Gait correction method and device for biped robot and computer equipment

A bipedal robot and gait technology, applied in computer parts, computing, instruments, etc., can solve problems such as the inability to meet the consistency of multi-robot formation

Active Publication Date: 2020-12-18
UBTECH ROBOTICS CORP LTD
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Problems solved by technology

[0003] The main purpose of this application is to provide a gait correction method, device and computer equipment for a biped robot, aiming to solve the problem that the existing biped robot is prone to deviation from the preset path due to errors during the movement process and cannot meet the multi-robot formation in time. Drawbacks of Online Consistency

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  • Gait correction method and device for biped robot and computer equipment
  • Gait correction method and device for biped robot and computer equipment
  • Gait correction method and device for biped robot and computer equipment

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[0066] In order to make the purpose, technical solution and advantages of the present application clearer, the present application 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 application, and are not intended to limit the present application.

[0067] refer to figure 1 , an embodiment of the present application provides a method for correcting the gait of a biped robot, including:

[0068] S1: Obtain the current support pose of the current support foot of the biped robot;

[0069] S2: According to the current support pose and the ideal support pose preset by the biped robot in the next step, calculate the relative pose between the supporting feet of the biped robot, and the relative pose between the supporting feet The pose is the pose of the ideal support pose preset in the next step relative to the current su...

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Abstract

The invention provides a gait correction method and device for a biped robot and computer equipment. The method comprises the steps: the current supporting posture of a current supporting leg of the biped robot is obtained by a system in the movement process, and then the relative posture between the supporting legs is obtained through calculation according to the current supporting posture and the ideal supporting posture preset in the next step; corrected gait parameters of the next step are calculated by the system according to the relative posture between the supporting legs in the two steps and the joint distance between the left ankle joint and the right ankle joint in the initial state when the biped robot stands; and finally, the next supporting leg is controlled by the system to move according to the corrected gait parameters. In the moving process, the system monitors the foothold of the biped robot in real time and adjusts the gait parameters of the biped robot in the next step according to a preset algorithm, so that the ideal foothold position of the biped robot is tracked in real time in the moving process, preset path deviation caused by motion errors is avoided, andthus the collaboration of the multi-biped robot formation in the movement process is ensured.

Description

technical field [0001] The present application relates to the technical field of robot motion, in particular to a method, device and computer equipment for correcting gait of a biped robot. Background technique [0002] Biped robot is the most promising type of robot serving people in the environment where people live and work, and it has always been a research hotspot in the field of robotics. In scenarios where biped robots work together, the relative distance between robots may be very small. On the one hand, if you only care about the end point accuracy of the biped robot and do not close the position of the walking process, it will cause the robot to collide with the outside world. On the other hand, if the deviation correction algorithm used by the robot only performs deviation correction for the end point of the motion path, it will not be able to guarantee the time it takes for the robot to reach the stop condition (that is, the number of steps used by the robot to ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G06K9/00B62D57/032
CPCB25J9/1664B62D57/032G06V40/25B25J9/1653G05B2219/40264B25J9/162B25J9/1666
Inventor 麻星星陈春玉葛利刚王鸿舸黄明强周江琛刘益彰谢铮熊友军
Owner UBTECH ROBOTICS CORP LTD
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