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Power type walking method for biped robot

A bipedal robot, powered technology, applied in manipulators, manufacturing tools, etc., can solve problems such as reducing walking stability and gait disturbance

Active Publication Date: 2009-09-16
TSINGHUA UNIV
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  • Summary
  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, the energy replenishment timing of the above two methods is located before and after the collision time, and the energy is replenished instantaneously, which requires extremely high energy density, which limits the walking speed of the robot to a large extent. At the same time, this energy replenishment method It will cause a large disturbance to the gait and reduce the stability of walking

Method used

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  • Power type walking method for biped robot
  • Power type walking method for biped robot
  • Power type walking method for biped robot

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Embodiment Construction

[0083] image 3 Shown is the structure and joint angle schematic diagram of the robot used in the present invention, and wherein 1 is trunk, is fixedly connected with the body of two left and right rotary motors 2,3, and the output shaft of two rotary motors is connected with two thighs 6,7 respectively. connected, the torso is fixedly connected with the bodies of the two hip joint side swing motors 4 and 5, the rotation output shafts of the two hip joint side swing motors are respectively connected with the two thighs 6 and 7, and the thigh 6 is connected with the thigh forward swing motor 8 The rotation output shaft is connected, the thigh 7 is connected with the rotation output shaft of the thigh forward swing motor 9, the thigh forward swing motor 8 is fixedly connected with the body of the calf swing forward motor 10, and the thigh swing forward motor 9 is fixed to the body of the calf swing forward motor 11. Connect, the rotation output shaft of shank forward swing motor ...

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Abstract

A power type walking method for a biped robot belongs to the technical field of robot walking method. The invention is characterized in that the method is a power type walking method for a biped robot which can walk in all directions under the condition of open-loop control, namely, under the control of an upper machine, three different power walking modes of advancing, side-swaying and rotational walking are respectively controllably arranged at the hip joint, the knee joint and the ankle joint of the biped robot. According to the relation between the motion angle in each calculation step length Delta t under each period and the walking times, the angle during different motion mode of each step length is calculated to control the intersection angle of each servo motor accordingly, thus satisfying the condition of power type steady walking and correspondingly proposing the control method of motion angle of all the joints under the set state. The invention has the advantage of walking steadily in all directions.

Description

technical field [0001] The invention relates to a power walking method of a biped robot, in particular to an open-loop control method for realizing fast walking of a biped robot. Background technique [0002] At present, the walking methods of biped robots mainly include static walking, ZMP walking, and limit cycle walking. Among them, static walking is the earliest and most basic walking method, which requires that the center of mass of the robot is always kept within the polygon formed by the feet on the ground during the walking process. This method is easy to keep the robot stable, but it also greatly limits the walking speed of the robot. ZMP walking requires the zero-moment point of the robot to always remain within the polygon formed by the feet. This method reduces artificial constraints to a certain extent compared with static walking, so some robots can walk at a higher speed. At present, successful examples of ZMP walking include Honda's ASIMO, Tokyo University'...

Claims

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Application Information

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IPC IPC(8): B25J13/00
Inventor 赵明国李立国董浩
Owner TSINGHUA UNIV
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