Global balance control method and device for foot-type robot and foot-type robot

A technology of balance control and robotics, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as the inability to guarantee system stability, and achieve the effect of good stability and strong adaptability

Pending Publication Date: 2022-03-04
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing walking planning and control methods for legged robots are based on the linear inverted pendulum model to achieve walking control, which realizes walking control by giving a simplified dynamic model. However, in actual use, the above control methods do not The stability of the entire system cannot be guaranteed
So far, there is still no unified and universal method to solve this problem

Method used

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  • Global balance control method and device for foot-type robot and foot-type robot
  • Global balance control method and device for foot-type robot and foot-type robot
  • Global balance control method and device for foot-type robot and foot-type robot

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Experimental program
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Effect test

Embodiment 1

[0056] In this embodiment, in order to realize the global balance control, the model of the legged robot is firstly simplified to obtain a corresponding simplified model, and then the dynamic equation for obtaining the simplified model is constructed. Exemplarily, in one embodiment, the state of the single leg support of the legged robot can be simplified as an inverted pendulum model of a flywheel. Specifically, the torso of the legged robot is equivalent to a rigid body with corresponding mass, where the leg mechanism of the legged robot is installed at the geometric center of the torso, and the supporting legs that are in contact with the outside world are equivalent to the rigid body connected to the rigid body with Connecting rods of corresponding quality.

[0057] figure 1 A schematic diagram of a single-leg model of a legged robot simplified to a planar flywheel inverted pendulum is shown. The ground endpoint is denoted as O, assuming that the torso of the robot is eq...

Embodiment 2

[0118] Please refer to Figure 5 , based on the method of Embodiment 1 above, this embodiment proposes a global balance control device 100 for a legged robot. Exemplarily, the global balance control device 100 for a legged robot includes:

[0119] The state acquiring module 110 is used to acquire the motion state of the legged robot at the current moment.

[0120] The dynamics calculation module 120 is used to obtain the system state equation of the legged robot at the current moment according to the motion state of the legged robot at the current moment and the dynamic equation of the simplified model of the flywheel inverted pendulum corresponding to the legged robot.

[0121] The nonlinear prediction module 130 is used to obtain the control input required for global balance control at the current moment through nonlinear model predictive control according to the system state equation at the current moment.

[0122] The control module 140 is configured to control the moveme...

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Abstract

The embodiment of the invention provides a global balance control method and device for a foot type robot and the foot type robot. The method comprises the steps that the motion state of the foot type robot at the current moment is obtained; obtaining a system state equation of the foot type robot at the current moment according to the motion state at the current moment and a kinetic equation of a flywheel inverted pendulum simplified model corresponding to the foot type robot; according to the system state equation at the current moment, through nonlinear model predictive control, obtaining a control input quantity required for global balance control at the current moment; and performing motion control on the foot type robot according to the control input quantity. According to the method, model simplification is carried out based on a flywheel inverted pendulum model, balance optimization control is carried out by using a nonlinear model prediction control technology, and balance control of the whole system of the foot type robot can be realized.

Description

technical field [0001] The present application relates to the technical field of robot control, in particular to a method and device for global balance control of a legged robot and a legged robot. Background technique [0002] The legged robot is a very complex system, especially the control of the underactuated characteristics of the legged robot in the moving process has always been the most important problem to be solved in the research and development of the legged robot. Most of the existing walking planning and control methods for legged robots are based on the linear inverted pendulum model to achieve walking control, which realizes walking control by giving a simplified dynamic model. However, in actual use, the above control methods do not The stability of the entire system cannot be guaranteed. So far, there is still no unified and universal method to solve this problem. Contents of the invention [0003] Embodiments of the present application provide a global...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04B62D57/032
CPCG05B13/042B62D57/032
Inventor 刘益彰葛利刚陈春玉熊友军周江琛罗璇
Owner UBTECH ROBOTICS CORP LTD
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