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A dynamic motion generation and control method for a biped robot

A biped robot and dynamic motion technology, applied in the field of humanoid robots, can solve problems such as complicated calculations, achieve the effects of reducing energy consumption, improving stability, and increasing safety

Active Publication Date: 2021-07-30
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
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  • Application Information

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Problems solved by technology

[0007] In the position control biped robot, multiple algorithms such as ZMP error compensation and compliance control are used for stability adjustment at the same time, resulting in complicated calculations

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  • A dynamic motion generation and control method for a biped robot
  • A dynamic motion generation and control method for a biped robot
  • A dynamic motion generation and control method for a biped robot

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Embodiment Construction

[0065] In order to make the objectives, technical solutions and advantages of the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are intended to illustrate the invention and are not intended to limit the invention.

[0066] like figure 1 , A dynamic motion generation and control method of a bipple robot, in a single foot support period, by establishing a systematic dynamics feedback linearization control (WBDC), the length of the support leg, and the attitude of the upper body pitch Dynamic motion characteristics of robots. Since the length of the support leg is fixed, the physical properties of the entire robot are close to the inverted pendulum model.

[0067] The method for establishing a systematic dynamics is: Taking the plane 7 link double-foot robot model as an example, the model includes 1 upper body drive, 2 th...

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Abstract

The invention discloses a method for generating and controlling the dynamic motion of a biped robot. During the single-leg support period, the dynamic motion characteristics of the biped robot are maintained by establishing a whole-body dynamics feedback linearization controller to control the length of the supporting leg and the pitching posture of the upper body; Based on the whole body dynamics model to decouple the dynamic coupling between the swing leg and the whole body, by establishing a swing leg predictive control model to control the position in the future observation plan, the foothold adjustment gives a series of target points at the end of the future leg, and plans the swing according to the environmental information Leg end trajectory, real-time adjustment of the foothold of the moving leg; the control amount of the whole body dynamic moment of the supporting leg and the control moment of the swinging leg are used as the motion control input of the biped robot; the present invention introduces the dynamics of the biped robot into real-time planning and Online control, decoupling high-dimensional nonlinear system, independent control of swing legs to achieve dynamic and stable motion.

Description

Technical field [0001] The present invention belongs to the technical field of imitation people, especially a dynamic motion generation and control method of bippled robot. Background technique [0002] The double robot is a smart robot with the characteristics of human profile, but also becomes a specific form of the robot. It can realize the smart walking movement of the class person. It has strong adaptability to the unknown environment, which greatly reduces the need for special robots. The cost of environmental transformation, while replacing artificial labor, more complex work tasks. The double robot is a comprehensive application platform system that integrates a multi-door basic discipline technology, with a comprehensive application platform system that bits the development of bionics, control theory and artificial intelligence, and high-level innovative intensive electromechanical integration platforms can evaluate the national science and technology development level. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04B62D57/032
CPCB62D57/032G05B13/042
Inventor 黄强韩连强陈学超余张国朱西硕石青
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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