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Robot walking simulation algorithm

A technology for robots and biped robots, applied in manipulators, motor vehicles, program-controlled manipulators, etc., can solve problems such as biped robots falling, multiple biped robots collaborative disasters, and robot walking failures.

Active Publication Date: 2022-07-01
成都启源西普科技有限公司
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

However, due to factors such as road conditions, the robot may fail to walk, and even the biped robot may fall.
This phenomenon is a fatal disaster for multiple biped robots

Method used

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Embodiment Construction

[0023] A robot walking simulation algorithm, comprising the steps of simulating the following steps on a computer: establishing a neural network model based on a nerve cell layer, using gait data of a first biped robot obtained by a gait measurement device for training, and training the first biped robot gait balance; adjust according to balance results.

[0024] Preferably, both feet, ankle joints and knee joints of the robot have three degrees of freedom.

[0025] Preferably, the gait data includes angular velocity and acceleration, and the angular velocity and acceleration are angular velocity and acceleration in the forward direction.

[0026] Preferably, the gait measurement device includes a gyroscope and an accelerometer.

[0027] Preferably, the training on the gait data includes:

[0028] obtaining road surface information data, wherein the road surface information data at least includes route information and experience data in the electronic map that are connected ...

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Abstract

In order to improve the stability control effect of the biped robot in a cooperative state and optimize an algorithm, special point values are sampled, and the following steps are simulated on a computer: establishing a neural network model based on a nerve cell layer, training by using gait point value data of a first biped robot obtained by a gait measurement device, and calculating the stability of the first biped robot; training the gait balance of the first biped robot; and adjusting according to the balance result. According to the biped robot, the training depth of the gait control model can be improved based on experience data of the biped robot or other biped robots, and the biped robot can effectively cooperate with other biped robots to achieve experience sharing of the biped robots; therefore, the effects of jointly carrying the same goods and quickly adapting to a new environment so as to give more important tasks with enough running time and the like are achieved.

Description

technical field [0001] The invention relates to the technical field of automatic control. Background technique [0002] Biped robots have better mobility than traditional wheeled robots. The bipedal walking system has very rich dynamic characteristics and has low requirements on the walking environment. At present, most buildings and tools are designed according to the height and shape of the person, so the biped robot has better flexibility as a robot platform. At the same time, the stability control of the gait of the biped robot is the premise and foundation for the robot to walk smoothly. Gait refers to the relationship between each joint in time and space in the process of standing or walking, which can be described by the motion trajectory of the joints. [0003] The existing research on the stability of the gait of the biped robot is based on the method of Zero Moment Point (ZMP), and the mathematical model of the biped robot is established. , to derive the contro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032B25J9/16
CPCB62D57/032B25J9/1661B25J9/1605B25J9/163Y02T10/40
Inventor 王建
Owner 成都启源西普科技有限公司
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