The invention relates to the technical field of robot control, and discloses a biped robot balance control method and a biped robot. The balance control method of the biped robot comprises the steps that when the ground inclines, head IMU information, shank IMU information and hip IMU information of the biped robot are obtained, and then front-back balance adjustment and left-right balance adjustment are conducted on the biped robot at the same time according to the obtained IMU information of the biped robot. The biped robot applies the balance control method of the biped robot. Through simultaneous front-back balance control and left-right balance control, the balance of the biped robot in the front-back direction and the left-right direction can be ensured, so that the biped robot reaches a new balance state when standing and walking on various uneven grounds; therefore, the positions of the COM and the ZMP are always located in a polygonal area defined by the contact of the foot surfaces of the biped robot and the ground, and the walking stability and the environment adaptability of the biped robot are effectively improved.

    本发明涉及机器人控制技术领域,揭示了一种双足机器人的平衡控制方法及双足机器人。该双足机器人的平衡控制方法包括:当地面发生倾斜时,获取双足机器人的头部IMU信息、小腿IMU信息和髋部IMU信息,然后根据获取到的双足机器人的IMU信息对双足机器人同时进行前后平衡调节和左右平衡调节。双足机器人应用该双足机器人的平衡控制方法。通过同时进行前后平衡控制和左右平衡控制,可以保证双足机器人在前后和左右两个方向的平衡,使得双足机器人在各种不平坦地面站立和行走达到了一个新的平衡状态,从而保证COM和ZMP位置始终位于双足机器人脚面与地面接触所围成的多边形区域内,有效提高了双足机器人行走的稳定性和环境适应能力。


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    Title :

    Balance control method of biped robot and biped robot


    Additional title:

    一种双足机器人的平衡控制方法及双足机器人


    Contributors:
    YANG HUA (author) / GONG YUANJIE (author) / GAO CENHUI (author) / ZHAO BAOWEN (author) / ZHOU HENG (author) / SONG HUA (author) / ZHAN BEN (author) / ZHENG XIUQIAN (author) / HE MINGQIANG (author) / HU JINQIANG (author)

    Publication date :

    2023-10-20


    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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