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Biped robot path planning method and device and biped robot

A biped robot and path planning technology, applied in the field of robot navigation, can solve problems that are not suitable for biped robots

Pending Publication Date: 2021-04-30
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, traditional planning methods for wheeled robots are not suitable for biped robots

Method used

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  • Biped robot path planning method and device and biped robot
  • Biped robot path planning method and device and biped robot
  • Biped robot path planning method and device and biped robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] figure 1 A schematic flow chart of the first method for path planning of a biped robot according to an embodiment of the present application is shown. The method of this embodiment uses the footprint set of the biped robot to sequentially search for sub-nodes on the nodes on the path, not only can realize the path planning of the biped robot from the starting point to the end point, but also combines the information based on the biped robot itself and the two The footprint set generated by the joint movement information of the legs is used to expand the sub-nodes, which can greatly reduce the amount of node searches.

[0054] In this embodiment, before performing the following step S110, the method further includes:

[0055] Receive navigation information, the navigation information includes a global map of the biped robot walking, the global map includes obstacle information, designated initial nodes and target nodes.

[0056] Generally, when the biped robot receives...

Embodiment 2

[0076] Please refer to Figure 4 The difference between the biped robot path planning method proposed in this embodiment and the method in the above-mentioned embodiment 1 is that this embodiment also optimizes the above-mentioned path node search process through the global path, thereby speeding up the path search speed and improving the path planning efficiency. Wait.

[0077] Exemplarily, the method further includes: generating a global path from the initial node to the target node based on a preset path planning algorithm according to the received navigation information and the preset expansion radius of the biped robot. Wherein, the global path can be used to optimize the above-mentioned cost evaluation function and / or reduce the number of candidate nodes in the above-mentioned candidate node set.

[0078] Exemplarily, when generating the global path, the biped robot can be regarded as a center of mass but has a larger expansion radius, and at this time, it can be quickl...

Embodiment 3

[0099] Please refer to Figure 9 , based on the method of Embodiment 1 above, this embodiment proposes a path planning device 100 for a biped robot. Exemplarily, the biped robot path planning device 100 includes:

[0100] The selection module 110 is used to generate a set of candidate nodes for the next foothold according to the parameters of the biped robot itself and the joint motion information of the current node, and gather the candidate nodes that have no collision with the obstacle according to the obstacle information. The candidate nodes are added to the priority queue, and are also used to calculate the cost value of each candidate node in the priority queue and select the candidate node with the smallest cost value as the optimal node output. Wherein, the priority queue is a data structure in which the cost values ​​of the candidate nodes in the priority queue are calculated by using the constructed cost evaluation function and sorted according to the cost values ​...

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Abstract

The embodiment of the invention provides a biped robot path planning method and device and a biped robot, and the method comprises the steps: generating a candidate node set of a next foothold through the parameters of the biped robot and the joint movement information of a current node, adding effective candidate nodes in the candidate node set to the priority queue to select optimal nodes to achieve expansion of the next node, wherein the output optimal nodes generate a foothold sequence from the initial node to the target node so that the path node search amount of the biped robot during double-leg crossed landing can be greatly reduced; and thus the path planning efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of robot navigation, in particular to a biped robot path planning method, device and biped robot. Background technique [0002] For wheeled robots, navigation is usually achieved by following the trajectory of the center of mass. In the process of route planning, the wheeled robot is usually regarded as a point, and the obstacles existing in the map can be expanded according to the lateral size of the robot to realize the selection of obstacle avoidance routes. However, for a biped robot with left and right legs, it needs to complete navigation by planning the footholds of the crossed left and right legs. Therefore, traditional planning methods for wheeled robots are not suitable for biped robots. Contents of the invention [0003] In view of this, the object of the present invention is to provide a biped robot path planning method, device and biped robot in order to overcome the deficiencies in the prio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D1/0289G05D1/0295G05D1/0285G05D1/0274G05D1/0217B25J9/1666B62D57/032G05D1/644G05D1/43G05D2109/12G05D1/637
Inventor 麻星星陈春玉葛利刚刘益彰王鸿舸白杰谢铮周江琛张美辉张硕熊友军
Owner UBTECH ROBOTICS CORP LTD
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