Biped robot gait control method and biped robot
Biped robot gait control method and biped robot
- Neue Suche nach: XIONG YOUJUN
- Neue Suche nach: GE LIGANG
- Neue Suche nach: LIU YIZHANG
- Neue Suche nach: CHEN CHUNYU
- Neue Suche nach: XIE ZHENG
- Neue Suche nach: PANG JIANXIN
- Neue Suche nach: XIONG YOUJUN
- Neue Suche nach: GE LIGANG
- Neue Suche nach: LIU YIZHANG
- Neue Suche nach: CHEN CHUNYU
- Neue Suche nach: XIE ZHENG
- Neue Suche nach: PANG JIANXIN
The invention discloses a biped robot gait control method and a biped robot. The method comprises the steps of obtaining six-dimensional force information, and judging a supporting state of the bipedrobot according to the six-dimensional force information; calculating the ZMP position of each foot of the biped robot according to the six-dimensional force information; setting a ZMP expected valueof each foot according to the supporting state and a body posture error; determining an ankle joint compensation angle of each foot of the biped robot according to the ZMP position, the change rate ofthe ZMP position, the ZMP expected value and the change rate of the ZMP expected value; tracking and adjusting the current ankle joint angle of the biped robot in real time according to the ankle joint compensation angle; and circulating the steps at a set frequency until posture control or ankle joint compliance is completed in different supporting states.
一种双足机器人步态控制方法以及双足机器人，包括以下步骤：获取六维力信息，并根据该六维力信息判断双足机器人的支撑状态；根据该六维力信息，计算双足机器人每个足部的ZMP位置；根据支撑状态以及本体姿态误差设定每个足部的ZMP期望值；根据该ZMP位置和ZMP位置变化率以及该ZMP期望值以及该ZMP期望值的变化率确定该双足机器人每个足部的踝关节补偿角度；根据该踝关节补偿角，实时跟踪调整双足机器人当前的踝关节角度；以设定频率循环以上步骤直至在不同支撑状态中完成姿态控制或踝关节柔顺。
Dokumentinformationen
Biped robot gait control method and biped robot
一种双足机器人步态控制方法以及双足机器人
2020-07-07
Patent
Elektronische Ressource
Chinesisch