The invention discloses a motion control method and system for a wheeled biped robot. The motion control method comprises the steps that a model prediction controller outputs generalized force spinor F needing to be applied to a trunk based on an input motion control instruction; the distance delta x between the trunk mass center of the robot and the wheel center point in the x-axis direction is solved; calculating a trunk roll angle based on a centrifugal force compensation strategy, and calculating wheel positions under a trunk coordinate system based on a terrain adaptation strategy; the expected leg joint angle, leg joint speed and swing rod pitch angle are obtained through inverse kinematics solution and serve as state input; the whole body controller is based on the generalized force spinor F obtained through solution of the model prediction controller and state input obtained through solution of inverse kinematics, dynamic feedforward and joint feedback are fused, and finally leg joint torque and wheel joint torque for controlling robot motion are obtained. The robustness of the robot during high-speed steering is enhanced, and rollover is prevented.

    本发明公开了一种轮式双足机器人的运动控制方法及系统,包括:模型预测控制器基于输入的运动控制指令输出需要向躯干施加的广义力旋量F;求解机器人的躯干质心与车轮中心点在x轴方向的距离Δx;基于离心力补偿策略计算躯干横滚角,基于地形适应策略计算躯干坐标系下的车轮位置;经过逆运动学求解得到期望的腿部关节角度、腿部关节速度和摆杆俯仰角,作为状态输入;全身控制器基于模型预测控制器求解得到的广义力旋量F和逆运动学求解得到的状态输入,融合动力学前馈和关节反馈,最终得到控制机器人运动的腿部关节力矩和轮关节力矩。本发明增强机器人在高速转向时的鲁棒性,防止发生侧翻。


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    Titel :

    Motion control method and system for wheeled biped robot


    Weitere Titelangaben:

    一种轮式双足机器人的运动控制方法及系统


    Beteiligte:
    RONG XUEWEN (Autor:in) / WANG YU (Autor:in) / CHEN TENG (Autor:in) / ZHANG GUOTENG (Autor:in) / XIN YAXIAN (Autor:in)

    Erscheinungsdatum :

    2024-01-12


    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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