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Biped robot foot compliance balance control system and method

A bipedal robot and balance control technology, applied in the direction of program control manipulators, manipulators, motor vehicles, etc., can solve the problems of controller failure, insufficient ground information, and insensitive response to robot attitude deviation, and achieve strong balance control, Solve the contradiction between the smoothing effect and the balance effect, and the effect of the optimal balance control effect

Active Publication Date: 2020-06-09
BEIJING INSTITUTE OF TECHNOLOGYGY
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AI Technical Summary

Problems solved by technology

The former focuses on considering the influence of ground information on the balance control of the robot, and is not sensitive to the overall attitude deviation of the robot.
The latter focuses on the deviation of the robot's own attitude, but does not have sufficient grasp of the ground information, and it is easy to cause the controller to fail due to the local unevenness of the ground.

Method used

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  • Biped robot foot compliance balance control system and method
  • Biped robot foot compliance balance control system and method
  • Biped robot foot compliance balance control system and method

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Embodiment Construction

[0030] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0031] Such as figure 1 As shown, a biped robot foot compliance balance control system includes a six-dimensional force sensor, an inertial measurement unit IMU, a control law classifier, an attitude controller, and a compliance control model; the six-dimensional force sensor collects the foot The internal force is transmitted to the control law classifier; the inertial measurement unit IMU collects the attitude of the robot in the actual state and transmits it to the control law classifier; the attitude controller obtains the virtual force and virtual moment according to the control law and the real-time attitude of the robot, Input to the compliant control model, the compliant control model combines the real-time foot force of the robot to obtain the adjustment amount o...

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Abstract

The invention provides a biped robot foot compliance balance control system and method. A six-dimensional force sensor and an inertia measurement unit respectively collect the foot stress and postureof a robot in an actual state, and transmit the foot stress and posture to a control rule classifier; the control rule classifier is designed by combining the robot walking state, the robot posture and the robot foot stress information, and a corresponding control rule is inferred; a posture controller acquires virtual force and virtual torque according to the control rule and the real-time posture of the robot, and inputs the virtual force, the virtual torque and the actual foot stress into a foot compliance model, so that an ankle joint angle adjustment amount is output, and the balance of the robot is maintained. The system and the method are used for realizing compliance balance control of the robot standing on the ground with variable angles and walking on the uneven ground.

Description

technical field [0001] The invention belongs to the technical field of biped robot balance control, in particular to a biped robot foot compliance and balance control system and method. Background technique [0002] Zero Moment Point (ZMP) is a very important concept in the research of biped robots, which plays a decisive role in the walking planning and stability of biped robots. Whether the robot is standing or walking, the necessary condition for the robot to maintain stability is that the ZMP is in the support domain of the robot. The support domain is the polygonal area drawn by the outline of the robot's biped. Therefore, there are many methods starting from the perspective of controlling ZMP, controlling the actual ZMP of the robot to ensure that it is in the support domain, which belongs to walking stability control. [0003] From another point of view, maintaining the balance of the robot's posture is a sign of the stability of the robot. If the actual posture of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032B25J9/16B25J13/00
CPCB25J9/1612B25J9/1633B25J13/00B62D57/032
Inventor 黄强董宸呈黄则临余张国陈学超李庆庆张润明
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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