90 results about "Biped robot" patented technology

The invention discloses a biped robot knee joint self-adaptive locking device which comprises a rotary joint module, a sliding locking module and a sensing control module, the sliding locking module comprises an electromagnetic lock, a sliding sleeve, a reset spring, a locking sliding block, a linear guide rail and a connecting block, and the sliding sleeve is connected with the electromagnetic lock; the locking sliding block is installed on the sliding sleeve through the reset spring, the electromagnetic lock and the linear guide rail are fixed to the connecting block through bolts, the sliding sleeve is installed on the linear guide rail, and the sliding sleeve and the linear guide rail form a sliding pair. By means of the ingenious mechanical structure design, in combination with a gait phase recognition control method following a natural biped walking mode, rigid locking of the knee joint in a standing phase and flexible releasing of the knee joint in a swinging phase are achieved in a proper walking stage, and the locking mechanism has the advantages of being light in weight, low in power consumption and rapid in response; compared with an existing hydraulic locking scheme, the hydraulic locking device is simpler in structure, free of complex hydraulic pipelines and driving systems, smaller in overall size and lighter in mass.

The invention relates to the technical field of biped robot reinforcement, and discloses a historical action sequence-based biped robot reinforcement learning control method and system. The biped robot reinforcement learning control method is applied to reinforcement learning control equipment and specifically comprises the following steps that S101, a floating base frame is adopted to load a biped robot URDF model in an Isaac Gym simulation platform, ten active joint freedom degrees are configured, and a control interface is constructed to output a 10-dimensional motor position command vector; the motion robustness and adaptability of the biped robot in a dynamic environment are remarkably improved by constructing a Transform time sequence modeling architecture fusing a historical state-action sequence, and the historical observation and action sequence is combined with sine-cosine position coding to be input into a multi-layer Transform encoder, so that the motion robustness and adaptability of the biped robot in the dynamic environment are improved. The self-attention mechanism is used for capturing the long time sequence dependence relation of foot-ground contact force change, topographic relief and the like, and the problem of gait instability caused by limited local observation in a traditional method is solved.

The invention relates to the technical field of robot control. A humanoid robot gait generation system based on hierarchical control is characterized by comprising a multi-layer control system operating at different refresh frequencies, and the multi-layer control system comprises a high-layer gait and trajectory planning layer operating at a low frequency and used for generating a macroscopic motion instruction; the middle-layer whole-body motion optimization layer runs at medium frequency, serves as a bridge of high-layer planning and bottom-layer control and is used for converting expected plantar and trunk tracks into reference motion of all joints of the whole body; the bottom joint servo control layer runs at the highest frequency and is responsible for accurately tracking a joint-level instruction output by the whole-body motion optimization layer; the state sensing and feedback closed-loop layer is used for feeding back state information, obtained in real time, of the body state of the robot to all the layers, providing a basis for track re-planning of a high layer and providing a real-time state initial value for optimization of a middle layer; and a feedback signal is provided for servo control of a bottom layer.

The invention relates to the field of humanoid robots, and provides a control method for biped robot step-by-step gait strategy fusion in order to solve the problems that a biped robot is large in training difficulty, unnatural in gait, poor in adaptability and the like. Training various different terrain categories through an imitation learning algorithm and a reinforcement learning algorithm to obtain a gait strategy model; s2, performing pairwise fusion gait strategy switching between the gait strategy models corresponding to various different terrain categories; s3, the terrain category of the current position is recognized in real time according to an information collection unit of the biped robot, a corresponding gait strategy model is obtained through a strategy execution control unit, and the biped robot is controlled to walk in the corresponding motion state; and S4, when the terrain category of the biped robot is changed, smooth transition between the two gait strategy models is achieved through gait strategy switching, and control over gait strategy fusion of the biped robot is completed.

The invention discloses a reinforcement learning biped robot gait control method based on a multilayer adaptive exploration mechanism, and belongs to the field of biped robot reinforcement learning control. The method aims at solving the problems that in existing gait control based on a near-end strategy optimization (PPO) algorithm, strategy convergence is unstable, and exploration and utilization balance is insufficient. According to the method, a multi-layer adaptive exploration mechanism is introduced on the basis of a standard PPO framework: firstly, a state-dependent standard deviation network is designed to realize adaptive noise adjustment of a space layer for dynamically controlling action disturbance intensity; secondly, constructing an entropy regularization mechanism based on advantage weighting, and realizing exploration intensity adaptive control of a direction layer; thirdly, a dynamic entropy coefficient is designed according to the uncertainty of a value function, and exploration rhythm self-adaptive adjustment of a time layer is achieved. Through the synergistic effect of three layers of mechanisms, the strategy realizes dynamic balance of exploration and convergence in different training stages, so that the stability of the training process and the strategy convergence quality are improved.

