Robot and gait control method and device thereof

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Robot and gait control method and device thereof

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ZHOU JIANGCHEN / MA XINGXING / LIU YIZHANG / CHEN CHUNYU / XIONG YOUJUN

The invention belongs to the field of robots, and provides a robot and a gait control method and device thereof. The method comprises the steps that state information of the robot at the current moment is acquired; an optimized objective function and a constraint model corresponding to a preset gait optimization model of three mass points are determined according to the state information in combination with a reference trajectory of the robot; according to the optimized objective function and the constraint model, an optimized trunk mass center track and an optimized swing leg track of the robot are determined; and gait control is carried out on the robot according to the optimized trunk mass center track and the optimized swing leg track. Due to the fact that the track of swinging legs and the track of the mass center of a trunk are combined during gait control, and compared with a method only adopting the position of a foothold, the robot can better bear external interference, and the moving stability of the robot is improved.

本申请属于机器人领域，提出了一种机器人及其步态控制方法和装置，该方法包括：获取机器人在当前时刻的状态信息；根据所述状态信息，结合机器人的参考轨迹，确定预先设定的三质点的步态优化模型对应的优化目标函数和约束模型；根据所述优化目标函数和约束模型，确定所述机器人的优化的躯干质心轨迹和摆动腿轨迹；根据所述优化的躯干质心轨迹和摆动腿轨迹对所述机器人进行步态控制。由于本申请在进行步态控制时联合了摆动腿轨迹和躯干质心轨迹，与仅采用调整落脚点位置的方法相比，能够更好的承受外界干扰，提高机器人移动的稳定性。