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Biped walking simulation evaluation system and method of robot based on six-degree-of-freedom legs

An evaluation system and robot technology, applied in the field of robot bipedal walking simulation evaluation system based on six-degree-of-freedom legs, can solve problems such as inability to complete simulation optimization tasks, and achieve the effects of saving prototype manufacturing and experiment costs and shortening development cycles

Active Publication Date: 2018-05-22
TSINGHUA INNOVATION CENT IN DONGGUAN
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Problems solved by technology

But it can only form the basis of robot simulation, and cannot complete the final simulation optimization task

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  • Biped walking simulation evaluation system and method of robot based on six-degree-of-freedom legs
  • Biped walking simulation evaluation system and method of robot based on six-degree-of-freedom legs
  • Biped walking simulation evaluation system and method of robot based on six-degree-of-freedom legs

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Embodiment Construction

[0035] The present invention is specifically described below through exemplary embodiments. It should be understood that the scope of the present invention should not be limited to the scope of the examples. Any changes or changes that do not depart from the gist of the present invention can be understood by those skilled in the art. The protection scope of the present invention is determined by the scope of the appended claims.

[0036] A specific embodiment of the present invention is described as follows:

[0037] The configuration of the leg degrees of freedom of a 6-DOF legged biped robot is as follows: image 3 shown. The 3 hip joints are arranged orthogonally, so that the forward swing, side swing and vertical rotation of the leg can be realized; the knee joint has only 1 forward swing degree of freedom; the ankle joint has 2 degrees of freedom to complete the forward swing and side swing sports. The robot is able to perform a full range of walking motions includin...

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Abstract

The invention provides a biped walking simulation evaluation system and method of a robot based on six-degree-of-freedom legs. The system comprises a biped robot model and a gait planning algorithm, the biped robot model-1 and the gait planning algorithm-2 are input of the simulation evaluation system, the biped robot model contains the shape and dynamics parameters of the robot, and the gait planning algorithm can be used for planning motion trajectories of more than 20 joints of the whole body according to expected staying footprints; the simulation evaluation system outputs a simulation evaluation result used for evaluating the robot structure and the performance of the gait planning algorithm. Through a computer simulation mode, the purpose of omnidirectional walking motion optimization with more complex parameters and more involved factors is achieved.

Description

technical field [0001] The invention belongs to the technical field of robot simulation evaluation, in particular to a robot biped walking simulation evaluation system and evaluation method based on six-degree-of-freedom legs. Background technique [0002] In ordinary indoor environments, there are usually a large number of obstacles, and the robot is required to avoid, step on or cross these complex obstacles. At the same time, other human individuals, animals, vehicles and other objects are always moving, and the robot is required to avoid these moving obstacles during the movement. Therefore, humanoid robots need to have flexible bipedal walking ability. Under the premise of ensuring stability and not falling, they can flexibly control the stride and direction according to the decision-making will, such as forward, backward, sideways, rotation, etc., to achieve these basic strides. Any combination, that is, the ability to realize all-round walking. [0003] At present, ...

Claims

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Application Information

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IPC IPC(8): B62D57/032G06F17/50
CPCB62D57/032G06F30/20
Inventor 张继文刘莉刘召陈恳邬新国
Owner TSINGHUA INNOVATION CENT IN DONGGUAN
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