Biped robot attitude adjustment method, device, equipment and storage medium
A technology of biped robot and adjustment method, which is applied in the directions of manipulator, motor vehicle, transportation and packaging, etc., can solve the problems such as the inability to effectively adjust the position of the center of mass of the robot and the poor attitude control effect, so as to achieve good attitude stabilization effect and improve effect. , the effect of a small amount of operation
Active Publication Date: 2022-03-04
乐聚(深圳)机器人技术有限公司
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[0005] The purpose of this application is to provide a posture adjustment method, device, equipment and storage medium for a biped robot in view of the deficiencies in the above-mentioned prior art, so as to solve the problem that the position of the center of mass of the robot cannot be effectively adjusted in the prior art, and the posture control effect cannot be effectively adjusted. bad question
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[0054] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments.
[0055] The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained...
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The present application provides a posture adjustment method, device, equipment and storage medium of a biped robot, relating to the field of biped robots. The method includes: acquiring the roll angle and roll angular velocity of the torso of the biped robot; calculating the target roll compensation angle of the feet of the biped robot according to the roll angle and the roll angular velocity; calculating the target roll compensation angle according to the target roll compensation angle and the horizontal distance between the feet of the biped robot, calculate the height compensation value of the feet; adjust the height of the soles of the feet according to the height compensation value. Compared with the prior art, the problem that the position of the center of mass of the robot cannot be effectively adjusted and the attitude control effect is not good is avoided.
Description
technical field [0001] The present application relates to the technical field of bipedal robots, and in particular, to a posture adjustment method, device, equipment and storage medium of a bipedal robot. Background technique [0002] A humanoid robot is a robot designed and manufactured to imitate the shape and behavior of a human. Generally, it has humanoid legs and a head. Generally, it can be designed into different shapes according to different application requirements, such as industrial robotic arms, wheelchair robots, walking robots, etc. How to control the posture of a humanoid robot when it travels on a non-horizontal road surface or stands on a plane with changing inclination is an urgent problem to be solved. [0003] The existing methods mainly adjust the posture through the hip joint motion of the humanoid robot, and adjust the posture through real-time re-planning of the torso trajectory. [0004] However, this adjustment method can adjust the orientation of...
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IPC IPC(8): B62D57/032B25J11/00
CPCB62D57/032B25J11/00
Inventor 冷晓琨常琳何治成白学林柯真东王松吴雨璁黄贤贤
Owner 乐聚(深圳)机器人技术有限公司