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Humanoid robot gait planning method and device and humanoid robot

A humanoid robot and gait planning technology, which is applied in the field of humanoid robots, can solve the problems of robot state mutation, instability, and inability to guarantee trajectory tracking accuracy, and achieve the effect of ensuring walking speed and dynamic stability

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

AI Technical Summary

Problems solved by technology

[0003] However, the above-mentioned traditional methods have the following disadvantages: First, the control method does not consider the force on the feet, which is likely to cause sudden changes in the state of the robot, and may cause instability in severe cases; second, it is limited by the ability of the joint actuators. When the duration of the specified biped support period is short, the trajectory tracking accuracy cannot be guaranteed, so that the switching conditions cannot be achieved on time, thereby limiting the walking speed of the humanoid robot; third, this method is not suitable for direct application to a person with a certain slope or Walking scenes on undulating and uneven roads, etc.

Method used

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  • Humanoid robot gait planning method and device and humanoid robot
  • Humanoid robot gait planning method and device and humanoid robot
  • Humanoid robot gait planning method and device and humanoid robot

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Experimental program
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Embodiment 1

[0061] Please refer to figure 1 , this embodiment proposes a gait planning method for a humanoid robot, which can realize smooth alternate switching between the supporting leg and the swinging leg, and then realize steady and fast walking.

[0062] Typically, when a humanoid robot is walking, the two legs will alternately make contact with the contact surface. In the process of walking, it mainly includes two periods, which are the single-foot support period and the double-foot support period, and these two periods appear in sequence. Among them, the two-foot support period mainly refers to the transition period when the two legs are switched alternately, and can also be called the two-foot transition period. It can be understood that the contact surface here may refer to any supporting ground that is not restricted by the slope or a platform with a supporting function.

[0063] Whether in the single-foot support period or the double-foot support period, the sole of the leg ...

Embodiment 2

[0106] Please refer to Figure 4 , based on the method of the above-mentioned embodiment 1, the gait planning method of the humanoid robot proposed in this embodiment also includes, performing gravity compensation in the single-foot support period and the double-foot support period, specifically including:

[0107] Step S210, when the humanoid robot enters the single-foot support period, perform gravity compensation on the support leg.

[0108] Exemplarily, for the single-foot support period, the total amount of gravity compensation is F g =[0,0,mg], where mg is the gravity of the humanoid robot, and the total amount of gravity compensation is applied to the supporting legs.

[0109]It can be understood that the above-mentioned step S210 usually occurs when entering the single-foot support period, so the execution order of some steps in the method of the above-mentioned embodiment 1 is not specifically limited, for example, it can be executed in sequence with step S110 , or ...

Embodiment 3

[0119] Please refer to Figure 5 , based on the above-mentioned embodiment 1 or 2, the gait planning method of the humanoid robot proposed in this embodiment also includes adjusting the control torque during the single-foot support period, so as to effectively avoid the slipping and instability of the robot foot. Exemplarily, the method also includes:

[0120] Step S310, when the humanoid robot is in the single-foot support phase, calculate and control the scaling factor according to the force information of the current supporting leg and the gravity of the humanoid robot.

[0121] Exemplarily, the force information of the supporting legs mainly includes the component of the ground reaction force on the supporting legs in the vertical direction. The control scaling factor is mainly determined by the force on the sole of the supporting leg and the gravity on the robot.

[0122] In one embodiment, the calculating and controlling the scaling factor according to the force inform...

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Abstract

The embodiment of the invention discloses a humanoid robot gait planning method, a humanoid robot gait planning device and a humanoid robot. The method comprises the following steps: acquiring stressinformation of a swinging leg of the humanoid robot in a single-foot supporting period at present; judging whether the swinging legs fall to the ground or not according to the stress information, andacquiring biped stress information and waist poses of the humanoid robot after the humanoid robot enters a biped supporting period when it is judged that the swinging legs fall to the ground; controlling an original supporting leg according to the waist pose and the expected waist track in the biped supporting period, and controlling an original swinging leg according to the expected swinging legtrack; and judging whether a preset task switching condition is met or not according to the biped stress information and the biped supporting period transition duration, and switching the trajectory tracking tasks of the original supporting leg and the original swinging leg when the preset task switching condition is met. According to the technical scheme, smooth alternate switching of the supporting legs and the swinging legs can be achieved in the rapid walking process of the humanoid robot, and the dynamic stability and the like of the posture and the speed of the humanoid robot are guaranteed.

Description

technical field [0001] The present application relates to the technical field of humanoid robots, in particular to a gait planning method and device for a humanoid robot and a humanoid robot. Background technique [0002] In the case of fast walking of a humanoid robot, the duration of the bipedal support period is short. How to complete the switching between the supporting leg and the swinging leg in this short period of time, and ensure the dynamic stability of the robot's attitude and speed are constraints for the humanoid robot. key issues of development. The traditional method generally stipulates the duration of the biped support period, pre-plans the expected trajectory of the biped relative to the waist coordinate system within the specified time, and realizes the switching between the supporting leg and the swinging leg by tracking the expected trajectory. [0003] However, the above-mentioned traditional methods have the following disadvantages: First, the control...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/028G05D1/0285
Inventor 王家俊赵明国熊友军
Owner UBTECH ROBOTICS CORP LTD
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