The invention discloses a control method of a bionic biped robot and the bionic biped robot. Legs of the bionic biped robot comprise a hip mechanism, a knee mechanism, an ankle mechanism and a toe mechanism which are sequentially connected through connecting rods, each of the hip mechanism, the knee mechanism and the ankle mechanism comprises a plurality of joints, the toe mechanism comprises a toe joint and a sole connected with the toe joint, and the control method comprises: obtaining a moving instruction of the bionic biped robot, determining an initial state and an end point state of a leg of the bionic biped robot; according to the terminal point state of the leg, determining the terminal point pose of the toe joint; according to the initial state of the leg and the end point pose of the toe joint, determining the turning angle of each joint in the hip mechanism, the knee mechanism and the ankle mechanism; according to the rotation angle of each joint and the initial state of the leg, determining the speed, acceleration and force of each joint, and controlling each joint to rotate, so that the bionic biped robot moves according to the movement instruction.

    本发明公开了一种仿生双足机器人的控制方法及仿生双足机器人。所述仿生双足机器人的腿包括通过连杆依次连接的臀机构、膝机构、踝机构和趾机构,臀机构、膝机构和踝机构各包括若干关节,趾机构包括趾关节和与趾关节相连的脚掌,所述控制方法包括步骤:获取仿生双足机器人的移动指令,确定仿生双足机器人的腿的初始状态和腿的终点状态;根据腿的终点状态,确定趾关节的终点位姿;根据腿的初始状态和趾关节的终点位姿,确定臀机构、膝机构和踝机构中各关节的转角;根据各关节的转角和腿的初始状态,确定关节的速度、加速度和力,控制各所述关节转动,使得所述仿生双足机器人按照所述移动指令移动。


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    Titel :

    Control method of bionic biped robot and bionic biped robot


    Weitere Titelangaben:

    一种仿生双足机器人的控制方法及仿生双足机器人


    Beteiligte:
    PAN YANG (Autor:in) / CHE JUNJIE (Autor:in) / YU JIEXIAN (Autor:in)

    Erscheinungsdatum :

    2021-12-24


    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



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