The invention relates to the technical field of robots, and discloses a biped robot mass distribution method. The biped robot mass distribution method comprises the steps that lower limb mass parameters are obtained; obtaining a first vector of the lower limb mass center relative to the waist center according to the lower limb mass parameters; determining a second vector of the upper limb centroid relative to the waist center according to the first vector of the lower limb centroid relative to the waist center; if the second vector meets the preset condition, obtaining upper limb longitudinal coordinates of the upper limb mass center relative to the waist center; the upper limbs are movably arranged relative to the waist center based on upper limb longitudinal coordinates of the upper limb mass centers relative to the waist center. By adopting the biped robot mass distribution method, the matching degree of the upper limbs and the lower limbs of the biped robot can be improved, and the balance control difficulty of the robot in the movement process is reduced. The invention further discloses the biped robot.
本申请涉及机器人技术领域,公开了一种双足机器人质量分布的方法。该双足机器人质量分布的方法包括:获得下肢质量参数;根据下肢质量参数,获得下肢质心相对于腰部中心的第一向量;根据下肢质心相对于腰部中心的第一向量,确定上肢质心相对于腰部中心的第二向量;若第二向量满足预设条件,则获得上肢质心相对于腰部中心的上肢纵向坐标;基于上肢质心相对于腰部中心的上肢纵向坐标,上肢相对于腰部中心活动设置。采用该双足机器人质量分布的方法可提高双足机器人上肢和下肢的匹配程度,降低机器人在运动过程中的平衡控制难度。本申请还公开一种双足机器人。
Biped robot mass distribution method and biped robot
双足机器人质量分布的方法及双足机器人
2023-08-22
Patent
Elektronische Ressource
Chinesisch
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