165 results about "Biped robot" patented technology

The invention belongs to the technical field of robots, and discloses a biped robot state estimation method based on multi-sensor information, and the method comprises the steps: obtaining the data of an inertial measurement unit, a joint encoder and a joint sensor on a biped robot; a self-adaptive threshold contact state detection algorithm based on current sensing information is designed, and the contact state of the sole and the environment is judged in real time; determining a supporting phase of the robot according to the contact state, and applying a dynamic reference system conversion mechanism of supporting phase perception; constructing a state estimator based on invariant extended Kalman filter IEKF, defining a state vector including the posture, position and speed of the robot, performing state prediction by using IMU data, and performing state updating in combination with contact state information, kinematics information and the like; and outputting accurately estimated robot state information. According to the method, the adaptive contact detection and the IEKF are introduced, so that the state estimation precision and robustness of the biped robot in the dynamic walking process are effectively improved.

The invention belongs to the related technical field of mobile robots, and discloses a rolling-walking composite motion control method and device for a double-wheel-foot robot, and the method comprises the steps: (1) simplifying the rolling motion of wheels of the double-wheel-foot robot into the sliding motion of a sliding block; (2) constructing a system kinetic equation of the double-wheel-foot robot based on the simplified kinetic model; constructing a constraint equation based on the contact state of the two legs and the ground; discretizing the system kinetic equation, the cost function and the constraint equation, and converting model prediction control problems corresponding to the system kinetic equation, the cost function and the constraint equation into nonlinear problems for numerical solution so as to complete leg motion planning; (3) calculating the rotation speed of the wheel based on the leg motion planning result; and (4) based on the rotation speed of the wheels and the leg motion planning result, a whole-body control algorithm is adopted to calculate and obtain moment instructions of leg joints and the wheels. According to the invention, the state space dimension is reduced, and the wheel-ground contact constraint is simplified.

The present description relates to motion planning for a biped robot. According to an example of the present disclosure, a motion planning method for a biped robot may comprise: acquiring a discrete map with terrain information that corresponds to an area to be walked, determining terrain points in the discrete map that indicate that a biped robot is allowed to pass through, and generating a preliminary foothold sequence on the basis of the terrain points; generating a preliminary motion trajectory of the biped robot on the basis of the discrete map; and on the basis of a preset objective function and on the basis of the preliminary motion trajectory and a kinematic model of the biped robot, optimizing the preliminary foothold sequence, so as to generate a target foothold sequence. By means of determining, on the basis of gradient information of the ground level in a discrete map, whether a position allows a biped robot to pass through or whether the position can be used as a foothold of the biped robot, parameter optimization is performed on the foothold to obtain a target foothold sequence, such that the biped robot is enabled to complete a crossing task in view of terrain characteristics.

The parallel biped robot with the waist structure is characterized by comprising a parallel double-leg structure, the waist structure and an upper body structure which are arranged from bottom to top and can move independently; the parallel double-leg structure comprises a leg structure cross beam, the two ends of the leg structure cross beam are downwards connected with leg structures, and the upper portion of the leg structure cross beam is fixedly connected with the waist structure; the waist structure is a six-degree-of-freedom Stewart mechanism, a lower platform of the waist structure is rigidly connected with a cross beam of the leg structure, an upper platform of the waist structure is rigidly connected with the upper body structure, and six telescopic rods are connected between the upper platform and the lower platform; the invention further discloses a walking method of the robot, through introduction of the six-degree-of-freedom waist structure, the robot can adjust the position and posture of the upper body in real time in the walking process, active compensation of mass center deviation is achieved, and compared with a traditional serial connection type waist mass center adjusting range is larger, the corresponding speed is higher, and the robot can walk more stably. And the advancing stability is obviously improved.

The invention discloses a multi-purpose humanoid biped robot based on a three-point visual recognition system. The multi-purpose humanoid biped robot comprises an upper body unit; the head unit is located at the upper end of the upper body unit; the arm units are located on the left and right sides of the upper body unit; the leg units are integrated on the left side and the right side below the upper body unit through hip joint units; a visual sensor is integrated in the head unit, and the shooting angle of the visual sensor is adjusted through a head movement module integrated in the head unit. The head of the biped robot has two degrees of freedom, so that the head can pitch and rotate, meanwhile, the visual sensor is carried, information of the surrounding environment can be collected in real time, and main information input is provided for the robot.

The present invention provides a whole-body compliance control method applied to a fast and stable walking biped robot, and the control method includes: obtaining a plantar stress and a plantar moment based on information of a foot force sensor to estimate an actual ZMP position of the robot; designing a centroid compliance controller based on the actual ZMP position of the robot to correct a centroid acceleration; designing a plantar position compliance controller based on a double spring-damper model according to the plantar stress to correct a foot height; designing a plantar posture compliance controller based on the plantar moment to correct a plantar posture; adding corrected centroid and foot values into an originally desired trajectory; and obtaining motor angles of various joints. In the method, the plantar position compliance controller is used to reduce the landing impact; the plantar posture compliance controller is used to ensure that the robot lands flat to prevent the robot from rollover; the centroid compliance controller is used to adjust a centroid position to prevent a robot body from bending forward and backward when the robot walks fast, thereby increasing the stability of the biped robot during fast walking.

