367 results about "Biped robot" patented technology

The invention discloses a gait planning method for walking of a biped robot along a slope, and belongs to the technical field of robots. The method contains two core theories, namely, non-orthogonal decomposition and synthesis of a three-dimensional linear inverted pendulum and gait planning based on a biped long linear inverted pendulum. The method comprises the steps of gait parameter configuration, non-orthogonal decomposition of a three-dimensional linear inverted pendulum, foot trajectory planning based on three times of spline interpolation, centroid trajectory planning of a sagittal plane and a coronal plane based on a biped long linear inverted pendulum, non-orthogonal synthesis of the centroid trajectories of the sagittal plane and the coronal plane, and solving of joint trajectories of a robot based on inverse kinematics. By adopting the method of the invention, stable walking of a biped robot along all directions of a slope can be effectively achieved. The method is universal, simple in algorithm and high in practicality.

The invention relates to a lower limb structure of a two-leg robot, which belongs to the field of robot. Applying the characteristics of mechanical movement of parallel opposite sides in a parallel four-link, the invention designs the lower limb structure of the robot with two legs having ten degrees of freedom. Compared with the lower limb structure of the general two-leg robot having 12 degrees of freedom, two degrees of freedom of forward swinging on two ankle joints are decreased. In connection with the opposite driving method with two motors and the same axle applied by each forward swinging and sideward swinging, the invention increases a joint driving torque and decreases the rotation clearance when the mechanism is kept compact. Besides, two motors which realize the degrees of freedom of forward swinging on hip and knee joints are both designed and arranged at the knee joints, thus optimizing the quality distribution of leg mechanisms and reducing the design difficulty of the hip joints with 3 degrees of freedom. The invention uses the parallel four-link mechanism to realize the mechanism design of upper legs and lower legs of the robot, so bottoms of the two feet of the robot are always parallel with the ground during walking, and the effect on the walking stability of the robot due to the rotation clearance of output shafts of the motors is effectively decreased.

The invention relates to a human-like biped robot foot structure which comprises a sole, metatarsophalangeal joints, a heel and an ankle joint assembly. The metatarsophalangeal joints are installed at the front end of the sole, the heel is installed at the rear end of the sole, the ankle joint assembly is installed at the upper end of the middle of the sole, and the ankle joint assembly is fixedly installed at the upper end of the middle portion of the sole. The two metatarsophalangeal joints are symmetrically hinged to the vertical front end of the sole, an upwarping arc structure is manufactured at the front end of each metatarsophalangeal joint, and a torsion spring is installed between each metatarsophalangeal joint and the sole through a torsion spring support. The heel is coaxially hinged to the rear end of the sole in the vertical direction, an upwarping arc structure is manufactured at the rear end of the heel, a pair of reinforcing ribs is symmetrically and fixedly installed on each side of the upper end of the heel, and a damper is installed between each side of the heel and the sole. The structure utilizes the compression and stretching functions of the torsion springs to achieve high flexion and extension degree of freedom of the metatarsophalangeal joints, is good in damping effect, stable and reliable in operation and capable of being perfectly matched with most available robots and improves robot walking stability.

The invention discloses a biped robot capable of walking rapidly. The biped robot is composed of a servo motor, a motor support, a driving bevel gear, driven bevel gears, check pawls, ratchet wheel cam sets, ratchet wheel connecting pins, a driving pawl, oscillating bars, roller connecting pins, rollers, shanks, compression springs, screws, thighs and feet. The servo motor drives the driving bevel gear to rotate so as to drive the symmetrically-arranged driven bevel gears to rotate oppositely and the thighs to swing forwards and backwards; the shanks always make contact with cams in the ratchet wheel cam sets through the compression springs and supporting legs are longer than swinging legs through telescopic motion of the shanks. Compared with the prior art, the biped robot has the advantages that the robot can be driven by one servo motor, so that the robot is convenient to control and high in control accuracy; except for the servo motor, other structures of the robot are all mechanical structures, so that motion cooperation is convenient; the structure is simple, machining and installation are convenient, and the robot can walk rapidly.

