Robot stepping control method and device, robot control equipment and storage medium
A control method and robot technology, applied in the direction of control/regulation system, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as instability and inability to maintain a balanced state, so as to improve operational reliability and avoid The effect of stepping
Active Publication Date: 2021-07-02
UBTECH ROBOTICS CORP LTD
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However, in the actual control process of the biped robot, the biped robot is usually subject to external disturbances (for example, external push, external windy environment interference, etc.) ) and there is a phenomenon of instability, unable to maintain a balanced state
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[0061] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.
[0062] Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art w...
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The invention provides a robot stepping control method and device, robot control equipment and a storage medium, and relates to the technical field of robot control. When the biped robot is detected to be in the unbalanced state at present, the current body balance prediction step length of the biped robot can be correspondingly obtained, and smooth transition processing is performed on the body balance prediction step length according to the current moving step length of the biped robot, an expected balance step length corresponding to the predicted body balance step length is obtained, then a leg planning track corresponding to the expected balance step length is obtained, and finally the current swing leg of the biped robot is controlled to move according to the leg planning track so that the biped robot can recover to a balance state, and the stepping phenomenon of the robot is avoided, and the operation reliability of the robot is improved.
Description
technical field [0001] The present application relates to the technical field of robot control, in particular, to a method and device for controlling robot steps, robot control equipment, and a storage medium. Background technique [0002] With the continuous development of science and technology, robot technology has received extensive attention from all walks of life because of its great research value and application value. Among them, biped robot control is an important research direction in the field of robot control technology. However, in the actual control process of the biped robot, the biped robot is usually subject to external disturbances (for example, external push, external windy environment interference, etc.) ) and there is instability, unable to maintain a balanced state. Contents of the invention [0003] In view of this, the purpose of this application is to provide a robot step control method, device, robot control equipment and storage medium, which c...
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IPC IPC(8): G05D1/02B62D57/032
CPCG05D1/0223B62D57/032B25J9/1602
Inventor 陈春玉白杰刘益彰葛利刚谢铮熊友军
Owner UBTECH ROBOTICS CORP LTD