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Spring load inverted pendulum model of biped robot and gait planning method

A biped robot, spring-loaded technology, applied in the directions of instruments, two-dimensional position/channel control, control/regulation systems, etc., can solve the problems of limiting the application of biped robots, achieve a simple gait planning method, and improve the step length. The effect of range, precise foot control

Active Publication Date: 2021-06-29
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
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Problems solved by technology

The traditional spring-loaded inverted pendulum model does not have these characteristics, which limits its application in biped robots

Method used

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  • Spring load inverted pendulum model of biped robot and gait planning method
  • Spring load inverted pendulum model of biped robot and gait planning method
  • Spring load inverted pendulum model of biped robot and gait planning method

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Embodiment Construction

[0065] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0066] see figure 1 and figure 2 , the spring-loaded inverted pendulum model of the biped robot provided by the present invention, the model includes two legs with adjustable stiffness, a center of mass, ankle joints and feet, one end of the two legs is connected to the center of mass, and the other ends are respectively passed through The ankle joint is connected to the foot. Wherein, the a...

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Abstract

The invention belongs to the related technical field of biped robot gait planning, and discloses a spring load inverted pendulum model of a biped robot and a gait planning method. The model comprises two legs and a mass center, and one ends of the two legs are connected to the mass center; the rigidity of the legs can be adaptively adjusted according to the step length of the biped robot; and the model further comprises ankle joints and a foot, and the other ends of the two legs are connected to the foot through the ankle joints respectively. The spring load inverted pendulum model has the finite-size feet and actively-controlled ankle joints, can effectively improve the control performance and movement performance of a robot, and can be applied to various biped or humanoid robots containing the active ankle joints and the feet; and the model has the characteristic of being adjustable in leg rigidity, can realize flexible landing and reduce foot-to-ground impact, and can improve the step length range of the biped robot in combination with a gait planning method of a self-adaptive leg stretching strategy.

Description

technical field [0001] The invention belongs to the related technical field of biped robot gait planning, and more specifically relates to a spring-loaded inverted pendulum model of a biped robot and a gait planning method. Background technique [0002] The simplified biped robot model is an approximate dynamic model that abstracts the main features of the robot. Since the biped robot has the characteristics of multi-joint, nonlinear, strong coupling and variable structure, using the simplified model to control the robot can grasp the key points of control, facilitate motion planning, and effectively reduce the difficulty of control. It is currently widely used in biped robots. gait planning for footed robots. [0003] The spring-loaded inverted pendulum model (Spring-Loaded Inverted Pendulum, SLIP) is a simplified model of a biped robot that is widely used. legs composition. The spring-loaded inverted pendulum model naturally has flexible legs, which can absorb the impac...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221
Inventor 高亮谢思诚钟浩然卢盛雨胡成颢董昊臻李新宇李培根
Owner HUAZHONG UNIV OF SCI & TECH
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