rely on high-precision camera or laser radar, resulting in high cost and high speed and stability issues
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[0067] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0068] Such as figure 1 As shown, it is a schematic flowchart of a robot gait planning method provided by an embodiment of the present invention, and the method may include:
[0069] Step S101 , acquiring a preset feedback force collected by a sensor.
[0070] The sensor is arranged on the sole of the robot, preferably, the sensor can b...
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The invention belongs to the field of robots, and in particular relates to a robot gait planning method, device, robot and computer-readable storage medium. The method includes: acquiring a preset feedback force collected by a sensor; determining the support state of the robot according to the feedback force; The feedback information determines the balance position of the sole position; respectively calculates the reference position of the sole position at each moment within the preset transition time according to the balance position; combines the feedback force, the reference position and Input the preset reference force into the impedance controller for calculation, obtain the updated reference position, perform inverse kinematics calculation, obtain the motion angle of each joint of the robot, and control each joint of the robot according to the motion angle Exercise can greatly improve the speed and stability of the biped robot walking on uneven roads.
Description
technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot gait planning method, device, robot and computer-readable storage medium. Background technique [0002] The gait planning problem of biped robots on uneven roads is a key problem that restricts the practicality of biped robots. The traditional gait planning method needs to obtain the height and attitude information of the ground through camera or lidar measurement, so as to complete the next step of planning. The disadvantages of this method are more prominent. First, the accuracy of the camera or lidar is high, and the camera or lidar needs to be able to measure the precise height and attitude of the ground, which is extremely expensive. Second, the torso of the robot will shake during walking. Therefore, when measuring, the robot needs to keep standing still to ensure the measurement accuracy, which greatly limits the walking speed and stability of the biped...
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IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1612B25J9/1633
Inventor 徐喆赵明国熊友军
Owner UBTECH ROBOTICS CORP LTD