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A spring-loaded inverted pendulum model and gait planning method for a biped robot

A bipedal 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 bipedal robots, achieve a simple gait planning method, and improve control performance and motion performance, easy-to-implement effects

Active Publication Date: 2022-04-01
HUAZHONG UNIV OF SCI & TECH
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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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  • A spring-loaded inverted pendulum model and gait planning method for a biped robot
  • A spring-loaded inverted pendulum model and gait planning method for a biped robot
  • A spring-loaded inverted pendulum model and gait planning method for a biped robot

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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-loaded inverted pendulum model of a biped robot and a gait planning method. The model includes two legs and a center of mass, and one end of the two legs is connected at the center of mass; the stiffness of the legs can be adaptively adjusted according to the step length of the biped robot; the model also includes ankle joints and feet, and the other ends of the two legs are respectively connected to the foot. The improved spring-loaded inverted pendulum model containing finite-size feet has finite-size feet and actively controlled ankle joints, which can effectively improve the control performance and motion performance of robots, and can be applied to various types of active ankle joints and feet. In the biped or humanoid robot; this model has the characteristics of adjustable leg stiffness, which can achieve soft landing and reduce the impact of the foot. long range.

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 Patents(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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