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A humanoid robot control method, device, computer equipment and storage medium

A technology of a humanoid robot and a control method, which is applied in the fields of a humanoid robot control method, computer equipment, storage media, and devices, and can solve the problems of low flexibility, low adaptability, and low stability of a humanoid robot, and achieve improved flexibility. stability and stability, and the effect of simplifying the planning process

Active Publication Date: 2022-04-15
UBTECH ROBOTICS CORP LTD
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  • Abstract
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  • 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 has a low adaptability to complex terrain, resulting in low flexibility and low stability of the humanoid robot.

Method used

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  • A humanoid robot control method, device, computer equipment and storage medium
  • A humanoid robot control method, device, computer equipment and storage medium
  • A humanoid robot control method, device, computer equipment and storage medium

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Embodiment Construction

[0027] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0028] Such as figure 1 As shown, the present invention proposes a kind of humanoid robot control method, and this method comprises:

[0029] In step 102, the posture information corresponding to the leg joints of the human body is collected by the posture sensor installed on the human body.

[0030] Among them, the attitude sensor adopts MEMS inertial sensor, which can capture the attitude information of the target in real time. This patent focuses on the research of leg motion capture and imitation. Compared with arm motion imitation, leg motion imitation needs to consider not only motion mapp...

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Abstract

The present application relates to a control method for a humanoid robot, including: mapping posture information corresponding to human leg joints to a humanoid robot leg joint steering gear, and the leg joint steering gear includes a non-target optimized joint steering gear and a target optimized joint steering gear machine, get the expected rotation angle and the expected rotation angular velocity corresponding to the non-target optimized joint steering gear, the expected rotation angle and the expected rotation angular velocity corresponding to the target optimized joint steering gear; establish the optimization objective function corresponding to the target optimized joint steering gear; according to the optimization objective The function optimizes the expected rotation angle and the expected rotational angular velocity of the target optimized joint steering gear to obtain the corrected expected rotational angle and corrected expected rotational angular velocity corresponding to the target optimized joint steering gear; according to the non-target optimized joint servo corresponding expected rotational angle and expected rotational angular velocity And the corrected expected rotation angle and corrected expected rotational angular velocity corresponding to the target optimized joint steering gear control each joint steering gear of the leg 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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Patent Type & Authority Patents(China)
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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