The invention discloses a biped robot control method and device, electronic equipment and a storage medium. The method comprises the steps that actual observation data at the current moment are collected through a target sensor of a biped robot body; wherein the target sensor comprises a joint encoder, an inertia measuring instrument and a plantar force sensor; predicting a state prediction value at the current moment by combining the state prediction value at the previous moment and a motion model of the biped robot; predicting predicted observation data at the current moment by using the state predicted value at the current moment based on the relationship between the observation data and the state data; correcting the state prediction value at the current moment based on the deviation between the actual observation data at the current moment and the prediction observation data to obtain a state correction value at the current moment; selecting a control parameter in a current state for the unified reinforcement learning control strategy through the correction function based on the state correction value at the current moment, and correcting the control parameter to obtain a current control parameter; and controlling the current biped robot according to the current control parameters.

The invention relates to a method and device for a biped robot to wear common sports shoes, and belongs to the technical field of robots. The method comprises the steps that a pre-planned gait track is initialized and generated; calculating the actual centroid position of the robot at each moment; a Kalman filtering algorithm is adopted to fuse multi-source data to update the normal stiffness and the friction coefficient of the sole in real time, and the rate is updated through adaptive gain adjustment parameters; adjusting a zero moment point constraint range, and generating a centroid reference position of a preset step number; establishing a sole characteristic database, training a machine learning model, inputting shoe parameters into the machine learning model, and outputting step length, step frequency and ankle joint rigidity by the machine learning model; an ankle joint target angle and a knee joint target angle are solved through inverse kinematics, and a joint motor is driven in combination with a PD control algorithm and a self-adaptive item; when the vertical acceleration of the IMU sensor is larger than a preset acceleration threshold value, the time period before grounding is judged, and a compliant mode is triggered to control the ankle joint rigidity and the torque borne by the joint.

The invention discloses a hip structure, a leg structure and a biped robot, and relates to the technical field of robotics.The hip structure comprises a hip lateral extension assembly fixing base, a hip lateral extension assembly, a hip pitching assembly and a hip turnover assembly, the hip lateral extension assembly comprises a hip lateral extension connecting piece and a hip lateral extension joint, and the hip pitching assembly comprises a hip pitching connecting piece and a hip pitching joint; the hip turnover assembly comprises a hip turnover connecting piece and a hip turnover joint; the hip lateral extension connecting piece is fixedly installed on the hip lateral extension assembly fixing seat, the output end of the hip lateral extension joint is connected with the output end of the hip pitching joint, the hip pitching connecting piece is connected with the output end of the hip turnover joint, and the hip turnover connecting piece is used for being connected with a thigh skeleton. According to the hip structure, the tail end mass of the leg structure can be reduced, the rotational inertia is reduced, and therefore the flexibility and cruising ability of the biped robot are improved.

The invention discloses a biped robot high-dynamic action control method based on reinforcement learning, and the method comprises the steps: setting reference trajectories of a leg joint pitch angle and a shoulder joint pitch angle of a simulation robot for two processes of running and jumping, and setting a pose reference trajectory of the simulation robot and a reference sequential logic of foot contact; according to the biped robot high-dynamic action control method based on reinforcement learning, simple actions such as running and jumping do not need to depend on complex demonstration data or a fine action template, and by designing a reference track of a pitch angle of each joint and setting a pose reference track of a simulation robot and a reference sequential logic of foot contact, the high-dynamic action control of the biped robot can be realized. Through reinforcement learning, expected values of all degrees of freedom of each joint are learned, control over all degrees of freedom of each joint is achieved, then motion control over the robot is achieved, the learning process can be guided only through simple and visual motion priori, the exploration space of reinforcement learning is reduced, and the learning complexity is reduced.

1. Name of the product in this design: Bipedal Robot. 2. Application of this design: Robots used for inspection, security, exploration, handling, industrial operations, surveying, scientific research, service, education, companionship, entertainment, and performance. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

The application relates to the technical field of robots, and discloses a kind of two-degree-of-freedom parallel ankle joint mechanism of humanoid robot and kinematics and mechanics solving method, including seven-link transmission structure, which is composed of two groups of closed-chain transmission of parallel four-bar linkages.Motor I and II are installed on the upper end of the lower leg, and the rotation drives link IV and III to move through link I, II, V and VI, and then coupled control ankle joint pitch and lateral freedom degree.The mechanism realizes load balancing of double motors through parallel transmission, improves equivalent torque, and can combine kinematics and mechanics solving method, so that precise control can be realized only by motor feedback, sensor cost is reduced, and is suitable for high stability motion demand of biped robot.

