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A continuous dynamic and stable jump control method for humanoid robot

A humanoid robot, dynamic and stable technology, applied in the field of humanoid robots, to achieve the effect of enhancing environmental adaptability and improving athletic ability

Active Publication Date: 2021-12-24
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing jumping methods for humanoid robots are mostly single jump control methods, and there is no continuous jump control method for humanoid robots.

Method used

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  • A continuous dynamic and stable jump control method for humanoid robot
  • A continuous dynamic and stable jump control method for humanoid robot
  • A continuous dynamic and stable jump control method for humanoid robot

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0028] A continuous dynamic and stable jump control method for a humanoid robot, specifically comprising the following steps:

[0029] Step (1), establish the whole-body dynamics equation of the humanoid robot based on the floating basis

[0030] Simplify the humanoid robot as figure 1 The model composed of five connecting rods is shown, where m 0 is the mass of the upper body of the humanoid robot, m 1 is the mass of the right thigh of the humanoid robot, m 2 is the mass of the lower leg of the right leg of the humanoid robot, m 3 is the mass of the left thigh of the humanoid robot, m 4 is the mass of the left leg of the humanoid robot, and the mass of the robot foot is ignored. The degree of freedom of motion of a humanoid robot is simplified to have an ankle join...

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Abstract

The invention provides a continuous dynamic and stable jump control method of a humanoid robot, which belongs to the technical field of humanoid robots. According to the whole body dynamics equation of the humanoid robot, the present invention obtains the driving torque of each joint of the lower limbs of the humanoid robot, applies the driving torque to the lower limbs of the humanoid robot, and the humanoid robot enters the take-off stage. When the upper body position of the humanoid robot reaches the take-off height, it enters the aerial stage , to control the joints of the humanoid robot to achieve the desired posture when landing. When the humanoid robot falls from the air and touches the ground, it enters the landing stage, completes a jump cycle, and returns to the initial state of the robot jump. The invention ensures the continuous dynamic and stable jump control of the humanoid robot, significantly improves the movement ability of the humanoid robot, and further enhances the environment adaptability of the humanoid robot.

Description

technical field [0001] The invention belongs to the technical field of humanoid robots, and in particular relates to a continuous dynamic and stable jump control method of humanoid robots. Background technique [0002] Humanoid robots have the appearance characteristics of human beings, adapt to various complex terrains through their legs, and can assist or replace humans in completing tasks. Jumping motion can make the humanoid robot have stronger movement ability, and enhance the environmental adaptability and practical application ability of the humanoid robot. Most of the existing jumping methods for humanoid robots are single jumping control methods, and there is no continuous jumping control method for humanoid robots. Contents of the invention [0003] Aiming at the deficiencies in the prior art, the invention provides a continuous dynamic and stable jump control method of a humanoid robot, which makes the continuous dynamic stability of the humanoid robot during t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 孟立波陈学超余张国黄强齐皓祥石青
Owner BEIJING INSTITUTE OF TECHNOLOGYGY