A power-typed walking method for a biped robot belongs to the technical field of robot walking control. The method is characterized in that the robot realizes fully power-typed walking similar to passive walking by rapidly swinging two legs and controlling landing collision of the swinging legs in a gait cycle T which is more than 0.2s and less than 0.5s, the robot creates a virtual slope by bending the knee joint of a swinging leg and supplements energy by straitening the knee joint of a supporting leg, each gait of the gait cycle is determined by three key frames and described by four parameters, a first derivative continuous smooth curve connects the key frames. In the experiment, single gait of the robot reaches a relative walking speed of 4.48 leg lengths per second, which improves by 29 percent compared with the record created by RunBot; moreover, a plurality of gaits of the robot realizes continuous variable speed walking from 1.24 leg lengths per second to 3.88 leg lengths per second.

The invention provides a biped robot walking plan and control method. The method comprises the steps of establishing an equivalent model of a robot; determining a phase change graph meeting the requirement of the equivalent model; determining a phase change graph of a single-step horizontal movement track according to a human gait walking formula, namely, calculating a relationship between the speed of a single step and the step length/period of the single step; calculating a foothold according to the horizontal movement track of the single step; and controllably converting the position of the calculated foothold into an angle required for finishing motion of each joint. According to the method, the human gait formula is associated with the relationship between the walking speed and the step length/period of the single step, so that the calculation of the step length/period of the single step can be simplified; the period of the single step serves as a trigger event of single-step starting and ending, so that the end speed of the single step can be well predicted and the real-time calculation and adjustment of the foothold can be facilitated; and based on the motion description of the phase change graph, the analysis of a motion law of the biped robot can be more visual.

The invention discloses a gait planning method for a biped robot based on deep reinforcement learning, and the method utilizes the stability and flexibility of human gait and combines deep reinforcement learning to effectively control the gait of the biped robot. The method includes the following steps: 1), establishing a passive biped robot model; 2), acquiring and processing human gait data andtarget gait data; 3), extracting the implicit features of the gait data of the biped robot and human gait data through using a noise reduction auto-encoder; 4), learning the gait characteristics of ahuman body through using deep reinforcement learning, and then planning the gait of the biped robot. The method combines deep reinforcement learning with human gait data to control the biped robot towalk as stable and compliant as a human.

The invention discloses a gait generation and optimization method for a biped robot. The method is characterized in that a gait library of the biped robot is constructed in a finite state machine according to a target pose of the state of the biped robot; mutual switching conditions among all states of the robot are set and triggered; in each state switching process, a joint cubic interpolation method is used for planning the movement track of support legs, and a gauss pseudo-spectral method is used for optimizing the movement track of swing legs; and finally, the gait of the biped robot in different motion modes is generated by the finite state machine. According to the gait generation and optimization method for the biped robot, the constraint of ZMP is not considered, and all the bipedrobots with or without the sole edges of the feet can generate the walking track by the method; and the planning process is simple and operable and is more suitable for online generation, and the biped walking robot can stably walk and finish walking, running, jumping and other actions by matching with a simple control strategy.

The invention relates to a biped robot lower limb mechanism, in particular to a biped robot lower limb mechanism driven hydraulically. The problems that an existing electrically-driven robot is small in loading capacity, low in specific power and poor in anti-interference performance are solved. The biped robot lower limb mechanism comprises a body, an oil distributor, a left leg and a right leg, the oil distributor is arranged on the upper surface of the body, the left leg and the right leg are arranged on the lower surface of the body side by side, and are of the same structure, and the left leg comprises a foot, a shank, a thigh, a hip joint forward swing hydraulic cylinder servo unit, a hip joint twisting hydraulic cylinder servo unit, a hip joint, a knee joint forward swing hydraulic cylinder servo unit, an ankle joint, two ankle joint hydraulic cylinder servo units, a hip joint side swing hydraulic cylinder servo unit and a body upper end swing connecting piece. The biped robot lower limb mechanism belongs to the field of robots.

