本申请属于机器人技术领域,尤其涉及一种步态规划方法、装置、计算机可读存储介质及机器人。所述方法构建机器人的变质心高度的线性倒立摆模型,所述变质心高度的线性倒立摆模型为在线性倒立摆模型的基础上降低质心高度和增加质心起伏的模型;基于所述变质心高度的线性倒立摆模型,在所述机器人的每个质心时序周期进行步态规划。通过本申请,在传统线性倒立摆模型的基础上,进一步降低质心高度和增加质心起伏,能够有效地提供快速行走所需要的腿长。

    A gait planning method includes: performing a gait planning in each center of mass (CoM) timing period of the robot based on a variable-height linear inverted pendulum model, which includes: acquiring a first step length and a second step length at a beginning of each CoM timing period; calculating a first height reduction amplitude and a first fluctuation amplitude of the CoM of the robot according to the first step length; calculating a second height reduction amplitude and a second fluctuation amplitude of the CoM of the robot according to the second step length; and performing a planning to the height of the CoM of the robot in the current CoM timing period, based on the first height reduction amplitude, the first fluctuation amplitude, the second height reduction amplitude, and the second fluctuation amplitude.


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    Titel :

    一种步态规划方法、装置、计算机可读存储介质及机器人


    Erscheinungsdatum :

    2020-12-15


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge