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Biped robot gait stability control method

A stable control method and technology for biped robots, which are applied in non-electric variable control, control/regulation systems, two-dimensional position/channel control, etc. Robot falls, etc.

Active Publication Date: 2021-04-23
成都启源西普科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to factors such as road conditions, the robot may fail to walk, and even the biped robot may fall.
This phenomenon is a fatal disaster for multiple biped robots

Method used

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  • Biped robot gait stability control method
  • Biped robot gait stability control method
  • Biped robot gait stability control method

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Experimental program
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Embodiment Construction

[0022] A method for controlling the gait stability of a biped robot, comprising:

[0023] The neural network model is established based on the nerve cell layer, the gait data of the first biped robot obtained by the gait measuring device is used for training, and the gait balance of the first biped robot is trained.

[0024] Preferably, the two feet, ankle joints and knee joints of the robot all have three degrees of freedom.

[0025] Preferably, the gait data includes angular velocity and acceleration, and the angular velocity and acceleration are angular velocity and acceleration in the forward direction.

[0026] Preferably, the gait measurement device includes a gyroscope and an accelerometer.

[0027] Preferably, training on gait data includes:

[0028] Obtain road surface information data, wherein the road surface information data at least includes route information and experience data connected to the current location in the electronic map;

[0029] Gait data is obta...

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PUM

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Abstract

The invention provides a biped robot gait stability control method which comprises the steps of establishing a neural network model based on a nerve cell layer, training by utilizing gait data of a first biped robot obtained by a gait measurement device, and training gait balance of the first biped robot. According to the biped robot, the training depth of the gait control model can be increased based on the empirical data of the biped robot or other biped robots.

Description

technical field [0001] The invention relates to a method for controlling the gait stability of a biped robot. Background technique [0002] Biped robots have better mobility than traditional wheeled robots. Bipedal walking is the most automated and most complex dynamic system in walking. With the advancement of science and technology, biped robots have developed rapidly and are widely used in many fields. At present, most buildings and tools are designed according to the height and shape of people, so biped robots have better flexibility in use as a robot platform. At the same time, the stability control of the biped robot's gait is the premise and basis for the smooth walking of the robot. Gait refers to the interrelationship of each joint in time and space during standing or walking, which can be described by the motion trajectory of the joints. [0003] The existing biped robot gait stability research is based on the method of Zero Moment Point (ZMP), establishes the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D1/0276
Inventor 王建
Owner 成都启源西普科技有限公司
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