Trajectory tracking method and device of foot type robot, terminal equipment and medium

Abstract

The invention discloses a trajectory tracking method and device for a foot type robot, terminal equipment and a computer readable storage medium, and the method comprises the steps: determining an expected pose trajectory parameter of the foot type robot, and constructing a position proportion and a feedforward and differential control channel of a body pose trajectory of the foot type robot according to the expected pose trajectory parameter; a first variable damping controller inversely proportional to the distance is designed according to the expected pose trajectory parameters; and performing trajectory tracking for the foot type robot according to a first expected force and a torque which are output according to the position proportion and a feed-forward and differential control channel, and a second expected force and a torque which are output based on the first variable damping controller. By the adoption of the technical scheme, the requirement for steady-state high-dynamic quick response can be met during trajectory tracking control of the foot type robot.

Description

technical field [0001] The present invention relates to the field of robot technology, and in particular, to a trajectory tracking method, device, terminal device and computer-readable storage medium of a footed robot. Background technique [0002] In the robot operation control, the control of the footed robot involves different levels of trajectory tracking, the most typical of which are the trajectory tracking of the robot pose and the position of the swinging legs and feet. Different from other types of trajectory tracking, since the footed robot is in a single gait cycle, its step length and gait cycle are usually determined before the gait starts, so the body pose trajectory, The trajectory of the foot end of the swinging leg can usually be determined or partially determined. In this way, based on the high dynamic characteristics of the footed robot, it is required that the controller must quickly reach the end point of the planned trajectory within the specified time...

AI Technical Summary

Problems solved by technology

However, although the traditional PID controller is more effective in low-speed and low-dynamic-response control occasions, the legged robot is a multi-input, multi-output, highly nonlinear, and strongly coupled complex system, and the overall application of the legged robot is also complicated. The terrain is dominant, so it is necessary to make a high dynamic and fast response to external disturbances at all times. In this case, the traditional PID control method will be difficult to achieve stable trajectory tracking requirements.

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