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Walking control method and device of biped robot and biped robot

A biped robot and walking control technology, applied in the field of biped robot walking control, biped robot and computer readable storage medium, can solve the problem of robot walking instability, and achieve the desired torque control amount accurate and walking stability. Effect

Pending Publication Date: 2021-06-25
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides a biped robot walking control method, device and biped robot, which can solve the problem of unstable walking of existing robots

Method used

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  • Walking control method and device of biped robot and biped robot
  • Walking control method and device of biped robot and biped robot
  • Walking control method and device of biped robot and biped robot

Examples

Experimental program
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Effect test

Embodiment 1

[0035] When users use a biped humanoid robot (referred to as a biped robot), they all hope that the biped robot can walk stably, but in the process of walking, the existing biped robot is likely to be unstable. . This is because when the swing leg of the biped robot touches the ground, it will be subjected to a sharply increased ground support reaction force, which will cause the biped robot to become unstable. join Picture 1-1 , in order to solve this technical problem, the embodiment of the present application proposes to select corresponding parameters according to the current gait cycle of the biped robot, and determine the reference velocity and reference acceleration of the biped robot according to the selected parameters, and then determine the torque control amount, and finally control the walking of the biped robot according to the desired torque control amount. That is, the gait cycle is determined by the state machine, and then the determined parameters (such as ...

Embodiment 2

[0128] Corresponding to the walking control method of the biped robot described in the above embodiments, Figure 5 A structural block diagram of the walking control device of the biped robot provided by the embodiment of the present application is shown, and for the convenience of description, only the parts related to the embodiment of the present application are shown.

[0129] refer to Figure 5, the walking control device 5 of the biped robot includes: a gait cycle determination unit 51, a parameter determination unit 52, a reference quantity determination unit 53, a torque control quantity determination unit 54, and a robot walking control unit 55, wherein:

[0130] A gait cycle determining unit 51, configured to determine the gait cycle of the biped robot currently in which the gait cycle is divided according to the biped walking posture of the biped robot;

[0131] A parameter determining unit 52, configured to determine corresponding parameters according to the gait ...

Embodiment 3

[0160] Image 6 A schematic structural diagram of a biped robot provided in Embodiment 3 of the present application. like Image 6 As shown, the biped robot 6 of this embodiment includes: at least one processor 60 ( Image 6 Only one processor is shown in ), a memory 61 and a computer program 62 stored in the memory 61 and operable on the at least one processor 60, when the processor 60 executes the computer program 62, the above-mentioned Steps in any of the various method embodiments:

[0161] Determine the current gait cycle of the biped robot, where the gait cycle is divided according to the biped walking posture of the biped robot;

[0162] determining corresponding parameters according to the gait cycle;

[0163] determining a reference velocity and a reference acceleration of the biped robot according to the parameters;

[0164] determining an expected torque control amount of the biped robot according to the reference speed and the reference acceleration;

[0165...

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Abstract

The invention is suitable for the technical field of humanoid robots, and provides a walking control method and device of a biped robot and the biped robot. The method comprises the steps: determining the current gait cycle of the biped robot is determined, wherein the gait cycle is divided according to the biped walking posture of the biped robot; determining corresponding parameters according to the gait cycle; determining a reference speed and a reference acceleration of the biped robot according to the parameters; determining the expected torque control quantity of the biped robot according to the reference speed and the reference acceleration; and controlling walking of the biped robot according to the expected torque control quantity. By means of the method, walking of the biped robot can be more stable.

Description

technical field [0001] The present application belongs to the technical field of humanoid robots, and in particular relates to a biped robot walking control method and device, a biped robot and a computer-readable storage medium. Background technique [0002] Robots designed and manufactured to imitate human shapes and behaviors are humanoid robots, which generally have humanoid limbs and heads separately or simultaneously. [0003] However, when existing biped robots walk around in various terrains, they may be unstable. Therefore, a new method needs to be proposed to solve the above technical problems. Contents of the invention [0004] Embodiments of the present application provide a biped robot walking control method, device and biped robot, which can solve the problem of unstable walking of existing robots. [0005] In the first aspect, the embodiment of the present application provides a walking control method for a biped robot, including: [0006] Determine the c...

Claims

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Application Information

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IPC IPC(8): G05D1/02B62D57/032
CPCG05D1/0223B62D57/032
Inventor 白杰葛利刚刘益彰王鸿舸谢铮庞建新熊友军
Owner UBTECH ROBOTICS CORP LTD
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