Closed-loop control-based humanoid robot omnidirectional walking method
A humanoid robot and closed-loop control technology, which is applied in two-dimensional position/channel control and other directions, can solve the problems of low application efficiency and inability to change in real time
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[0017] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0018] Such as figure 1 , figure 2 and image 3 As shown, this embodiment provides a method for omnidirectional walking of a humanoid robot based on closed-loop control, including foot landing point planning, robot trunk motion trajectory, foot space trajectory planning, joint angle calculation and feedback control strategy,
[0019] Step 1, foot landing point planning: use the ant colony algorithm for path planning to obtain the foothold point of the robot's foot in two-dimensional space, and calculate the zero moment point ZMP value of the robot; specifically include the following steps:
[0020] Step a, plan each step by specifying the foothold on the moving path, and determine the step length of each step , step width and steering angle ,Such as figure 1 shown;
[0021] In the process of actual walking, the robot often needs to...
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