Biped robot foothold planning method based on variable parameter speed mapping and quadratic programming
A bipedal robot, quadratic programming technology, applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve the problems of complex environment that cannot be adjusted in real time, high computational complexity, weak spatial and temporal correlation of the foothold, etc. Gait diversity, high safety and reliability
Active Publication Date: 2022-05-24
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
Most of the existing technology methods are limited to static and complex environments, focusing on the selection of the position and posture of the robot’s foothold to avoid collisions between itself and the environment, and to ensure the feasibility of the movement space, but hardly consider the feasibility of the movement time, and the space-time correlation of the foothold is weak. , it cannot be adjusted in real time to deal with complex environments with dynamic obstacles, and the computational complexity is high, and it is difficult to solve online
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[0045] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.
[0046] Quadratic programming is a special kind of mathematical programming problem in nonlinear programming. The general expression of canonical quadratic programming is:
[0047]
[0048] in: To optimize the vector, is the objective cost function is the objective function Hessian matrix, is the first-order coefficient matrix of the objective function, is the linear inequality constraint coefficient matrix, is the linear equality constraint coefficient matrix, is the optimization vector inequality constraint coefficient matrix, is the vector space, N is the number of variables in the optimization vector, Neq is the number of equality constraints, Nineq is the number of inequality constraints, and beq is the number of coefficients.
[0049] The quadratic pr...
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The invention provides a biped robot foothold planning method based on variable parameter speed mapping and quadratic programming, and the method comprises the steps: walking cycle planning based on variable parameter speed mapping, realization of foothold attitude planning based on the walking cycle planning, realization of foothold position planning based on the walking cycle planning and the foothold attitude planning, and realization of foothold position planning based on the walking cycle planning and the foothold attitude planning. Respectively matching the position and attitude information of the foothold with the time sequence information one by one to obtain a foothold vector describing the complete spatio-temporal information of each step in the prediction interval; the space feasibility and the time feasibility are both considered, the foothold position and posture and the walking period of the robot can be planned online, and the rapid response capacity and maneuverability of the biped robot to deal with dynamic obstacles are improved.
Description
technical field [0001] The invention belongs to the technical field of biped robot planning, and in particular relates to a biped robot landing point planning method based on variable parameter velocity mapping and quadratic planning. Background technique [0002] In practical application scenarios of biped robots, there are demands for dynamic obstacle avoidance and flexible walking. The motion form of bipedal robot is similar to that of human beings. Facing the living environment of human beings, it has a strong potential to adapt to the environment. However, with bipedal walking, compared with other mobile robots, at the upper-level motion planning level, it is first necessary to consider the pose of the robot's foothold and the planning of the walking cycle. There are all kinds of obstacles in the human living environment. If a robot wants to travel freely, it needs to have the ability to avoid flexible and dynamic obstacles. However, if the upper-level planning cannot...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 黄强赖俊杭陈学超余张国李庆庆石青黄岩
Owner BEIJING INSTITUTE OF TECHNOLOGYGY