The invention relates to a biped robot approximate period control method and system based on a self-adaptive period control obstacle function. The method comprises the steps that a state space model of approximate periodic walking of the biped robot is established, the measurement instantaneous frequency of a system state is obtained in real time through short-time Fourier transform, and approximate periodic characteristics of an accumulated phase time representation system are introduced; acquiring an estimated instantaneous frequency of a system state in real time by using a self-adaptive extended Kalman filter, adjusting the frequency of a control barrier function, and constructing a self-adaptive periodic discrete time control barrier function to obtain a function-based security set forward invariance guarantee; the accumulated phase time error is analyzed, three reset strategies are used for relieving the accumulated phase time error, and a proper reset strategy is selected according to the actual situation; under a model prediction control framework of single-step prediction, a control obstacle function is used as a constraint, and a walking task of the biped robot is completed by solving an optimization problem. The method adapts to the approximate periodic characteristics of the system by estimating the system period in real time.

The utility model relates to the technical field of robot equipment, and provides a humanoid foot plate assembly of a biped robot, which comprises a main body assembly, and the main body assembly comprises a foot plate, a heel shell, a front foot sole shell and a gravity sensor; the heel shell is mounted at the rear end of the top of the sole plate, the front sole shell is mounted at the front end of the top of the sole plate, and the gravity sensor is mounted in the heel shell; the maintenance assembly comprises a placement groove, an insertion frame, a rotating gear and a threaded rod; the placing groove is formed in the foot bottom plate, the inserting frame is fixedly connected to the inner bottom wall of the foot bottom plate, and the rotating gear is rotationally connected to the inner side wall of the foot bottom plate. According to the utility model, through the auxiliary cooperation between the tooth block and the insertion frame, the heel shell can be pulled out upwards, and the two groups of screw blocks release the clamping of one end of the gravity sensor at the same time, so that a worker can be assisted to quickly disassemble, assemble and take the gravity sensor, and a more abundant maintenance disassembly and assembly space is provided for the worker.

The application discloses a biped robot with a quick-change hand and a motion analysis method under special working conditions, and belongs to the field of robot technology.The biped robot comprises a trunk unit, an arm unit, a hip joint unit and a leg unit; the arm unit is provided with a mechanical hand through a quick-change structure, and the mechanical hand is divided into a clamping mechanical hand, a scissors mechanical hand and a lock twisting mechanical hand.The robot has the advantages that each movable joint of the robot is designed in a module mode, the integration and the modularization of the robot are greatly improved, a connecting rod mechanism is arranged at the rear side of a knee joint, a design of moving outward of a hinge point is adopted, the motion dead point of the knee joint is offset, the joint module can more smoothly exert force, and the complexity of the joint connecting part is reduced.

The application discloses a biped robot form optimization method based on metric index identification variable additive grouping, which comprises an additive structure grouping stage and a Bayesian optimization stage based on additive decomposition; in the additive structure grouping stage, first, the interaction strength between variables is calculated through the designed variable interaction metric index, and the interaction strength is converted into a distance matrix; subsequently, using the distance matrix, a K-Means clustering algorithm with capacity limitation is used to cluster high-dimensional variables to obtain grouping, so that an additive grouping structure is obtained; in the Bayesian optimization stage based on additive decomposition, an additive kernel GP proxy model is constructed based on the obtained additive grouping structure, the next evaluation point is obtained by maximizing the obtained function, and the form parameters of the evaluation point are used as the initial form parameters of the biped robot for final application. Compared with the existing method, the application is more simple and robust, and by limiting the maximum dimension of each sub-group, the optimization efficiency and grouping identification accuracy are balanced.

The application relates to the field of robot walking control, and discloses a biped robot, a walking control method and device thereof and a readable storage medium. The method comprises the following steps: acquiring the center-of-mass state of the robot in each control period, wherein the center-of-mass state comprises a planned center-of-mass state and a measured center-of-mass state; calculating the capture point error of the robot in each control period based on the planned center-of-mass state and the measured center-of-mass state; accumulating the capture point error of each control period to obtain the total capture point cumulative error; when the capture point error or the total capture point cumulative error exceeds a preset threshold range, adjusting the landing point position of the swing leg of the robot based on the total capture point cumulative error; and controlling the swing leg to move so that the robot lands at the adjusted landing point position. The method ensures that the biped robot can still walk stably without falling down when subjected to thrust disturbance.

