Dance balance control method, device and biped robot for biped robot

A biped robot, balance control technology, applied in the direction of program control manipulator, manipulator, manufacturing tools, etc., can solve the problem of long time, difficult robot dynamic stability, etc., and achieve the effect of strong anti-interference ability

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

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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  • Dance balance control method, device and biped robot for biped robot
  • Dance balance control method, device and biped robot for biped robot
  • Dance balance control method, device and biped robot for biped robot

Examples

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Embodiment 1

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

[0054] Exemplarily, as figure 2 As shown, the dance balance control method of the biped robot includes:

[0055] Step S110 , in the case that the robot has at least one support leg, obtain the actual joint angle and the actual sole force fed back by the robot in the corresponding control period.

[0056] In this embodiment, when the biped robot body performs dance movements, it will always ensure that at least one leg is in a supporting state (referred to as a supporting leg), and the supporting leg will be in the original position, that is, no positional movement will occur. It can be understood that, at certain moments, the support leg of the rob...

Embodiment 2

[0119] Please refer to Figure 5 , Based on the method of the above-mentioned Embodiment 1, this embodiment provides a dance balance control device 100 for a biped robot. Exemplarily, the dance balance control device 100 for a biped robot 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 the corresponding control period when the robot has at least one support leg.

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

[0122] The momentum calculation module 130 is configured to calculate the expected force of the ankle of the robot according to the deviation of the zero moment point and the component of the actual foot force in the vertical direction, and calculate t...

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Abstract

The embodiments of the present application provide a dance balance control method and device for a biped robot, and a biped robot. The method includes: when the robot has at least one support leg, acquiring the actual joint angle and the actual foot force fed back by the robot, And use the real-time feedback joint angle and plantar force information to calculate the ZMP deviation, and then use the ZMP deviation to calculate the expected momentum, and combine the joint angular velocity optimization function that takes the difference between the joint reference angle and the actual joint angle as the optimization variable, Finally, the joint angles that can satisfy both dance movement tracking and balance movement are calculated for control. This solution can realize the stability of the whole machine under dance movements without the need to strictly design the dance movement trajectory, and has strong external anti-interference ability and fast response ability.

Description

technical field [0001] The present application relates to the technical field of robot control, and in particular, to a dance balance control method and device for a biped robot and a biped robot. Background technique [0002] When the biped robot performs 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 movement process. stability in. 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 a lot of time to set the trajectory. SUMMARY OF THE INVENTION [0003] The embodiments of the present application provide a dance balance control method, device and biped robot for a biped robot. The method can realize t...

Claims

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Application Information

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Patent Type & Authority Patents(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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