Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Singular-avoiding gait planning method and device, readable storage medium and robot

A technology for gait planning and singularity avoidance, applied in the computer field, can solve problems such as inverse kinematics unsolved, singularity of gait planning methods, etc., to achieve the effect of avoiding singularity problems

Pending Publication Date: 2020-04-10
UBTECH ROBOTICS CORP LTD
View PDF7 Cites 7 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a singularity-avoiding gait planning method, device, computer-readable storage medium, and robot to solve the singular problem that may occur in the existing robot gait planning method, resulting in inverse kinematics unsolvable problem

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Singular-avoiding gait planning method and device, readable storage medium and robot
  • Singular-avoiding gait planning method and device, readable storage medium and robot
  • Singular-avoiding gait planning method and device, readable storage medium and robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0064] In order to make the purposes, features, and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the following The described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this application.

[0065] It should be understood that when used in this specification and appended claims, the term "comprising" indicates the existence of the described features, wholes, steps, operations, elements and / or components, but does not exclude one or more other features , The existence or addition of a whole, a step, an op...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention belongs to the technical field of computers, and particularly relates to a singularity-avoiding gait planning method and device, a computer readable storage medium and a robot. The method comprises the steps of acquiring the waist posture and the foot posture of the biped robot; calculating a first position vector according to the waist pose and the foot pose, wherein the first position vector is a hip joint position vector in an ankle joint coordinate system; calculating a scaling factor corresponding to the first position vector; if the scaling factor meets a preset singularityjudgment condition, adjusting the first position vector according to the scaling factor to obtain a second position vector; and performing inverse kinematics analysis on the second position vector toobtain each joint angle of the biped robot. According to the embodiment of the invention, on the basis of the prior art, the consideration of a singular problem is added, and the possible singular problem is effectively avoided through the adjustment of the hip joint position vector.

Description

Technical field [0001] This application belongs to the field of computer technology, and in particular relates to a gait planning method, device, computer readable storage medium and robot for avoiding singularity. Background technique [0002] The gait planning of humanoid robots has always been a research hotspot. Biped gait planning can directly plan the desired trajectory of the joints, or plan the body and the posture of the foot (that is, foot-waist trajectory planning) and perform inverse kinematics analysis. Get the desired trajectory of the joint, and then realize the tracking of the desired trajectory through the joint controller. The former does not have singular problems, while the latter may have singular problems, which leads to inverse kinematics without solutions. Summary of the invention [0003] In view of this, the embodiments of the present application provide a singularity avoidance gait planning method, device, computer-readable storage medium, and robot to ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02B62D57/032
CPCG05D1/0214G05D1/0221G05D1/0276B62D57/032
Inventor 白杰葛利刚陈春玉刘益彰王鸿舸庞建新熊友军
Owner UBTECH ROBOTICS CORP LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com