Biped robot compliant gait control method and system, equipment and medium

Abstract

The invention discloses a biped robot compliant gait control method and system, equipment and a medium, and belongs to the field of robot control. The biped robot compliant gait control method comprises the steps that of: calculating an actual tail end state of a biped robot in an initial state, and adjusting the leg rigidity and a ground contact angle until a difference optimization function between the actual tail end state and an expected tail end state is minimum, so as to obtain the optimal leg rigidity and the optimal ground contact angle; training a multi-layer neural network by utilizing multiple groups of the initial states, the expected tail end states, the optimal leg rigidity and the optimal grounding angles, so that a loss function of the multi-layer neural network is minimum;and inputting the initial state and the expected tail end state of the current gait period into the trained multi-layer neural network, and controlling the biped robot in the current gait period according to an output leg rigidity control quantity and a ground contact angle control quantity. The rigidity and the ground contact angle of the two legs of the robot are controlled, ground impact during ground contact is reduced, the stability of the robot is improved, and rapid and precise control in any initial state is achieved.

Description

technical field [0001] The invention belongs to the field of robot control, and more specifically relates to a method, system, device and medium for controlling a compliant gait of a biped robot. Background technique [0002] The arrival of an aging society, rising labor costs, fast-paced life and many other factors make the society's demand for high-performance service robots more and more urgent. Compared with multi-legged robots, biped robots have the advantages of flexibility and human-like appearance, and are more adaptable to the environment and tools developed based on human characteristics, so they are more versatile and easier to be accepted by people. Biped robots can also play a role in high-risk fields such as emergency rescue and disaster relief, patrol early warning, and military operations, and can greatly reduce casualties, which is of great significance. The traditional biped robot adopts a rigid structure, and generally realizes the smooth walking of the r...

AI Technical Summary

Problems solved by technology

Compared with the LIP model, the SLIP model does not have an analytical solution, and the calculation is more complicated. Therefore, the gait planning based on the SLIP model is transformed into an optimization problem, but the optimization time is long, and it is difficult to achieve fast online gait generation, which greatly limits the its practicality

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