Biped robot dance balance control method and device and biped robot

A biped robot, balance control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as multi-time, difficult dynamic stability of the robot, and achieve the effect of strong anti-interference ability.

Active Publication Date: 2021-11-09
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the very high requirements for trajectory setting, if some trajectory design is unreasonable, it is difficult to ensure the dynamic stability of the robot; and through continuous trial and error, it often takes more time to set the trajectory

Method used

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  • Biped robot dance balance control method and device and biped robot
  • Biped robot dance balance control method and device and biped robot
  • Biped robot dance balance control method and device and biped robot

Examples

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Embodiment 1

[0053] Please refer to figure 1 and 2 , this embodiment proposes a biped robot dance balance control method, which can be applied to such as figure 1 The robot dancing scene shown. This method is based on ZMP and momentum for balance control, which can realize the stability of the biped robot under the tracking of dance movements.

[0054] Exemplarily, as figure 2 Shown, this biped robot dance balance control method comprises:

[0055] Step S110, if the robot has at least one supporting leg, obtain the actual joint angle and the actual plantar force fed back by the robot in the corresponding control cycle.

[0056] In this embodiment, when the whole body of the biped robot performs dance movements, it will always be ensured that at least one leg is in a supporting state (called the supporting leg), and the supporting leg will be in the original position, that is, no position shift will occur. It can be understood that at some moment, the supporting leg of the robot can b...

Embodiment 2

[0119] Please refer to Figure 5 , based on the method of the above-mentioned embodiment 1, this embodiment proposes a biped robot dance balance control device 100. Exemplarily, the biped robot dance balance control device 100 includes:

[0120] The obtaining module 110 is configured to obtain the actual joint angle and the actual plantar force fed back by the robot in a corresponding control cycle when there is at least one supporting leg of the robot.

[0121] The deviation calculation module 120 is used to calculate the actual zero-moment point of the robot according to the actual plantar force, and calculate the deviation of the zero-moment point according to the expected zero-moment point and the actual zero-moment point.

[0122] The momentum calculation module 130 is used to calculate the expected force of the robot's ankle according to the deviation of the zero moment point and the vertical component of the actual plantar force, and calculate the expected momentum of t...

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Abstract

The embodiment of the invention provides a biped robot dance balance control method and device and a biped robot. The method comprises the steps: obtaining the actual joint angle and the actual sole stress fed back by the robot under the condition that the robot is provided with at least one supporting leg, calculating the ZMP deviation through the joint angle and sole stress information fed back in real time, calculating expected momentum by utilizing the ZMP deviation, and finally calculating a joint angle capable of simultaneously meeting dance motion tracking and balance motion by combining a joint angular velocity optimization function taking a difference value between a joint reference angle and the actual joint angle as an optimization variable so as to carry out control. According to the scheme, under the condition that the dance movement track does not need to be strictly designed, the whole robot stability under the dance movement is achieved, and the higher external anti-interference capacity and the fast response capacity are achieved.

Description

technical field [0001] The present application relates to the technical field of robot control, in particular to a biped robot dance balance control method, device and biped robot. Background technique [0002] When a biped robot does some complex dance movements, due to various factors such as the physical limit of the robot joints, it is necessary to strictly design the trajectory of the entire dance movement to avoid phenomena such as imbalance, so as to ensure that the robot is in the process of movement. in the stability. Due to the very high requirements for trajectory setting, if some trajectory designs are unreasonable, it is difficult to ensure the dynamic stability of the robot; and through continuous trial and error, it often takes more time to set the trajectory. Contents of the invention [0003] The embodiment of the present application provides a biped robot dance balance control method, device and biped robot. The method can realize the stability of the wh...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J11/00
CPCB25J11/0035B25J9/1661B25J9/1669B25J9/1664B25J9/161
Inventor 陈春玉葛利刚刘益彰周江琛罗秋月熊友军
Owner UBTECH ROBOTICS CORP LTD
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