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Optimized control method of humanoid robot walking track

A humanoid robot, optimized control technology, applied in two-dimensional position/channel control and other directions, can solve problems such as instability and fall of humanoid robots

Active Publication Date: 2015-09-09
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, the mathematical models used to generate offline trajectories for humanoid robots all use simplified inverted pendulum models. The structure of the inverted pendulum model is quite different from that of humanoid robots. Compared with the trajectory, there will be a large error. If no adjustment is made, as the error accumulates, it is very easy for the humanoid robot to lose stability and fall.

Method used

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  • Optimized control method of humanoid robot walking track
  • Optimized control method of humanoid robot walking track
  • Optimized control method of humanoid robot walking track

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Embodiment Construction

[0050] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0051] During the motion process, through the established optimization evaluation function, the joint control value u of the robot is generated in real time, so that the robot can optimally track the generated trajectory in real time, and minimize the error between the actual trajectory and the given trajectory. At the same time, the walking parameters are corrected according to the cumulative value of the evaluation function in each step control cycle in the support phase.

[0052] The robot uses a trajectory generator based on the linear inverted pendulum model, and the walking parameter step size S of the nth step of the robot is x,n , step width S y,n , is preset. The trajectory c of the center of mass of the robot is generated by the trajectory generator d And the joint trajectory q solved by inverse kinematics d . The trajectory gene...

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Abstract

The present invention provides an optimized control method of a humanoid robot walking track. Through the accumulation of complete walk cycle optimization effects, a track correction amount is generated, when each walk cycle is ended, the walk parameter of a humanoid robot is corrected, and the stability of humanoid robot walking is improved.

Description

technical field [0001] The invention relates to a control method of a humanoid robot and belongs to the technical field of robot control. Background technique [0002] The problem of motion planning and trajectory tracking of humanoid robot has always been the hot spot and frontier of humanoid robot research. The trajectory planning of the humanoid robot is mostly planned according to the motion law of the linear inverted pendulum, but in the actual motion, the motion is carried out by tracking the planned position. This control method lacks flexibility, especially when the error occurs, the method of tracking the planned position can easily cause the accumulation and transmission of errors, which has a great impact on the stable motion of the humanoid robot. [0003] An effective solution is to use offline planning and online adjustment to adjust the movement of the robot. By establishing the evaluation function of the humanoid robot for trajectory tracking, and adjusting...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 黄强孙文涛余张国陈学超张伟民张思孟立波
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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