Humanoid gait control method, device and equipment of humanoid robot and storage medium

Abstract

The embodiment of the invention discloses a humanoid gait control method, device and equipment of a humanoid robot and a storage medium, and the method comprises the steps: obtaining a first vector from a virtual centroid to a left ankle joint and a second vector from the virtual centroid to a right ankle joint of the humanoid robot at a current moment, and obtaining a virtual centroid original planning value of the humanoid robot at the current moment; according to the first vector, the second vector, the virtual centroid original planning value and a preset algorithm for reducing the virtual centroid height, determining the target virtual centroid height of the humanoid robot after the virtual centroid is reduced at the current moment; and controlling the humanoid robot to walk straight knees according to the target virtual centroid height. The height of the virtual centroid of the humanoid robot is reduced by using the vector between the two legs and the virtual centroid of the humanoid robot, straight knee walking is realized by reducing the height of the virtual centroid, gait control of the humanoid robot is optimized, the torque requirement of a knee joint steering engine is further reduced, and the hardware design weight is reduced.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a humanoid gait control method, device, equipment and storage medium of a humanoid robot. Background technique [0002] The current research on biped robots has solved the problem of robot walking pattern generation, and a variety of stable walking gait patterns of humanoid robots have been realized. However, the walking patterns of these traditional humanoid robots are not as natural as humans. The main reason is that there are differences in the control of the knee joints of robots in robot walking patterns and human walking patterns. Human walking patterns include straight knee walking, while humanoid walking patterns The human-robot walking mode does not have this control mode. [0003] The reason why traditional robots cannot walk with straight knees is that the straight knee posture is actually a kinematic singularity point, where the inverse motion cannot be solved....

AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to provide a humanoid gait control method, device, equipment and storage medium of a humanoid robot, which can solve the problem that the traditional robot in the prior art has a large demand for the torque of the knee joint steering gear, which leads to the inability to walk at a high speed. Further improvement, and the gait is different from human gait

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