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Humanoid robot and control method thereof, and computer readable storage medium

A technology of humanoid robot and control method, applied in the field of humanoid robot and its control, computer readable storage medium, can solve problems such as inability to realize non-bias control, slow response of feedback system, etc., to improve balance ability and anti-interference ability , The effect of solving the response lag and ensuring the accuracy of the center of mass control

Active Publication Date: 2021-06-29
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The invention provides a humanoid robot, its control method and a computer-readable storage medium, so as to solve the problems in the prior art that the response of the feedback system is slow and the non-deviation control cannot be realized

Method used

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  • Humanoid robot and control method thereof, and computer readable storage medium
  • Humanoid robot and control method thereof, and computer readable storage medium
  • Humanoid robot and control method thereof, and computer readable storage medium

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Embodiment Construction

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0024] see figure 1 , figure 1 It is a schematic flowchart of an embodiment of a control method for a humanoid robot provided by the present invention.

[0025] S11: Obtain the current plantar moment information, plantar inclination angle, first joint inclination angle and second joint inclination angle of the humanoid robot.

[0026] In this embodiment, the torque information applied to the humanoid robot by the outside world is collected through the six-di...

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Abstract

The invention discloses a humanoid robot and a control method thereof, and a computer readable storage medium. The control method comprises the steps that current plantar moment information, a plantar inclination angle, a first joint inclination angle and a second joint inclination angle of the humanoid robot are obtained; a current first joint motor feed-forward angular velocity and a current second joint motor feed-forward angular velocity of the humanoid robot are obtained through calculation based on the information, and then the first joint motor feedback angular velocity and the second joint motor feedback angular velocity of the humanoid robot are further obtained through calculation; and finally, according to the feedforward angular velocity of each motor and the feedback angular velocity of each motor, a reference angle of each motor is acquired so that each motor performs deviation control on each joint through the reference angle of each joint motor. By means of the mode, the control method integrating feedforward control and feedback control is adopted, the mass center control precision is ensured, meanwhile, a response lag problem existing in feedback control is effectively solved, and the balance capacity and the anti-interference capacity of the humanoid robot are improved.

Description

technical field [0001] The invention relates to the technical field of humanoid robots, in particular to a humanoid robot, a control method thereof, and a computer-readable storage medium. Background technique [0002] Humanoid robots refer to robots designed and manufactured to imitate human shapes and behaviors; humanoid robots generally have anti-human torsos and limbs, and robots are generally designed in different shapes according to different application requirements, such as: mechanical arms used in industry, Wheelchair robots and walking robots, etc.; the research of humanoid robots integrates many sciences such as machinery, electronics, computers, materials, sensors and control technologies. [0003] Static balance control is an important task in the research of humanoid robots, which directly determines the balance maintenance and balance recovery capabilities of humanoid robots in a standing static state. When the humanoid robot is disturbed by the outside world...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42G05B2219/40264B25J9/1602B62D57/032B25J13/085B62D57/02B25J9/1607B25J13/088B25J9/1651
Inventor 谢岩鞠笑竹赵明国熊友军
Owner UBTECH ROBOTICS CORP LTD
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