Dynamic motion generation and control method for biped robot

A biped robot, dynamic motion technology, applied in the field of humanoid robot, can solve the problem of complicated calculation

Active Publication Date: 2020-12-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0007] In the position control biped robot, multiple algorithms such as ZMP error compensation and comp

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  • Dynamic motion generation and control method for biped robot
  • Dynamic motion generation and control method for biped robot
  • Dynamic motion generation and control method for biped robot

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[0065] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0066] Such as figure 1 , a dynamic motion generation and control method for a biped robot. During the single-leg support period, the length of the supporting leg and the pitch posture of the upper body are controlled by establishing a Whole Body Dynamic Feedback Linearization Controller (WBDC) to maintain the biped Robot Dynamic Motion Characteristics. Since the length of the supporting legs is fixed, the physical properties of the whole robot are similar to the inverted pendulum model.

[0067] The method of establishing the whole-body dynamics feedback linearization controller is as follows: t...

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Abstract

The invention discloses a biped robot dynamic motion generation and control method which comprises the following steps: in a single-foot supporting period, establishing a whole-body dynamics feedbacklinearization controller to control the lengths of supporting legs and the pitching posture of an upper body so as to keep the dynamic motion characteristics of a biped robot; decoupling the kinetic coupling of the swinging leg and the whole body based on a whole body kinetic model, controlling the position of future observation planning by establishing a swinging leg prediction control model, giving a series of target points at the tail end of the future leg through the adjustment of the foothold, planning the tail end track of the swinging leg according to the environmental information, andadjusting the foothold of the movable leg in real time; taking the whole body dynamic moment control quantity of the supporting legs and the control moment of the swinging legs as the motion control input of the biped robot; according to the method, the dynamics of the biped robot is introduced into real-time planning and online control, a high-dimensional nonlinear system is decoupled, and the swinging legs are independently controlled to achieve dynamic stable movement.

Description

technical field [0001] The invention belongs to the technical field of humanoid robots, in particular to a dynamic motion generation and control method of a biped robot. Background technique [0002] A biped robot is an intelligent robot with the characteristics of human appearance and biped. The cost of environmental transformation, while replacing manual labor to complete more complex tasks, etc. The biped robot is a comprehensive application platform system that integrates multiple basic disciplines and technologies, and cooperates with the development of bionics, control theory, artificial intelligence and other disciplines. The advanced and innovative mechatronics platform can evaluate the national scientific and technological development level. In recent years, the research on the structure, driving and control of biped robots has relied more on the basic theory of human bionics, and in turn, the research on biped robots has also demonstrated the general laws of human...

Claims

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Application Information

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IPC IPC(8): G05B13/04B62D57/032
CPCB62D57/032G05B13/042
Inventor 黄强韩连强陈学超余张国朱西硕石青
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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