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Robot motion planning method and device, robot control equipment and storage medium

A robot movement and biped robot technology, applied in non-electric variable control, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve the problem of poor robot gait control and simplify model modeling Errors, robot state estimation errors, etc., to achieve the effect of improving gait stability

Active Publication Date: 2022-03-01
UBTECH ROBOTICS CORP LTD
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Problems solved by technology

The existing gait planning schemes that realize the walking control effect of biped robots are directly based on the model predictive control algorithm of the conventional simplified model, which essentially faces the modeling error caused by the simplified model, and because the model predictive control algorithm needs to be based on the current The real-time planning of gait in the state also faces the error of robot state estimation, and the overall robot gait control effect is not good.

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  • Robot motion planning method and device, robot control equipment and storage medium
  • Robot motion planning method and device, robot control equipment and storage medium
  • Robot motion planning method and device, robot control equipment and storage medium

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Embodiment Construction

[0046] 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.

[0047] 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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Abstract

The invention provides a robot motion planning method and device, robot control equipment and a storage medium, and relates to the technical field of robot control. According to the mass center actual projection information of the biped robot at the current control moment and the expected foothold distribution information of the biped robot in the prediction time domain at the current control moment, the mass center expected projection information of the biped robot at the next control moment included in the prediction time domain is predicted; according to the actual projection information of the center of mass, the actual zero moment point position of the biped robot at the current control moment, the target expected foothold position corresponding to the next control moment in the expected foothold distribution information and the predicted expected projection information of the center of mass; and the projection information of the centroid target at the next control moment is planned based on the compliant control algorithm, so that the influence of the modeling error and the state estimation error of the biped robot on the gait planning result is effectively weakened, and the gait stability of the gait planning result during actual execution is improved.

Description

technical field [0001] The present application relates to the technical field of robot control, in particular, to a robot motion planning method and device, robot control equipment and storage media. 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, the walking control of biped robots is an important research direction in the field of robot control technology. The existing gait planning schemes that realize the walking control effect of biped robots are directly based on the model predictive control algorithm of the conventional simplified model, which essentially faces the modeling error caused by the simplified model, and because the model predictive control algorithm needs to be based on the current The real-time planning of gait in the state also faces the error of robot state estimation, an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D1/0276Y02P90/02
Inventor 周江琛熊友军刘益彰葛利刚陈春玉罗秋月闫萌
Owner UBTECH ROBOTICS CORP LTD
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