避奇异的步态规划方法、装置、可读存储介质及机器人
避奇异的步态规划方法、装置、可读存储介质及机器人
本申请属于计算机技术领域，尤其涉及一种避奇异的步态规划方法、装置、计算机可读存储介质及机器人。所述方法获取双足机器人的腰部位姿和足部位姿；根据所述腰部位姿和所述足部位姿计算第一位置矢量，所述第一位置矢量为在踝关节坐标系中的髋关节位置矢量；计算与所述第一位置矢量对应的缩放因数；若所述缩放因数满足预设的奇异判定条件，则根据所述缩放因数对所述第一位置矢量进行调整，得到第二位置矢量；对所述第二位置矢量进行逆运动学分析，得到所述双足机器人的各个关节角度。通过本申请实施例，在现有技术的基础上，加入了对于奇异问题的考虑，通过对髋关节位置矢量的调整有效规避了可能出现的奇异问题。
The invention belongs to the technical field of computers, and particularly relates to a singularity-avoiding gait planning method and device, a computer readable storage medium and a robot. The method comprises the steps of acquiring the waist posture and the foot posture of the biped robot; calculating a first position vector according to the waist pose and the foot pose, wherein the first position vector is a hip joint position vector in an ankle joint coordinate system; calculating a scaling factor corresponding to the first position vector; if the scaling factor meets a preset singularityjudgment condition, adjusting the first position vector according to the scaling factor to obtain a second position vector; and performing inverse kinematics analysis on the second position vector toobtain each joint angle of the biped robot. According to the embodiment of the invention, on the basis of the prior art, the consideration of a singular problem is added, and the possible singular problem is effectively avoided through the adjustment of the hip joint position vector.
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避奇异的步态规划方法、装置、可读存储介质及机器人
2024-02-02
Patent
Electronic Resource
Chinese