The invention provides a biped robot walking control method and device and electronic equipment, and relates to the technical field of robots. The method comprises the steps that a plurality of selectable points are determined on a target plane according to a first projection point, currently on the target plane, of the mass center of the biped robot, and the target plane is constructed in the advancing direction and the height direction of a robot body of the biped robot; according to the projection information of the target leg on the target plane, the length of a first force arm corresponding to each selectable point is calculated, and the target leg is one leg of the biped robot and is a supporting leg; taking the selectable point corresponding to the smaller first moment arm length in the plurality of first moment arm lengths as a target point; according to the mass center height corresponding to the target point, the biped robot is controlled to walk straight legs. Thus, by controlling the position of the waist of the biped robot in the height direction, the biped robot can move in the mode close to the straight leg of the human as much as possible, and meanwhile the energy utilization efficiency of the knee joint motor of the robot is effectively improved.
本申请提供了一种双足机器人行走控制方法、装置及电子设备,涉及机器人技术领域。该方法包括:根据双足机器人的质心当前在目标平面上的第一投影点,在目标平面上确定出多个可选点,目标平面为由双足机器人的机身前进方向和机身高度方向构建的平面;根据目标腿在目标平面上的投影信息,计算得到各可选点对应的第一力臂长度,目标腿为双足机器人的其中一条腿且为支撑腿;将多个第一力臂长度中的较小的第一力臂长度对应的可选点作为目标点;根据目标点对应的质心高度控制双足机器人进行直腿行走。如此,通过控制双足机器人腰部在高度方向的位置,使得双足机器人尽量以接近人类的直腿方式进行运动,同时有效地提高机器人膝关节电机的能量利用效率。
Biped robot walking control method and device and electronic equipment
双足机器人行走控制方法、装置及电子设备
2024-03-26
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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