The invention discloses a long time domain and reaction formula combined motion trail generation method for a foot type robot. The method comprises the following steps: establishing a robot equivalent simple substance point model; establishing an equivalent simple substance point model cost function based on a centroid acceleration vector and a foothold position vector; establishing a spatial constraint equation of a system state; further, a nonlinear optimization equation is formed, and an optimization solver is adopted to generate a long-time-domain centroid trajectory and a landing point sequence from the starting moment to the ending moment; and combining model predictive control and velocity field guide trajectory convergence, converging a short-time domain reaction equation trajectory to a long-time domain motion trajectory, and generating a global motion trajectory. According to the motion trail generation method, the motion target position, robot kinematics/dynamics and environmental constraints are considered, and foothold and centroid trail optimization is allowed to be carried out at the same time; when external disturbance causes deviation between the mass center position and the long-time-domain movement track, the method can still rapidly converge to an expected position, and has the characteristic of high anti-interference capability.
本发明公开一种足式机器人长时域与反应式相结合的运动轨迹生成方法,其包括:建立机器人等效单质点模型;建立基于质心加速度向量与落脚点位置向量的等效单质点模型代价函数;建立系统状态的空间约束方程;进而,构成一个非线性优化方程,采用优化求解器生成起始时刻到终止时刻的长时域质心轨迹和落足点序列;结合模型预测控制与速度场引导轨迹收敛,将短时域反应式轨迹收敛到长时域运动轨迹,生成全局运动轨迹。本发明的运动轨迹生成方法考虑到运动目标位置、机器人运动学/动力学和环境约束,允许同时进行落脚点和质心轨迹优化;当遇到外界扰动时导致质心位置与长时域运动轨迹发生偏差后,仍能快速收敛到期望位置,具有抗扰能力强的特点。
Motion track generation method combining long time domain and reactivity of foot type robot
足式机器人长时域与反应性相结合的运动轨迹生成方法
30.05.2023
Patent
Elektronische Ressource
Chinesisch
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