The invention belongs to the technical field of legged robots, and provides a legged robot stability criterion method suitable for dynamic walking and aperiodic walking. The method comprises the following steps: firstly, ignoring the mass of a supporting leg and a swinging leg, and abstracting a legged robot into a multi-link robot consisting of a linear inverted pendulum and a swinging leg; when the legged robot dynamically walks, predicting a landing moment and a landing point coordinate value of a swing leg foot end of the legged robot according to the current motion state of the robot; then, regarding the landing swing leg as a supporting leg, and predicting the ZMP of the legged robot through a linear inverted pendulum dynamic model; and finally, taking the shortest distance from the ZMP coordinate to a convex polygon boundary defined by the connecting lines of the grounding points of the foot ends of the supporting legs of the legged robot as the stability margin of dynamic walking of the legged robot. According to the legged robot stability criterion method, a new solution is provided for explaining complex movement of the legged robot, and a new thought is provided for designing a stability controller of the legged robot.

    本发明属于腿式机器人技术领域,提供了一种腿式机器人面向动态行走和非周期行走的稳定性判据方法。首先,忽略支撑腿和摆动腿的质量,将腿式机器人抽象为由线性倒立摆和摆动腿共同构成的多连杆机器人;当腿式机器人动态行走时,根据机器人当前的运动状态预测出腿式机器人摆动腿足端的落地时刻和落地点坐标值;而后,将落地的摆动腿视为支撑腿,利用线性倒立摆动力学模型预测出腿式机器人的ZMP;最后,将该ZMP坐标到腿式机器人各支撑腿足端的触地点连线所围成的凸多边形边界的最短距离作为腿式机器人动态行走的稳定裕度。本发明的腿式机器人稳定性判据方法为解释腿式机器人复杂运动提供了新的解决方案,也为腿式机器人稳定控制器的设计提供了新思路。


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    Title :

    Legged robot stability criterion method suitable for dynamic walking and aperiodic walking


    Additional title:

    适用动态行走和非周期步行的腿式机器人稳定性判据方法


    Contributors:
    YAN WEISHENG (author) / CUI RONGXIN (author) / CHEN LEPENG (author) / XU HUI (author) / DENG FEI (author) / LI HUIPING (author) / WANG YINTAO (author) / ZHANG SHOUXU (author)

    Publication date :

    2021-05-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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