Balance control method and device, humanoid robot and readable storage medium

A humanoid robot, balance control technology, applied in the direction of program control manipulators, manipulators, motor vehicles, etc., can solve the problem of poor control effect of control subtasks, and achieve the effect of reducing the difficulty of balance control

Active Publication Date: 2020-11-03
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this kind of solution will often interfere with each other due to the coupling between multiple control subtasks, which increases the system complexity of the robot. Other control subtasks have poorer control

Method used

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  • Balance control method and device, humanoid robot and readable storage medium
  • Balance control method and device, humanoid robot and readable storage medium
  • Balance control method and device, humanoid robot and readable storage medium

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Embodiment Construction

[0031] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

[0032] Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art w...

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Abstract

The invention provides a balance control method and device, a humanoid robot and a readable storage medium, and relates to the field of robot control. According to the method and device, the robot andthe readable storage medium, on the basis of the current motion data of a foot sole, a mass center and a waist of the humanoid robot, the expected acceleration of the foot sole and the mass center tending to a current balance expected track and the expected angular acceleration of the waist tending to the current balance expected track are obtained; then, according to the current angular speed ofeach joint of the humanoid robot, the expected acceleration of the waist and the expected acceleration of the foot sole and the mass center, the expected angular acceleration, which meets the balanceexpected track and meets the control requirements of the foot sole, the mass center and the waist at the same time, of each joint is calculated; and the corresponding real joints are controlled to operate according to the expected angular acceleration of each joint on the basis of the angular displacement of each joint, so that the balance control effect on the foot sole, the mass center and thewaist is achieved by adjusting the operation states of the real joints, the control interference among the foot sole, the mass center and the waist is avoided, and the balance control difficulty is reduced.

Description

technical field [0001] The present application relates to the field of robot control, in particular, to a balance control method, device, humanoid robot and readable storage medium. Background technique [0002] With the continuous development of science and technology, robot technology has been widely valued by all walks of life because of its great research value and application value. Among them, humanoid robot is an important research branch of existing robot technology. For humanoid robots, the premise of humanoid robots to realize their own walking and operating capabilities is that they can maintain balance in complex environments. The balance control ability of humanoid robots is the key issue that restricts humanoid robots from becoming practical. The current balance control scheme divides the overall balance control task into multiple control subtasks (for example, ground force control, momentum control, whole body dynamics control, etc.) Control, to complete the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1612B25J9/161B25J9/1661B62D57/02B62D37/04B25J9/1651B25J9/1653B25J9/1664B62D57/032B25J19/0008G05D2201/0217B25J9/0006B25J9/1607G05B2219/39063
Inventor 谢岩赵明国熊友军
Owner UBTECH ROBOTICS CORP LTD
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