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 discloses a biped robot gait network training method. The method comprises the following steps: constructing a dual-channel deep reinforcement learning architecture; the running states of the X biped robots in the simple terrain of the simulation environment are collected; obtaining a current reward according to the current running state, merging each piece of information into a Markov decision process, and storing the information into an experience playback area; when the number of the Markov decision-making processes in the experience playback area is greater than a preset threshold value n, randomly taking a preset number of Markov decision-making processes from the Markov decision-making processes, and updating parameters of the main network and the opponent network; disturbance is carried out on main network parameters, and a human memory curve is simulated to carry out continuous adjustment on main network hyper-parameters clip; the biped robot with the stable walking duration reaching the preset duration is moved to the terrain with the higher difficulty level, and the network parameter updating process is repeated; and course learning is continuously carried out until the accumulated reward information and the stable walking duration of all the biped robots reach preset values.

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.

A robot control method, and a computer-readable storage medium and a wheel-legged biped robot using the same are provided. The method includes: determining a kinetic model of the wheel-legged biped robot; determining, using the kinetic model, a sliding surface of the wheel-legged biped robot; determining, according to the sliding surface, a double power reaching law and a sliding mode control law of the wheel-legged biped robot; and controlling, according to the sliding surface, the double power reaching law and the sliding mode control law, the wheel-legged biped robot. Through the above-mentioned method, the adaptability of the wheel-legged biped robot to uncertain external disturbances can be enhanced, thereby improving its robustness to effectively maintain its balance even in the environment with complex terrain.

The invention provides a biped robot gait planning method and device for a step terrain, and belongs to the technical field of robot gait planning, the method comprises the following steps: based on a linear inverted pendulum model, respectively establishing walking modes of an upper step and a lower step of a biped robot; based on a walking mode, mapping the linear inverted pendulum model under the step terrain into a segmented virtual height linear inverted pendulum model under the plane terrain; based on a segmented virtual height linear inverted pendulum model, gait planning of the biped robot under the stepped terrain is achieved through model prediction control. According to the biped robot gait planning method and device for the step terrain, the linear inverted pendulum model with the virtual centroid height is used, the gait mode is established according to the terrain elevation information and the landing point information of the step environment, and the method and device can adapt to the irregular step terrain with the variable height and the variable length; and the gait has good terrain adaptability.

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 utility model discloses a leg structure of a biped robot and a humanoid robot. The biped robot leg structure comprises a hip joint assembly, a thigh assembly, a shank assembly and a foot which are connected in sequence. The hip joint driving motor is connected with the knee joint driving motor through a connecting assembly, and the hip joint driving motor and the knee joint driving motor are coaxially arranged; the shank assembly and the thigh assembly are connected through a first ankle joint rotating motor, and the first ankle joint rotating motor serves as a knee joint rotating shaft. The first ankle joint rotating motor is located at the root of the shank assembly, and the knee joint driving motor is located at the root of the thigh assembly so as to reduce inertia of the tail ends of robot limbs. The leg structure of the biped robot is improved, inertia is made to move upwards by moving the driving motor upwards, and the flexibility and the dynamic performance of the robot are improved; the compactness of the leg structure of the biped humanoid robot is improved, the transmission angle is effectively limited, the transmission stability is improved, and the encoder and the like are convenient to maintain.

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 belongs to the related technical field of biped robot gait planning, and discloses a method, application and equipment for generating a biped robot anthropomorphic foot end trajectory based on a full-connection network, and the method comprises the steps: (1) grouping the collected foot end trajectory data according to a starting step, an intermediate circulation step and a termination step; (2) mapping each group of foot end track data into foot end track data which can be used by a robot based on a kinematics mapping relation between a human body and the robot, and carrying out conformal interpolation; (3) training a full-connection neural network model by adopting the interpolated foot end trajectory data, further generating a foot end trajectory of each intermediate step by adopting the full-connection neural network model, and mapping the directly generated foot end trajectories of the starting step and the ending step to jointly form an anthropomorphic foot end trajectory; and the main loss of back propagation of the full-connection neural network model is punished by introducing the trajectory smoothness and the prediction precision of the start end and the tail end. According to the method, the anthropomorphism of the foot end track is improved.

The invention 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 extension 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 connected with thighs; 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.

The invention provides a biped robot control method and system based on head-mounted display control equipment, and relates to the technical field of sensors and robots. The method comprises the steps that the head action of a user is obtained through a head-mounted display control device, the head action of the user is converted into action indication information of the biped robot, and the action indication information comprises standing height indication information. In addition, the action indication information is input into a robot motion control model based on deep reinforcement learning, so that the robot motion control model outputs an action strategy to the biped robot in combination with the action indication information. According to the invention, more natural, visual and convenient-to-deploy robot standing height control can be realized, so that the robot control accuracy and the user experience are improved.

