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Humanoid robot walking control method

A technology of humanoid robot and control method, which is applied in the field of walking control of humanoid robot, and can solve problems such as ignoring the structural characteristics of the cerebellum

Active Publication Date: 2020-12-08
DALIAN UNIV OF TECH
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Problems solved by technology

These cerebellar models are usually only for the purpose of controlling the effect, and although the functional model of the cerebellum is borrowed, the structural properties of the cerebellum are ignored

Method used

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  • Humanoid robot walking control method
  • Humanoid robot walking control method
  • Humanoid robot walking control method

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Embodiment Construction

[0104]This embodiment discloses an online walking stability control method for a humanoid robot based on the Actor Critic reinforcement learning algorithm. The present invention is based on the research idea of ​​the walking control strategy of offline gait planning combined with online stability adjustment, and designs the framework structure of the walking control strategy like figure 1 As shown, the method mainly includes two steps: 1. Generate offline gait based on ZMP theory and cubic spline interpolation method, that is, the offline gait planning of the humanoid robot, so that the humanoid robot can track the joint motion trajectory generated offline, Possess basic walking ability. 2. Design an online stability controller based on the AC reinforcement learning algorithm. The controller can collect the state information of the robot in real time during the walking process of the robot, and adjust the walking posture of the robot so that it can walk stably on uneven road c...

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Abstract

The invention discloses a humanoid robot walking control method, belongs to the field of humanoid robots, and provides the following technical scheme in order to solve the problem of improving the stability and balance ability of a humanoid robot in the walking process: the humanoid robot walking control method performs offline gait planning on the humanoid robot, so a joint movement track generated by the humanoid robot in an off-line tracking mode has the walking capacity; state information in the walking process of the humanoid robot is collected in real time, the walking posture of the humanoid robot is adjusted on line in real time in response to a stability controller of the state information, the humanoid robot can walk on an uneven road surface, and the effect is that walking control over the humanoid robot is achieved in the mode of combining offline gait planning and line stability control, and the humanoid robot has the effect that the humanoid robot has the capability of adapting to complex environments.

Description

technical field [0001] The invention belongs to the field of humanoid robots, and relates to a walking control method of a humanoid robot. Background technique [0002] A humanoid robot is a robot designed to imitate human appearance and behavior. It constantly replicates the characteristics of human comprehensive capabilities so that it can replace humans to complete repetitive, high-risk, and labor-intensive tasks, so it has broad application prospects. Humanoid robot is a typical multi-joint nonlinear underactuated system, so its gait control is a very challenging problem, and it is also the key to the wide application of humanoid robots. Researchers have proposed a variety of motion gait control methods. At present, the most common method is to decompose the motion task into different sub-modules for planning and control to form an offline gait mode, such as zero point moment (ZMP) theory, inverted pendulum model, genetic algorithm etc. These traditional off-line contr...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/027G05B13/042
Inventor 刘蓉刘印颜子开王永轩
Owner DALIAN UNIV OF TECH
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