The application discloses a truss environment-oriented two-legged robot crawling landing point sequence planning method and belongs to the technical field of robots; the method first constructs a truss undirected graph topology model based on the spatial connection relationship of truss joints and members, takes nodes to represent the truss joints, takes edges to represent the members and takes the member length as the edge weight; the A star algorithm is adopted on the topology model to search for the node sequence and the member sequence of the robot from the starting member to the target member; subsequently, the axial position of the member is described through a normalized member parameter model, and the non-connected feasible landing area set of the robot foot end is represented in combination with One-Hot coding; on this basis, the least number of steps required for the robot to reach the target position is taken as an optimization target, a mixed integer quadratic constraint programming model is established, the landing point sequence is solved, and the optimal landing point sequence satisfying the truss topology constraint and the robot motion constraint is obtained. The application can realize the landing point sequence planning of a two-legged truss crawling robot on a complex truss structure.

The application relates to a control method for dynamic walking of a biped robot and the biped robot, and belongs to the technical field of robot control, which comprises the following steps: 1, a self-recurrent cerebellar model neural network is used to establish a dynamic model of the biped robot with a disturbance term, and dynamic robust walking of the biped robot is converted into a problem of realizing stability of a multi-input multi-output nonlinear system with a bounded uncertain term; 2, an adaptive self-recurrent cerebellar model neural network error observer is designed to estimate an error upper limit; 3, an adaptive law of network weight is designed to realize real-time updating of the network weight space and to adjust parameters of each learning factor; and 4, a boundary value estimation algorithm is used to compensate for an estimation error and feedback to a robot walking system, so that the biped robot can realize asymptotic stable walking. The application enables the control system to adapt to time-varying characteristics of the biped walking system on line, and has continuous learning and adaptive capacity for unknown dynamics.

This application provides a cooperative control method and system for two humanoid robots, relating to the field of robot control technology. The method includes acquiring interaction data from two demonstrators; performing interactive perception motion redirection on the two humanoid robots based on the interaction data to generate a reference trajectory and topological prior that conform to robot kinematic constraints. Specifically, kinematic conflicts arising from heterogeneous redirection are resolved through dual-scale manifold optimization, accurately preserving the interaction intent; using the reference trajectory as the tracking target and guided by the topological prior, reinforcement learning is performed to obtain a cooperative control strategy for the two humanoid robots; the trained cooperative control strategy is deployed to the two humanoid robots, which exchange state information through real-time communication to perform physical cooperative tasks; this significantly improves the robustness of control and training efficiency; and ultimately achieves zero-sample transfer of the cooperative strategy from simulation to real-world operation.

The invention discloses a flexible control method and system for actions of a biped robot, and relates to the technical field of robot control, and the method comprises the following steps: setting the movement speed of each movement unit as a preset maximum speed value; acquiring the current position of each motion unit as an initial position; receiving a new target position instruction for at least one target motion unit; for the target motion unit, calculating a target distance between the initial position and the new target position; determining a microstep interval K and a microstep number N; calculating delay time L after execution of each microstep; and circularly executing the control operation and the delay operation for N times. The method has the advantages that on the basis of the motor subdivision control theory and the interpolation algorithm, the joint movement of the robot is no longer the previous mechanical impression, the impression is flexible and rapid, the robot is separated from the previous action image of the robot, and the posture is close to the posture of a real person.

1. The name of the design product: biped robot. 2. The use of the design product: used in the fields of display, service, interactive entertainment, education, industrial manufacturing and logistics storage, etc. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The present application relates to biped robot control technical field, especially relate to a kind of robust constraint tracking control method of biped robot based on parameter optimization.The present application uses improved inverted pendulum model, while making full use of the advantages of single mass model, still can reflect the important characteristics of biped robot, avoid a series of errors and interference problems due to model oversimplification.The key parameters of the improved inverted pendulum model are set to be variable in the present application, which is convenient for adjusting its dynamic characteristics.The present application designs a kind of robust constraint control method, considers the motion equation of the limited mechanical system of equality constraint and inequality constraint, and makes the control input satisfy Gauss principle and d'Alembert principle, so as to produce moderate control force in the real world to meet system performance.

