Method, system, device and medium for controlling compliant gait of a biped robot

Abstract

The invention discloses a biped robot compliant gait control method, system, equipment and medium, belonging to the field of robot control. The method includes: calculating the actual end state of the biped robot in the initial state, and adjusting leg stiffness and touch The ground angle until the difference optimization function between the actual end state and the expected end state is minimized, and the optimal leg stiffness and the optimal ground contact angle are obtained; using multiple sets of initial states, expected end states, optimal leg stiffness and The optimal ground contact angle trains the multi-layer neural network, so that the loss function of the multi-layer neural network is minimized; the initial state and expected end state of the current gait cycle are input into the trained multi-layer neural network, and according to the output leg stiffness The control quantity and ground contact angle control quantity control the current gait cycle of the biped robot. Control the stiffness of the robot's legs and the angle of contact with the ground, reduce the ground impact when it touches the ground, improve the stability of the robot, and achieve fast and precise control in any initial state.

Description

technical field [0001] The invention belongs to the field of robot control, and more specifically relates to a method, system, device and medium for controlling a compliant gait of a biped robot. Background technique [0002] The arrival of an aging society, rising labor costs, fast-paced life and many other factors make the society's demand for high-performance service robots more and more urgent. Compared with multi-legged robots, biped robots have the advantages of flexibility and human-like appearance, and are more adaptable to the environment and tools developed based on human characteristics, so they are more versatile and easier to be accepted by people. Biped robots can also play a role in high-risk fields such as emergency rescue and disaster relief, patrol early warning, and military operations, and can greatly reduce casualties, which is of great significance. The traditional biped robot adopts a rigid structure, and generally realizes the smooth walking of the r...

AI Technical Summary

Problems solved by technology

Compared with the LIP model, the SLIP model does not have an analytical solution, and the calculation is more complicated. Therefore, the gait planning based on the SLIP model is transformed into an optimization problem, but the optimization time is long, and it is difficult to achieve fast online gait generation, which greatly limits the its practicality

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