Robot, motion coordination method thereof, control device and readable storage medium

A motion coordination and control device technology, applied in the field of robotics, can solve the problems of uncoordinated foot movement of running precision robots, and achieve the effect of improving motion coordination

Active Publication Date: 2021-01-05
北歌(潍坊)智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, at present, each degree of freedom of the robot needs a DC servo motor to drive. Different feet use different servo motors. When the robot runs according to the pre-established parameters and walks in an anthropomorphic gait, the difference in the running accuracy of each motor will Problems that cause uncoordinated movements of the different feet of the robot

Method used

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  • Robot, motion coordination method thereof, control device and readable storage medium
  • Robot, motion coordination method thereof, control device and readable storage medium
  • Robot, motion coordination method thereof, control device and readable storage medium

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Embodiment Construction

[0047] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0048] The main solution of the embodiment of the present invention is: control the robot to perform the set walking action according to the set gait control parameters, and obtain the first duration and the second duration; the first duration is when the first foot completes the setup. Set the duration required for the walking action, the second duration is the duration required for the second foot to complete the set walking action; determine the motion adjustment parameters according to the first duration and the second duration; according to The motion adjustment parameter adjusts the set gait control parameter to coordinate movement of the first foot and the second foot.

[0049] In the prior art, each degree of freedom of the robot currently requires a DC servo motor to drive, and different feet use different se...

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Abstract

The invention discloses a motion coordination method. The method comprises the steps of controlling a robot to execute a set walking action according to a set gait control parameter, and obtaining a first duration and a second duration, wherein the first duration is the duration required for the first foot to complete the set walking action, and the second duration is the duration required for thesecond foot to complete the set walking action, determining a motion adjustment parameter according to the first duration and the second duration, and adjusting the set gait control parameter according to the motion adjustment parameter so as to enable the first foot and the second foot to move coordinately. The invention further discloses a robot control device, a robot and a computer readable storage medium, which aim to improve the motion coordination of the robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a motion coordination method, a robot control device, a robot and a computer-readable storage medium. Background technique [0002] With the development of economy and technology, robots have become a research hotspot, and have outstanding advantages in medical treatment, production, rescue, etc. Among them, robots that can simulate human foot movements have broad application scenarios, for example, end traction The medical health robot assists people with walking disabilities in rehabilitation by simulating foot movements. [0003] However, at present, each degree of freedom of the robot needs a DC servo motor to drive. Different feet use different servo motors. When the robot runs according to the pre-established parameters and walks in an anthropomorphic gait, the difference in the running accuracy of each motor will This leads to uncoordinated movements of the different feet ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08B62D57/032
CPCG05D1/0891B62D57/032
Inventor 贾伟强傅建波赵晓东
Owner 北歌(潍坊)智能科技有限公司
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