The utility model belongs to the related technical field of robots, and discloses a robot leg structure and a biped robot, a hip joint module in the leg structure comprises a side expansion driving module, a turnover driving module and a pitching driving module, one ends of the three modules are installed on a hip joint installation frame in a series connection mode, and the other ends of the three modules are installed on a hip joint installation frame. The other end of the connecting rod is connected with the thigh part; the knee joint module is located in the containing cavity of the thigh part, the knee joint module comprises a linear driving module, the fixed end of the linear driving module is rotationally connected with the upper portion of the thigh part, the movable end of the linear driving module is in transmission connection with the top of the shank part, and the linear driving module drives the shank part to do pitching motion through linear telescopic movement; the bottom of the shank part is hinged to the foot bottom part through a cross shaft structure, and the ankle joint module is arranged on the shank part and is in transmission connection with the foot bottom part so as to complete pitching and side stretching movement. The design of hybrid driving of the linear and rotary joint modules gives consideration to the requirements of high robustness and low energy consumption of the foot-type robot in a real scene.

This invention discloses a semi-passive gait control method and system for bipedal robots based on adaptive Hopf-CPG, relating to the field of robotics. The method includes the following steps: establishing a dynamic model of the bipedal robot with knee joints; optimizing key structural parameters of the robot based on the dynamic model; constructing an adaptive Hopf-CPG network; introducing an adaptive mechanism, including frequency adaptation, amplitude adaptation, and phase adaptation; and fusing the adaptive Hopf-CPG network with semi-passive gait control, dynamically adjusting the active adjustment ratio of the CPG network according to the robot's walking environment to achieve a balance between passive energy saving and active stability. Compared with existing technologies, this method significantly improves motion stability, enhances anti-disturbance capabilities, reduces energy consumption, improves endurance, and exhibits strong environmental adaptability, eliminating the need for manual parameter adjustment.

The application relates to the technical field of robot control, and discloses a biped robot walking control method based on model predictive control and a landing point optimization. The method aims to solve the problems of insufficient stability and poor adaptability of the prior art when coping with external disturbances and uneven terrains. The core of the application is to perform optimization control on the supporting leg and the swing leg respectively: model predictive control (MPC) is adopted to realize real-time optimization of the three-dimensional ground reaction force of the supporting leg, so that the effective support of the supporting leg on the torso is ensured; meanwhile, a gait stability feedback controller is designed, real-time state feedback is provided through a state observer, the swing leg trajectory is optimized, the landing point position of the robot is dynamically corrected, and the anti-interference ability of the system is enhanced.

The invention discloses a trajectory control method for a biped humanoid robot and electronic equipment. The trajectory control method comprises the following steps: acquiring a first current position of the robot and a second current position of an object to be contacted; calculating a moving track according to the first current position and the second current position to obtain a third target position of the robot; a run-up track is calculated according to the third target position and the second current position, and a landing point of the robot is obtained; according to the landing point, fitting a swing track based on a Bezier curve; and controlling the robot to move according to the moving track, the run-up track, the landing point and the swinging track so as to contact the to-be-contacted object. According to the method, the characteristics of each stage are integrated to obtain the track which is most suitable for robot movement and can correctly kick the to-be-contacted object, and the problem that the to-be-contacted object is trodden in advance or is too far away from the to-be-contacted object is avoided; and a run-up stage is introduced, so that the speed of kicking the object to be contacted can be obviously improved.

1. The name of the design product: biped robot (D01). 2. The use of the design product: for a biped robot. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view.

1. The name of the design product: teaching aid (biped robot). 2. The use of the design product: using ultrasonic obstacle avoidance technology to simulate human walking posture to avoid obstacles autonomously, used to guide students to observe the behavior of robots in different environments in psychology teaching. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective drawing.

1. Name of the designed product: biped robot. 2. Use of the designed product: the designed product is used for general humanoid robot. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: perspective view 1.

The application provides a kind of decoupling biped robot, including mounting frame, the two sides of mounting frame are equipped with leg structure, each leg structure includes thigh module, knee joint module, shank module, ankle joint module and foot sole module;Thigh module includes first drive motor, second drive motor and thigh linkage mechanism, the first end of thigh linkage mechanism is connected with mounting frame;Knee joint module includes first connecting part, second connecting part and connecting plate, the first end of connecting block is hinged with first connecting part, the second end of connecting block is hinged with second connecting part, first connecting part and second connecting part are respectively hinged with the second end of thigh linkage mechanism;Shank module includes third drive motor and shank linkage mechanism, first connecting part and second connecting part are respectively hinged with the first end of shank linkage mechanism, the second end of shank linkage mechanism is hinged with ankle joint module.The decoupling biped robot provided by the application can avoid the rotation coupling of robot joints and reduce the control difficulty of the robot.