The invention provides a biped robot foot compliance balance control system and method. A six-dimensional force sensor and an inertia measurement unit respectively collect the foot stress and postureof a robot in an actual state, and transmit the foot stress and posture to a control rule classifier; the control rule classifier is designed by combining the robot walking state, the robot posture and the robot foot stress information, and a corresponding control rule is inferred; a posture controller acquires virtual force and virtual torque according to the control rule and the real-time posture of the robot, and inputs the virtual force, the virtual torque and the actual foot stress into a foot compliance model, so that an ankle joint angle adjustment amount is output, and the balance of the robot is maintained. The system and the method are used for realizing compliance balance control of the robot standing on the ground with variable angles and walking on the uneven ground.
本发明提供了一种双足机器人足部柔顺平衡控制系统及方法,六维力传感器、惯性测量单元分别采集机器人实际状态时的足部受力和姿态,并传输给控制规律分类器;结合机器人步行状态、机器人姿态以及机器人足部受力信息,设计控制规律分类器,推断相应的控制规律;姿态控制器根据控制规律和机器人实时姿态,获取虚拟力和虚拟力矩,将虚拟力、虚拟力矩以及足部实际受力输入到足部柔顺模型中,从而输出踝关节角度调节量,维持机器人的平衡。本发明用于实现机器人在角度变化的地面站立和在不平整地面行走的柔顺平衡控制。
Biped robot foot compliance balance control system and method
一种双足机器人足部柔顺平衡控制系统及方法
2020-06-09
Patent
Electronic Resource
Chinese
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European Patent Office | 2016
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