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AZR adjusting method for real-time walking gaits of biped robot

A technology of biped robot and adjustment method, applied in the direction of control/adjustment system, instrument, adaptive control, etc., can solve the problems of consumption, not efficient method, multi-energy and so on

Active Publication Date: 2021-06-11
HENAN UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Since the walking gait of the biped robot (humanoid robot) has highly nonlinear characteristics, modeling errors inevitably exist in the modeling of the biped robot. The ZeroMoment Point (ZMP) trajectory is fixed at the center of the supporting foot to achieve the most stable walking, but this is not an efficient method, so walking will consume more energy;

Method used

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  • AZR adjusting method for real-time walking gaits of biped robot
  • AZR adjusting method for real-time walking gaits of biped robot
  • AZR adjusting method for real-time walking gaits of biped robot

Examples

Experimental program
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Effect test

Embodiment 1

[0067] like figure 1 and figure 2 As shown, the AZR adjustment method of a biped robot walking real-time gait provided by the embodiment of the present invention, the method includes the following steps:

[0068] Step 1: Construct an online database using the calculated data of the robot offline system, the online database includes the robot step size set S, the AZR set H, the walking gait set G and the energy consumption set E;

[0069] Step 2: Given the target travel distance d of the robot and the desired AZR position r AZR , planning the step sequence with the lowest energy consumption

[0070] Step 3: Take out the length of each step of the robot and the AZR variable η i , query the online database, get the motor angle sequence g of gait control i ;

[0071] Step 4: According to the footstep pressure set F during robot walking i , to calculate the real-time ZMP trajectory r ZMP (n), based on r ZMP (n) and r AZR (n), get the deviation value e in the Y-axis di...

Embodiment 2

[0075] like Figure 4 and Figure 5 As shown, based on the above-mentioned embodiment 1, in this embodiment, in order to obtain the step size sequence with the lowest energy consumption , optimized step 2, specifically:

[0076] Step 2.1: The step sequence includes a start step, a stop step and a plurality of cycle steps s m , a plurality of said cycle steps s m The step lengths are equal, according to the robot motion rules, the definition of the initial step includes s 1 and s 2 , the stop step includes s c-1 and s c , let s 1 =s c , s 2 =s c-1 , and the total length of the start step and the stop step is 1~2 times the cycle step s m the step size;

[0077] Step 2.2: Given the target travel distance d of the robot, the cycle step s is known m The step size, calculate the initial step s by formula (1) 1 and s 2 step size:

[0078]

[0079] Among them, d b is the total length of the start step and the stop step; c is the total number of steps;

[0080] St...

Embodiment 3

[0087] Based on the above-mentioned embodiment 1, in the present embodiment, in order to draw the real-time ZMP track r ZMP (n) Step 4 is optimized, specifically:

[0088] Real-time ZMP trajectory r as described in step 4.1 ZMP (n) is expressed as:

[0089] r ZMP (n)=[x ZMP (n) y ZMP (n) 0] T (4);

[0090] Among them, x and y represent the front and side directions of the robot, respectively;

[0091] Combined with the formula (4), the robot walks the i-th step, and the value set F of the robot foot pressure sensor at the sampling point n is i (n), calculate the real-time ZMP trajectory r ZMP (n), as expressed in formula (5):

[0092]

[0093] in, and f i j (n)∈F i (n), respectively the position and pressure of the jth sensor in the x-axis direction and y-axis direction, c n is the number of sensors.

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Abstract

The invention relates to an AZR adjustment method for real-time walking gaits of a biped robot. The method comprises the steps that: an online database is built through the calculation data of an offline system of the robot, wherein the online database comprises a robot step length set S, an AZR set H, a walking gait set G and an energy consumption set E; with a robot target travel distance d and expected AZR position rAZR given, a step length sequence Sm <*> with the lowest energy consumption is planned; each step length of the robot and an AZR variable eta i are taken out, an online database is inquired, a motor angle sequence gi for gait control is obtained; a real-time ZMP track rZMP is calculated according to a footstep pressure set Fi in walking of the robot; a deviation value ei of the rZMP (n) and rAZR (n) is utilized, a correction value eta i+1 of the AZR variable eta i is obtained through a PI correction method, and an online database is queried according to the correction value eta i+1 and the step length si+1, and the gait track of the biped robot is optimized on line. According to the method, the interference of robot modeling and environmental errors can be overcome, high-robustness and low-energy-consumption gait control is realized in the walking process of the biped robot, and the walking problem of the biped robot with high nonlinear characteristics is well solved.

Description

technical field [0001] The invention relates to the field of biped robot motion design, in particular to an AZR adjustment method for walking real-time gait of a biped robot. Background technique [0002] Since the walking gait of the biped robot (humanoid robot) has highly nonlinear characteristics, modeling errors inevitably exist in the modeling of the biped robot. The ZeroMoment Point (ZMP) trajectory is fixed at the center of the supporting foot to achieve the most stable walking, but this is not an efficient method, so walking will consume more energy; [0003] After studying the AZR (Allowable ZMP Region, AZR) method, it is a better way to overcome the robot modeling error and efficient walking. In the area of ​​the supporting feet, draw some edge areas to compensate for modeling error, and make the ZMP trajectory of the robot walk within the AZR in the middle of the supporting foot; [0004] The stability or energy consumption of a biped robot is related to the var...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 卢志强侯媛彬孟芸柴秀丽
Owner HENAN UNIVERSITY
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