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Method for planning and controlling gaits when biped robot suffers from external thrust disturbance in advancing direction

A bipedal robot and forward direction technology, applied in the field of robotics, can solve problems such as difficult to perceive accurately, difficult to achieve compensation control or tracking control, etc., and achieve the effect of real-time feedback and control

Active Publication Date: 2020-06-05
ZHEJIANG LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in practical applications, the thrust information received by biped robots, especially the action position information, is difficult to be accurately perceived
In this case, it is often difficult to achieve effective compensation control or tracking control, especially in the case of passive dynamics

Method used

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  • Method for planning and controlling gaits when biped robot suffers from external thrust disturbance in advancing direction
  • Method for planning and controlling gaits when biped robot suffers from external thrust disturbance in advancing direction
  • Method for planning and controlling gaits when biped robot suffers from external thrust disturbance in advancing direction

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with drawings and embodiments.

[0028] like figure 1 As shown, this embodiment considers a biped robot with 11 degrees of freedom, q ankle,roll is the degree of freedom of the supporting ankle joint in the forward plane, q ankle,st is the pitch degree of freedom of the supporting ankle joint (degrees of freedom in the lateral plane), q knee,st is the degree of freedom of the knee joint of the supporting leg, q yaw,st is the rotational degree of freedom of the hip joint of the supporting leg, q roll,st is the swing degree of freedom of the hip joint of the supporting leg, q pitch,st is the pitching degree of freedom of the hip joint of the supporting leg, q yaw,sw is the rotational degree of freedom of the hip joint of the swinging leg, q roll,sw is the swing degree of freedom of the hip joint of the swing leg, q pitch,sw is the pitch degree of freedom of the swing leg hip joint, q knee,sw is t...

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Abstract

The invention provides a method for planning and controlling gaits when a biped robot suffers from external thrust disturbance in the advancing direction. When the robot is provided with under-actuated ankles or the ankles are in a force control manner, external disturbance borne by the robot can be shown through the state change of the ankle joint freedom degree (or other variables relevant to the ankle joint freedom degree). Based on the thought, according to the method for planning and controlling the gaits, the force control manner is adopted for the ankle joints of the robot, then the included angles between connecting lines between the supporting leg ankles and supporting leg hip joints and the vertical direction are selected to serve as the state variables of the robot to representthe state of the robot, and the state of the robot is estimated and calculated in real time based on a simplified inverted pendulum model. Based on the method, external thrust information borne by therobot does not need to be measured, and real-time feedback and control can be achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a gait planning and control method when a biped robot is disturbed by an external thrust in its advancing direction. Background technique [0002] Biped robots will inevitably be affected by various external disturbances during walking. How to achieve stable walking of biped robots under external disturbances is of great significance for their practical applications. Judging from some published simulation and experimental results, the current anti-disturbance ability of biped robots is still weak, and the robustness is still poor, especially when biped robots are disturbed by external thrust in the forward direction, they are prone to instability. fall. [0003] At present, when researchers at home and abroad consider the gait planning and control problems of biped robots under external thrust disturbances, they often assume that the thrust information is known or mea...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1664
Inventor 袁海辉李特顾建军朱世强
Owner ZHEJIANG LAB
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