Gait control method of under-actuated biped walking robot

A technology of walking robot and gait control, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve the problem of lack of robot walking control scheme

Inactive Publication Date: 2021-06-08
杭州汤谷云科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is: at present, there is no technical problem of the robot walking control scheme under the under-actuated condition

Method used

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  • Gait control method of under-actuated biped walking robot
  • Gait control method of under-actuated biped walking robot
  • Gait control method of under-actuated biped walking robot

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Embodiment 1

[0037] A gait control method of underwinding bipple footing robots, such as figure 1 As shown, including the following steps: Step 1, establish the kinetic model of the underflapped footer robot:

[0038]

[0039] This embodiment is suitable for figure 2 Double-foot robotic, where Q = [q 1 , Q 2 , Q 3 , Q 4 , Q 5 ] T For robotic joint degrees, Q 1 In order to support the angle of the leg calf and the vertical direction, it is the freedom of driving, Q 2 To support leg knee joint angles, Q 3 Is the angle between the torso and the vertical direction, Q 4 Q q,, 角 角 5 In order to swing the legs of the leg, D is the robot inertia matrix, To the coupling matrix, B is a constant matrix, u is the joint input torque. In this embodiment, the robot thigh and the calf length is 0.275m, and the mass is 0.875kg, the body is 0.15m wide, the trunk is 0.1m long, and the mass is 5.5 kg.

[0040] Step II. Establish virtual constraints, to substitute virtual constraints into robots, obtain zero-dy...

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Abstract

The invention relates to the technical field of robot control, in particular to a gait control method of an under-actuated biped walking robot, which comprises the following steps of: 1, establishing a kinetic model of the under-actuated biped walking robot; 2, establishing a virtual constraint, and substituting the virtual constraint into the dynamical model of the robot to obtain a zero dynamical model of the robot; 3, taking the minimum walking energy consumption of the robot as an objective function, establishing a nonlinear constraint optimization model, and solving the nonlinear constraint optimization model to obtain an ideal gait of the robot; and 4, based on the deviation between the current state of the robot and the ideal gait, establishing feedback control to control the gait of the robot. The method has the substantive effects that stable walking is realized by adjusting the swing time and the trunk angle of the robot in real time, feedback adjustment and control are performed based on the current state of the robot, and the method has stronger real-time response, can be used for gait control under the condition of large disturbance, and has a promotion effect on the practical application of the biped robot.

Description

Technical field [0001] The present invention relates to the field of robotic control, and more particularly to a gait control method of undersisciphed bipple walking robots. Background technique [0002] In recent years, due to the promotion of the Darpa Robot Challenge and the attention of various research institutions at home and abroad, the double-foot robot technology has achieved great breakthroughs, and the double robots have begun to the pursuit of "good" from pursuit "stabilization". Correspondingly, the double-foot robot walking control has also developed from all-drive walk to consider the driving walk. Full-drive walk requires robot support foot to keep the face contact with the ground and closely bonded to avoid the degree of underfelvation between the foot and the ground, and the underfinite walking does not limit the contact form of the robot's foot and the ground. In fact, human walking gait is a typical banking walking: human beings take the front of the front foo...

Claims

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Application Information

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IPC IPC(8): B62D57/032G05B13/04
CPCB62D57/032G05B13/042
Inventor 周张熙金鹏程袁海辉
Owner 杭州汤谷云科技有限公司
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