Static gait debugging method and system of robot, electronic device and storage medium

A debugging method and robot technology, applied in the field of robotics, can solve the problems of low gait planning accuracy, large workload and high debugging cost

Pending Publication Date: 2022-06-24
SHANGHAI CHUNMI ELECTRONICS TECH CO LTD
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Problems solved by technology

[0003] The purpose of the present invention is to provide a static gait debugging method, system, electronic device and storage medium of a robot to sol

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  • Static gait debugging method and system of robot, electronic device and storage medium
  • Static gait debugging method and system of robot, electronic device and storage medium

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[0064] In order to make the purpose, features, and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the description The embodiments described above are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present invention.

[0065] Static gait is a main way of walking for biped robots. Static gait means that when the robot moves, it first moves its center of gravity to one of the legs, and then lifts the other leg. Among them, the action node represents a complete action when the robot walks in a static gait. For example, an action node indi...

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Abstract

The invention provides a static gait debugging method and system for a robot, an electronic device and a storage medium, and the method comprises the steps: a non-contact force simulation step: carrying out the non-contact force simulation debugging of a robot model through employing a pre-constructed initial motion node instruction of a static gait, and obtaining a first debugging instruction; a contact force simulation step: performing contact force simulation debugging on the robot model by using the first debugging instruction to obtain a second debugging instruction; and a real debugging step: carrying out real debugging on a real robot by using the second debugging instruction to obtain a target action node instruction of the static gait. According to the technical scheme, the technical problems that in the prior art, when gait debugging is conducted on the robot, the workload is large, the gait planning accuracy is low, and the debugging cost is high are solved.

Description

technical field [0001] The present invention relates to the technical field of robots, and in particular, to a method, system, electronic device and storage medium for debugging a static gait of a robot. Background technique [0002] Gait planning is the basis for a robot to achieve stable walking and the key to realizing human-like actions. In the research of gait planning of robots, simulation verification is generally used to adjust the gait planning of biped robots. This process requires a lot of calculation. and simulation training, and there is a large deviation between the obtained gait plan and the gait plan required by the robot in the real environment. When choosing to debug the robot in the real environment, it is easy to cause the robot to fall down due to instability and unbalance, which will lead to great damage to the robot and increase the debugging cost. SUMMARY OF THE INVENTION [0003] The purpose of the present invention is to provide a static gait deb...

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Application Information

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IPC IPC(8): G06F11/36G06F30/20G06F119/14
CPCG06F11/362G06F30/20G06F2119/14
Inventor 杨华宋华濮正楠刘金健张涛
Owner SHANGHAI CHUNMI ELECTRONICS TECH CO LTD
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