Humanoid gait planning method, system and device for biped robot

A biped robot and gait planning technology, applied in the field of robotics, can solve the problems of low energy efficiency of walking, complex gait planning and design, etc., and achieve the effect of improving walking energy efficiency

Active Publication Date: 2022-03-18
ZHEJIANG LAB
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although these robots can achieve stable walking, the energy efficiency of their walking is very low, and the planning and design of their gait are very complicated. The aesthetics of the walking posture, and the trajectory of each joint of the leg presents a periodic oscillation state

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  • Humanoid gait planning method, system and device for biped robot
  • Humanoid gait planning method, system and device for biped robot
  • Humanoid gait planning method, system and device for biped robot

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Embodiment Construction

[0029] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

[0030] The terminology used in the present invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein and in the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as use...

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Abstract

The invention discloses a humanoid gait planning method, system and device for a biped robot. The method comprises the steps of control instruction planning, nominal leg trajectory planning and leg shutdown trajectory planning. According to the control instruction planning, a control instruction of the handle is converted into forward and lateral stepping steps of the robot, a steering rotation angle and walking time; the nominal leg track planning is that a periodic motion track of a nominal leg is designed according to the output of the control interface layer; according to the leg joint trajectory planning, the periodic motion trajectory of the nominal leg is calculated into the motion angle of each joint of the robot leg. Compared with a traditional design method of the central pattern generator of the biped robot, the method plans the walking posture of the biped robot in the walking process through the design of the nominal leg, the gait with the humanoid feature can be designed more visually and more efficiently, and therefore the walking flexibility and the environment adaptability of the robot are improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a humanoid gait planning method, system and device for a biped robot. Background technique [0002] Biped robots have a similar appearance to humans, because when robots are integrated into people's work and life, they are more easily accepted. Biped robots can replace humans to complete various tasks and have broad application prospects. Compared with wheeled robots, biped robots have better terrain adaptability and wider application range. [0003] In recent years, the research on biped robots has made great progress, especially in the video of the biped robot parkour released by Boston Dynamics in August 2021. The biped robot has completed jumping boxes, walking ramps, crossing single-plank bridges, A series of actions such as hurdles and backflips have demonstrated powerful sports performance. At present, my country has successfully developed many bipedal walking...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02B62D57/032
CPCG05D1/0223B62D57/032G05D2201/0217
Inventor 郭军军范彦福连文康顾建军
Owner ZHEJIANG LAB
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