The invention discloses a stable walking control method and device for a biped robot, equipment and a readable medium. The stable walking control method comprises the steps: constructing a simplifiedrigid body dynamic model of a biped robot; constructing a centroid state prediction model by using the simplified rigid body dynamic model of the biped robot based on a model prediction control method; simplifying an optimization equation set in the model prediction control method into a quadratic programming equation set according to the centroid state prediction model; solving the quadratic programming equation set to obtain optimized ground reaction force so as to obtain stable walking control parameters; and controlling the biped robot according to the stable walking control parameters. According to the method, a problem is analyzed through the centroid control framework, and analysis of control over all parts of the body in the walking process of the robot is simplified; meanwhile, compared with a traditional feedback control method, the model prediction control method has high predictability, so that the robot has better robustness when walking on an unknown rugged road surface.
本发明公开了一种双足机器人稳定步行控制方法、装置、设备及可读介质,包括:构建双足机器人的简化刚体动力学模型;基于模型预测控制方法,运用所述双足机器人的简化刚体动力学模型,构造质心状态预测模型;根据质心状态预测模型将所述模型预测控制方法中的优化方程组简化成二次规划方程组;求解二次规划方程组,获得优化地面反作用力,从而获得稳定步行的控制参数;根据所述稳定步行控制参数控制所述双足机器人。本发明通过质心控制框架分析问题,简化了机器人步行过程中身体各部分控制的分析,同时模型预测控制的方法,相较于传统反馈控制方法具有预测性,使得机器人在未知崎岖路面上行走时具有更好的鲁棒性。
Stable walking control method and device for biped robot, equipment and readable medium
双足机器人稳定步行控制方法、装置、设备及可读介质
2020-09-18
Patent
Electronic Resource
Chinese
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