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.
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[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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