The invention relates to a biped robot adaptive walking control method based on deep reinforcement learning. The method comprises the steps that 1) a simulation platform is established; 2) a network model based on a deep reinforcement learning method introducing an attention mechanism is constructed; 3) the network model is trained according to the interaction information of a biped robot in the environment of the simulation platform, and the interaction information is stored in a playback pool; and 4) the network model which completes training is used to realize adaptive control of walking of the biped robot. Compared with the prior art, the method provided by the invention has the advantages of fast convergence speed, good fitting effect, high walking stability and the like.

The invention discloses an under-actuated biped robot walking control method aiming at the problem of planar walking control of a biped robot. By adopting a MACCEPA flexible actuator and utilizing self dynamic characteristics of the biped robot, quick walking is achieved effectively. In continuous interaction of the robot with the ground, the robot learns walking independently in a trial and error mode by fully utilizing trial-and-error learning capability of a Q learning method; and stable, natural and periodical quick walking of the robot is achieved, and the method has high application value.

The invention discloses a hydraulic-drive lower-limb mechanism with load bearing capability of a biped robot, which comprises two robot legs. The upper portion of each robot leg is connected with a robot steering mechanism, the robot steering mechanisms are arranged on the body of a robot, the lower portion of the each robot leg is connected with a robot foot, and each robot leg, each robot steering mechanism and each robot foot are driven hydraulically. A driving rotation freedom-degree rotation pair I utilizing the normal direction of the body of the robot as the axis, a lateral driving freedom-degree rotation pair II and a lateral driven freedom-degree rotation pair VI are arranged on one robot leg, one robot steering mechanism and one robot foot, and three front driving freedom degrees include the rotation pair II, the rotation pair IV and a rotation pair V. The hydraulic-drive lower-limb mechanism is simple in structure, capable of steering, easy to maintain and high in dynamic response capability and has obstacle detouring performance and the load bearing capability.

The invention discloses a walking posture control method of a humanoid biped robot based on a genetic algorithm. A mathematical model of a biped robot is established based on the ZMP control theory and a pose matrix, and the basic gait of a human is simulated. V, height H, arm swing R, body center up and down swing C, body center left and right swing A These six parameters plan the robot's gait, and select optimized T, V, H, R through genetic algorithm The six parameters of , C, and A are brought into the inverse operation of the pose matrix to obtain the values ​​of other joint coordinates of the robot, and solve the method of generating data that stably controls the gait of the robot. It overcomes the problem of large amount of calculation and low efficiency in inverse operation of pose matrix, improves the real-time response ability of the system, and uses the data generated by this method in the humanoid biped robot system to achieve a good control effect.

A finite state machine (FSM)-based biped robot, to which a limit cycle is applied to balance the robot right and left on a two-dimensional space, and a method of controlling balance of the robot. In order to balance an FSM-based biped robot right and left on a two-dimensional space, control angles to balance the robot according to states of the FSM-based biped robot are set. The range of the control angles is restricted to reduce the maximum right and left moving distance of the biped robot and thus to reduce the maximum right and left moving velocity of the biped robot, thereby reducing the sum total of the moments of the biped robot and thus allowing the ankles of the biped robot to balance the biped robot to be controlled, and causing the soles of the feet of the biped robot to parallel contact the ground.

The invention provides biped walking parameter measurement and belongs to the technical field of robots. A biped walking parameter measuring apparatus is provided and comprises a zero moment point measuring system, a foot contour measuring system and a walking parameter calculating system. A biped walking parameter measuring method provided can accurately and effectively measure biped walking parameters including stand state parameter before walking, step, step period, zero moment point track, and the contours of feet contacting the ground. The method for measuring biped walking parameters of a human being is of great importance to analysis of walking gaits of the human being, thereby providing important basis for planning track of a biped robot. The method is used for measuring the walking parameters of a biped robot, and feedback parameters of biped robot walking gaits, walking track on-line adjusting, and enclosed control of a host computer and each joint of leg portions are provided. The method is of great significance to stable walking of a biped robot.

