Humanoid robot control method and device, computer equipment and storage medium

A technology of a humanoid robot and a control method, applied in the fields of devices, humanoid robot control methods, computer equipment and storage media, capable of solving the problems of low flexibility, low adaptability, and low stability of humanoid robots, and achieving improved flexibility stability and stability, and the effect of simplifying the planning process

Active Publication Date: 2021-05-11
UBTECH ROBOTICS CORP LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the structure of the robot is relatively complex, and the humanoid robot that usually uses a fixed programming

Method used

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  • Humanoid robot control method and device, computer equipment and storage medium
  • Humanoid robot control method and device, computer equipment and storage medium
  • Humanoid robot control method and device, computer equipment and storage medium

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[0027]In order to make the objectives, technical solutions and advantages of the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely intended to illustrate the invention and are not intended to limit the invention.

[0028]Such asfigure 1 As shown, the present invention proposes a method of controlling the human robot, which includes:

[0029]Step 102, the attitude information corresponding to the human leg joint is acquired by setting the attitude sensor on the human body.

[0030]Among them, the posture sensor uses the MEMS inertial sensor to capture the gesture information of the target in real time. This patent focuses on the research of leg action capture and imitation. Compared to arm movement imitating, the leg action mimic not only needs to consider the action mapping, but also need to consider gait stability. In or...

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Abstract

The invention relates to a humanoid robot control method which comprises the steps: mapping posture information corresponding to human leg joints to humanoid robot leg joint steering engines, the leg joint steering engines comprising a non-target optimization joint steering engine and target an optimization joint steering engine; obtaining an expected rotation angle and an expected rotation angular velocity corresponding to the non-target optimization joint steering engine and an expected rotation angle and an expected rotation angular velocity corresponding to the target optimization joint steering engine; establishing an optimization target function corresponding to the target optimization joint steering engine; optimizing the expected rotation angle and the expected rotation angular velocity of the target optimized joint steering engine according to the optimized target function to obtain a corrected expected rotation angle and a corrected expected rotation angular velocity corresponding to the target optimized joint steering engine; and according to the expected rotation angle and the expected rotation angular velocity corresponding to the non-target optimization joint steering engine and the corrected expected rotation angle and the corrected expected rotation angular velocity corresponding to the target optimization joint steering engine, controlling each joint steering engine of the legs of the humanoid robot.

Description

technical field [0001] The invention relates to the technical field of humanoid robots, in particular to a control method, device, computer equipment and storage medium for a humanoid robot. Background technique [0002] A biped humanoid robot is a robot that imitates the movement characteristics of human beings such as standing, walking and jumping. In traditional humanoid robots, the position and posture of the humanoid robot are usually programmed, and the precise dynamic model is used to carry out the steps. The design of dynamic planning algorithm can obtain the expected rotation angle of each joint, and then control it through the autonomous movement of the robot and remote control to realize the action imitation of the humanoid robot. However, the structure of the robot is relatively complex, and the humanoid robot that usually uses a fixed programming method has a low adaptability to complex terrain, resulting in low flexibility and low stability of the humanoid robo...

Claims

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Application Information

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IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 白杰葛利刚刘益彰熊友军
Owner UBTECH ROBOTICS CORP LTD
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