Humanoid robot stable waling control method

Abstract

The invention relates to a humanoid robot stable waling control method comprising the steps that step S1: momentum and angular momentum generated for compensation of a ZMP tracking error by a robot system are acquired; step S2: mapping from a robot configuration space to the momentum and the angular momentum is acquired by utilizing a momentum jacobian matrix based on the mode of differential kinematics; step S3: damping pseudo inverse calculation is performed on the momentum jacobian matrix so that inverse mapping of mapping in the step S2 is obtained, and thus a robot configuration space command is acquired and is corresponding to momentum compensation control task in walking; and step S4: the momentum compensation control task is allocated by adopting a dynamic priority switching mode, and movement commands of all joints are generated. Compared with methods in the prior art, parsing momentum control is applied to humanoid robot balance control via a ZMP calculation formula, and the control problem is integrated into a task space control system so that unknown disturbance can be suppressed by the humanoid robot by utilizing compensation momentum generated by local movement.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a control method for stable walking of a humanoid robot. Background technique [0002] From the observation of the human walking process, it can be found that human beings can obtain the ability to suppress disturbances by accelerating local balance skills of the body, such as swinging arms, shaking feet, and rotating the body. Some researchers imitate the method of human acceleration and local disturbance suppression to perform motion compensation for humanoid robots. In the early days, Taknishi and Michael et al. compensated the ZMP tracking error by adding a rotatable mass block, which suppressed the external disturbance to a certain extent. However, such methods require additional masses and are not suitable for general-purpose humanoid robotic systems. Later, more researchers used the swing of the robot arm for balance compensation. Most of them only controlled the arm and wal...

AI Technical Summary

Problems solved by technology

Later, more researchers used the swing of the robot arm for balance compensation. Most of them only controlled the arm and walking to maintain a certain phase difference for periodic motion, and did not deeply explore the internal relationship between swing arm and balance.

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