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

A walking control and robot technology, applied in the field of robot walking control, robots and readable storage media, can solve problems such as falling, robot state deviation, and inability to cope with robot disturbances well

Active Publication Date: 2022-07-29
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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.

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

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Embodiment Construction

[0050] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments.

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

[0052] Hereinafte...

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Abstract

The invention relates to a walking control method, a device, a robot and a readable storage medium for a robot. When the forward horizontal planning speed is greater than a preset speed threshold, the walking control method obtains the relative position of the waist relative to the support foot in the current planning step through forward kinematics calculation. The forward horizontal position of the robot is taken as the current driving variable, and the corresponding trajectory planning functions of each joint of the robot with respect to the current driving variable are calculated and obtained; When the measured forward horizontal speed is greater than the forward horizontal planning speed, the driving variables and trajectory planning function are updated according to the forward horizontal measured speed to realize the walking control of the robot. When the forward horizontal measured speed is less than or equal to the forward horizontal planning speed, The driving variables and the trajectory planning function are updated according to the forward horizontal planning speed to realize the walking control of the robot and improve the walking stability of the robot.

Description

technical field [0001] The present invention relates to the field of robot control, in particular to a walking control method, device, robot and readable storage medium of a robot. Background technique [0002] Walking control is the core problem of motion control of humanoid robots, and it is the basis for humanoid robots 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 purely relying on time for driving cannot cope well with the disturbance caused by terrain or external force to the robot. When the disturbance causes a joint to not track the desired trajectory well, the robot will deviate from the state and fall over. . SUMMARY OF THE INVENTION [0004] In view of this, the present invention provides ...

Claims

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Application Information

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Patent Type & Authority Patents(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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