Biped robot space domain gait planning and control method

Abstract

The invention discloses a biped robot space domain gait planning and control method which comprises the following steps: setting the horizontal distance of a biped robot hip joint relative to a supporting leg ankle joint as a phase variable delta, and designing and optimizing a swing leg joint reference angle track based on the phase variable according to a current state, a reference step length and a reference speed; swinging leg gait planning in a space domain is completed; a second-order inverted pendulum model is established, and a support leg hip joint reference moment for speed control is optimized through nonlinear model prediction control; after the swing leg joint reference angle track and the supporting leg hip joint reference torque are obtained, the joint torque is optimized in a multi-target task through whole-body dynamics Quadratic Programming control, and then gait walking of the robot is controlled. According to the method, the motion of swinging the ankle joint is separated from the time, so that the ankle joint only depends on the own state, and the robustness is enhanced.

Description

technical field [0001] The invention belongs to the technical field of robot control, in particular to a gait planning and control method in the space domain of a biped robot. Background technique [0002] A biped robot is an intelligent robot with similar characteristics to human appearance and bipeds, and it has become the final concrete form that people imagine can represent robots. The crawler robot is stronger, which greatly reduces the cost of environmental modification for special robots. The biped robot is a comprehensive application platform system that integrates multiple basic disciplines and technologies, and cooperates with the development of bionics, control theory, computer technology and artificial intelligence. In recent years, the research on the structure, driving and control of biped robots has relied more on the basic theory of human bionics, and in turn, the research on biped robots has also demonstrated the general laws of human movement, and mutually...

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Problems solved by technology

[0005] Existing public literature, similar papers such as "Dynamic Walking on Stepping Stones with Gait Library and Control Barrier Functions", "Dynamic bipedal locomotion overstochastic discrete terrain", "3D Dynamic Walking on Stepping Stones with Control Barrier Functions", but the trajectory is through offline Optimize the established action library, and then realize the discrete terrain movement through online interpolation. This method will consume a lot of time to generate the trajectory library when the robot's degrees of freedom increase, and it is not very adaptable to the unconstructed environment.

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