Biped robot climbing stair gait planning method and device and robot

Abstract

The invention discloses a biped robot climbing stair gait planning method and device and a robot. The biped robot climbing stair gait planning method comprises the steps that in the stair climbing process, a variable-length first-order inverted pendulum model is adopted to carry out trajectory planning on a forward gait, the motion trajectory of an ankle joint is constrained according to preset constraint conditions, and a first-order linear inverted pendulum model is adopted to carry out trajectory planning on a lateral gait to realize stair climbing of a biped robot; the process is that whenfacing the first stair, the center of gravity of a body is controlled to move to the left; a right foot of a swing leg is lifted to drop the right foot onto the stair; the center of gravity of the body is moved to the right foot, and the left foot of the swing leg is lifted so that the left foot falls onto the stair; the steps are repeated until the first stair is the last stair; whether the center of gravity falls within a stable region or not is judged; if yes, the walking is finished; and if not, the two legs are controlled to close and return to the starting state. Based on the biped robot climbing stair gait planning method and device and a robot, an effective application of a robot walking mode can be realized, so that the robot can walk on the stairs as freely as a human.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a stair-climbing gait planning method, device and robot for a biped robot. Background technique [0002] The humanoid biped robot should realize the following three characteristics: it can work in the human environment, it can use human tools and it has a human shape. Although humanoid robots have bipeds similar to humans, they cannot perform many difficult movements like humans due to the limitation of joint degrees of freedom. Referring to the NAO robot launched by a French company, it has a total of 25 degrees of freedom, which can realize many complex sports such as playing football, playing Tai Chi, and playing golf. In order to promote the application of humanoid biped robots in daily life, it is extremely important whether the robot can walk freely in many complex terrains in real life. [0003] Many scholars have made great contributions to the stair-walking of humanoi...

AI Technical Summary

Problems solved by technology

Although humanoid robots have bipeds similar to humans, they cannot perform many difficult actions like humans due to the limitation of joint freedom.

Images