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Robot gait optimization method

An optimization method and robot technology, applied in attitude control and other directions, can solve problems such as robot walking failure, multiple biped robot cooperation disasters, biped robot falling, etc.

Pending Publication Date: 2022-07-01
成都启源西普科技有限公司
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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 gait optimization method is used for optimizing the gait of a first biped robot, including: establishing a neural network model based on a nerve cell layer, and using the gait data of the first biped robot obtained by a gait measurement device. training, and training the gait balance of the first biped robot; optimizing the gait of the first biped robot based on the balance results and the gait data of the second biped robot.

[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 ...

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Abstract

In order to improve the stability control effect of biped robots in a cooperative state, the invention provides a robot gait optimization method which is used for optimizing the gait of a first biped robot. Comprising the steps that a neural network model is established based on a nerve cell layer, gait data, obtained by a gait measuring device, of a first biped robot are used for training, and gait balance of the first biped robot is trained; and optimizing the gait of the first biped robot according to the balance result and the gait data of the second biped robot. 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, and more particularly, to a robot gait optimization method. Background technique [0002] With the advancement of science and technology, bipedal robots have developed rapidly and have been widely used in many fields. 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 biped robot gait is based on the method of zero moment point (Zero Moment Point, ZMP). The range of the sole of the foot to derive the control law. However, due...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 王建
Owner 成都启源西普科技有限公司
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