Method for assisting robot in walking

Abstract

The invention provides a method for assisting a robot in walking. The method comprises the steps that a control mode of the walking robot is determined by analyzing ground information; an action instruction is generated based on the determined control mode to control the walking robot; action information is collected by sensing or measuring the action of at least one joint of the walking robot; the action state of the at least one joint is determined based on the collected action information; and the action instruction is corrected based on the determined action state of the at least one joint. Ground information detection is conducted to generate the action instruction based on the current ground, and thus the walking robot is assisted in conducting adaptive walking under the current road surface; and information of all the joints is detected to correct the action instruction in real time, and thus walking balance and walking smoothness of the walking robot are ensured.

Description

technical field

[0001] The invention relates to the field of walking robots, in particular to a method for assisting a robot to walk. Background technique

[0002] A walking aid device is a device that assists a user in performing the motion of walking. A user may have difficulty walking due to various reasons including weak leg muscle strength caused by, for example, congenital causes such as genetic defects or acquired causes such as disease or accidents.

[0003] Assisted walking devices may include assisted walking vehicles and assisted walking robots. In the assisted walking vehicle, a rotation unit and a support portion for supporting a user are installed, and the rotation unit and the support portion are moved in response to a pushing force applied by a user.

[0004] On the other hand, the assisting walking robot is fixed to the user's leg and supplements the lack of strength required for walking by applying the force required for walking to muscles. For example, ...

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