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A Gait Stability Control Method for a Biped Robot

A stable control method and biped robot technology, applied in control/adjustment system, non-electric variable control, two-dimensional position/channel control, etc., can solve biped robot fall, multiple biped robot collaboration disaster, Problems such as robot walking failure

Active Publication Date: 2022-05-10
成都启源西普科技有限公司
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  • Summary
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  • Description
  • Claims
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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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  • A Gait Stability Control Method for a Biped Robot
  • A Gait Stability Control Method for a Biped Robot
  • A Gait Stability Control Method for a Biped Robot

Examples

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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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Abstract

The invention provides a biped robot gait stability control method, including: establishing a neural network model based on the nerve cell layer, using the gait data of the first biped robot obtained by a gait measurement device to train, and training the first biped robot Gait balance of a footed robot. The biped robot of the present invention can not only improve the training depth of the gait control model based on the experience data of itself 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 Patents(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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