The invention discloses a biped robot dynamic motion generation and control method which comprises the following steps: in a single-foot supporting period, establishing a whole-body dynamics feedbacklinearization controller to control the lengths of supporting legs and the pitching posture of an upper body so as to keep the dynamic motion characteristics of a biped robot; decoupling the kinetic coupling of the swinging leg and the whole body based on a whole body kinetic model, controlling the position of future observation planning by establishing a swinging leg prediction control model, giving a series of target points at the tail end of the future leg through the adjustment of the foothold, planning the tail end track of the swinging leg according to the environmental information, andadjusting the foothold of the movable leg in real time; taking the whole body dynamic moment control quantity of the supporting legs and the control moment of the swinging legs as the motion control input of the biped robot; according to the method, the dynamics of the biped robot is introduced into real-time planning and online control, a high-dimensional nonlinear system is decoupled, and the swinging legs are independently controlled to achieve dynamic stable movement.

    本发明公开了一种双足机器人动态运动生成与控制方法,在单脚支撑期,通过建立全身动力学反馈线性化控制器控制支撑腿的长度和上身俯仰的姿态保持双足机器人动态运动特性;基于全身动力学模型解耦摆动腿与全身的动力学耦合,通过建立摆动腿预测控制模型控制在未来观测规划的位置,落脚点调节给出了未来腿末端一系列目标点,根据环境信息规划摆动腿末端轨迹、实时调整动腿的落脚点;由支撑腿的全身动力学力矩控制量和摆动腿的控制力矩一同作为双足机器人运动控制输入;本发明将双足机器人自身动力学引入实时规划和在线控制,解耦高维非线性系统,独立控制摆动腿达到动态稳定运动。


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    Title :

    Dynamic motion generation and control method for biped robot


    Additional title:

    一种双足机器人动态运动生成与控制方法


    Contributors:
    HUANG QIANG (author) / HAN LIANQIANG (author) / CHEN XUECHAO (author) / YU ZHANGGUO (author) / ZHU XISHUO (author) / SHI QING (author)

    Publication date :

    2020-12-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B62D MOTOR VEHICLES , Motorfahrzeuge



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