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Robot walking control method and device, robot and readable storage medium

A walking control and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems of robot state deviation, inability to deal with robot disturbance, fall, etc.

Active Publication Date: 2021-07-16
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, the above-mentioned purely relying on time to drive cannot cope well with the disturbance brought by terrain or external forces to the robot. When a joint does not track the expected trajectory well due to the disturbance, the state of the robot will deviate and fall down.

Method used

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  • Robot walking control method and device, robot and readable storage medium
  • Robot walking control method and device, robot and readable storage medium
  • Robot walking control method and device, robot and readable storage medium

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Embodiment Construction

[0050] 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.

[0051] The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

[0052] Hereinafter, various embodiments of ...

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Abstract

The invention relates to a robot walking control method and device, a robot and a readable storage medium. According to the walking control method, when the horizontal planning speed is larger than a preset speed threshold value in the current direction, the forward horizontal position, relative to supporting legs, of the waist in the current planning step is obtained through forward kinematics calculation to serve as a current driving variable, and trajectory planning functions corresponding to joints of the robot relative to the current driving variable are calculated and acquired; the forward horizontal actual measurement speed and the forward horizontal planning speed of the waist relative to the supporting legs are compared; when the forward horizontal actual measurement speed is greater than the forward horizontal planning speed, the driving variable and the trajectory planning functions are updated according to the forward horizontal actual measurement speed so as to realize walking control of the robot; and when the forward horizontal actual measurement speed is smaller than or equal to the forward horizontal planning speed, the driving variable and the trajectory planning functions are updated according to the forward horizontal planning speed so as to realize walking control of the robot. Therefore, the walking stability of the robot is improved.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a walking control method and device for a robot, a robot and a readable storage medium. Background technique [0002] Walking control is the core problem of humanoid robot motion control, and it is the basis for humanoid robot to complete other functional tasks. The walking control method of the traditional biped robot is to design the trajectory of each joint of the robot with respect to time, and control each joint to track the desired trajectory during walking, that is, each joint of the robot is driven by time. [0003] However, the above-mentioned purely relying on time to drive cannot cope well with the disturbance brought by terrain or external forces to the robot. When a joint does not track the expected trajectory well due to the disturbance, the state of the robot will deviate and fall down. . Contents of the invention [0004] In view of this, the present invention pro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1612B25J9/1633B25J9/1664
Inventor 郭宜劼赵明国熊友军
Owner UBTECH ROBOTICS CORP LTD
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