The invention discloses a single-foot support phase gait planning method of a biped robot. According to the method, the landing time of an underactuated free robot is estimated on the basis of a simplified model, possible landing time errors are further considered, the robot is made to move to a target pose in advance, and then the pose is kept for landing; besides, in order to prevent the robot swinging foot from scraping the ground, the method decomposes the action process of swinging the leg by the single-foot support, which comprises leg lifting action and leg swinging action. Based on thesingle-foot support phase gait planning method provided by the invention, the robot can be effectively helped to reach an expected foothold in the single-foot support phase and can be prevented frombeing scraped with the ground, so that the walking movement and task operation of the biped robot are favorably realized.
本发明公开了一种双足机器人的单足支撑相步态规划方法。该方法基于简化模型对含欠驱动自由机器人的落地时间进行预估,并进一步考虑了可能存在的落地时间误差,使机器人提前运动至目标位姿,然后保持该位姿进行着地;另外,为避免机器人摆动脚其与地面发生刮擦,该方法将单足支撑相摆动腿的动作过程进行分解,包括抬腿动作以及摆腿动作。基于本发明所提供的单足支撑相步态规划方法,能有效帮助机器人在单足支撑相达到期望的落脚点并且能避免与地面刮擦,从而有利于实现双足机器人的步行运动与任务操作。
Single-foot support phase gait planning method of biped robot
一种双足机器人的单足支撑相步态规划方法
2020-06-16
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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