The invention provides a control system of a humanoid biped robot. The robot comprises two leg parts and 12 degrees of freedom, each degree of freedom is corresponding to one joint motor. The control system comprises a main controller installed on the body of the robot, and joint controllers, motor driving circuits, motor encoders, joint angle sensor and feedback conditioning circuits which are respectively corresponding to the joint motors, and plantar pressure sensors and plantar gyroscopes installed on soles of two feet of the robot. The control system is characterized in that the main controller receives information feedback of the plantar pressure sensors and gyroscopes, plans a path and transmits motion instructions to each joint controller; and the joint controllers control joint motors to execute the motion instructions, receive information fed back by the motor encoders and the joint angle sensors and utilize a fuzzy self-adaptation PID control method to precisely control the motors according to the feedback information, so that the robot is enabled to walk precisely according to the ground condition.

The invention discloses a biped robot climbing stair gait planning method and device and a robot. The biped robot climbing stair gait planning method comprises the steps that in the stair climbing process, a variable-length first-order inverted pendulum model is adopted to carry out trajectory planning on a forward gait, the motion trajectory of an ankle joint is constrained according to preset constraint conditions, and a first-order linear inverted pendulum model is adopted to carry out trajectory planning on a lateral gait to realize stair climbing of a biped robot; the process is that whenfacing the first stair, the center of gravity of a body is controlled to move to the left; a right foot of a swing leg is lifted to drop the right foot onto the stair; the center of gravity of the body is moved to the right foot, and the left foot of the swing leg is lifted so that the left foot falls onto the stair; the steps are repeated until the first stair is the last stair; whether the center of gravity falls within a stable region or not is judged; if yes, the walking is finished; and if not, the two legs are controlled to close and return to the starting state. Based on the biped robot climbing stair gait planning method and device and a robot, an effective application of a robot walking mode can be realized, so that the robot can walk on the stairs as freely as a human.

The invention relates to a method for constructing central pattern generator (CPG) control network topology structure of biped robot. The method comprises the steps of separating a CPG control network into a body network portion for controlling hip joints and a leg network portion for controlling leg joints to achieve symmetry of control signals for left and right leg joints and control over reasonable phase relations of left and right legs; optimizing coupling connection modes among neuron units in the CPG control network to reduce the complexity of the CPG control network; and performing parameters setting on the CPG control network to construct an optimal network topology structure. Compared with the prior art, the method has the advantages of being low in complexity, reasonable in control network structure and the like.

The invention discloses a biped robot with an obstacle crossing function. The biped robot comprises a walking device and an obstacle crossing device. The walking device comprises a vertically arranged frame, a motor arranged in the frame, an output gear connected to the motor and a transmission gear engaged with the output gear. A transmission shaft is arranged in the center of the transmission gear and mounted on a shaft frame, the two ends of the transmission shaft are each provided with a crank extending in the radial direction of the transmission shaft, and a rotating shaft vertically and outwards extends from the other end of each crank. Supporting shafts outwards extend from the two outer sides of the frame and located above the rotating shafts. The rotating shafts and the supporting shafts are located in the same vertical plane. The difference between the rotational angles of the two cranks is 180 degrees. The biped robot can flexibly walk, has the obstacle crossing function, is wide in application and has practicability.

In a biped robot control system, stereoscopic images captured by CCD cameras are analyzed, the analyzed images are then utilized to detect presence of any moving object around the robot and if it present, to calculate moving object information, and based on the calculated moving object information, it is determined whether or not walking of the robot needs to be stopped. If it is determined to be stopped, the robot is controlled to stop within a period that brings the travel distance at stopping (distance moved between image capture by the CCD cameras and stopping of robot walking) to within a predetermined distance. With this, when the robot approaches a moving object during walking, it can be stopped within the predetermined distance to avoid collision with the moving object.