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.

The invention relates to a biped robot gait planning method. The invention relates to the technical field of robot gait planning, and the method comprises the steps: taking a kinetic model of a robot as input, so as to achieve the neural network reasoning of simulation; describing the robot by using a URDF file, and enabling the robot to be equivalent to a kinematic chain formed by connecting rigid bodies in series; through accurate description, a robot consistent with that in reality is established in a simulation environment, the robot is enabled to carry out gait learning in a simulation physical environment, and supervised random divergence trial and error are carried out in a mode of setting initial conditions, termination conditions and reward and punishment conditions so as to realize gait learning. According to the invention, through repeated modification of parameters and structural adjustment of adaptability, a stable, low-energy-consumption and high-robustness control strategy is finally obtained through training.

The invention discloses a robot gait control method and device suitable for walking on a slippery road surface and a biped robot. A reinforcement learning and MPC combined control mode is adopted, the robot is controlled to carry out normal gait walking, and data of joint motors and foot sensors are collected in real time; the state of the robot is judged, specifically, when the robot possibly overturns, the robot enters a slow gait mode, and the judgment standard that overturning possibly occurs is that the states of n steps in the future are deduced in the simulation deduction environment, and whether the n step presents the overturning trend or not is judged; and when the robot overturns, the robot enters a high-frequency gait mode, and a related gait regulation and control mode is designed. The problem that the biped robot easily slips on a wet and slippery road surface is solved; and when slipping occurs, the problem is difficult to remedy. And the stable walking capability of the robot on a complex road surface is improved.

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 utility model discloses a foot, a robot, a biped robot and a humanoid robot. The foot comprises a sole; the shaft seat comprises a seat plate, a shank connecting seat and a foot driving mechanism connecting seat, the seat plate is installed on the foot sole, the shank connecting seat is used for being connected with a shank, the foot driving mechanism connecting seat is used for being connected with a foot driving mechanism, and the seat plate, the shank connecting seat and the foot driving mechanism connecting seat are integrally formed. Therefore, the number of parts can be reduced, the fault risk caused by looseness or damage of the connecting position can be reduced, the overall weight of the foot can be reduced, and therefore the flexibility of the foot can be improved. In addition, the foot is high in strength and not prone to deformation.

The invention relates to a pelvic bone structure, in particular to a compact hydraulic drive waist and hip integrated pelvic bone structure. The problems that an existing humanoid robot driven by hydraulic pressure is complex in system structure, large in part number, large in weight and numerous in oil pipe are solved. A waist joint comprises two waist transmission chains, two waist pitching transmission assemblies and a waist rotation driving part, the two waist transmission chains are vertically installed on a pelvic skeleton, and the waist rotation driving part is installed between the two waist pitching transmission assemblies and engaged with a gear between the two waist pitching transmission assemblies; the two hip joints are mounted on the left side and the right side of the pelvic skeleton; each hip joint comprises a hip yawing transmission chain and a hip side-sway transmission chain, the hip yawing transmission chains are horizontally mounted in the pelvic skeleton, the hip side-sway transmission chains are vertically mounted in the pelvic skeleton, and the hip yawing transmission chains and the hip side-sway transmission chains are connected with one ends of the thigh connecting pieces. The invention is applied to the biped robot.

The variable-stiffness self-adaptive toe joint comprises a sole plate and toes located on the front side of the sole plate, the bottom of the sole plate and the bottoms of the toes are located on the same horizontal plane, one side of each toe is installed on the sole plate through a titanium steel plate spring, a pressing wheel is arranged above the titanium steel plate spring, and the other side of each toe is installed on the sole plate. The variable stiffness of the titanium steel plate spring can be adjusted by adjusting the position of the pressing wheel above the titanium steel plate spring. One side of the toe is connected with the sole plate through the titanium steel plate spring, the pressing wheel is located above the titanium steel plate spring and can press the titanium steel plate spring, and the driving mechanism can drive the pressing wheel to move along the titanium steel plate spring; the bending radius when the toes are stressed is changed through different contact positions of the pressing wheels and the titanium steel plate springs on the toes, variable-rigidity self-adaptive movement of the toes in the movement process is achieved, and the walking speed, the stride height and stride of the robot in the walking process and the walking stability of the robot are improved.

A robot step control method, a robot control apparatus, and a storage medium are provided. The method includes: determining an expected support force of two legs of a biped robot according to zero-moment point planning data and actual position data of the two legs at a current moment, and determining a current desired joint posture angle of ankle joints of the two legs and a desired joint position matching an actual leg support state using a compliance control algorithm based on an expected support force of the two legs, and centroid movement planning data, centroid actual movement data, step planning data and actual force data of the two legs at the current moment. In such manner, all-direction compliant controls can be performed on a desired leg pose condition according to the actual motion status of the biped robot, thereby improving the walking stability and terrain adaptability of the biped robot.