The invention relates to the technical field of robots, and discloses a biped robot balancing method and device based on a flywheel, electronic equipment and a storage medium, the method comprises the following steps: when it is monitored that a single foot of a biped robot stands, carrying out roll detection on the biped robot to obtain a roll angle; calculating the robot angular momentum of the biped robot according to the roll angle; calculating flywheel angular momentum required by a flywheel of the biped robot according to the robot angular momentum; according to the flywheel angular momentum, the rotating speed and the rotating direction of a flywheel of the biped robot are determined; and controlling the flywheel to rotate according to the rotating speed and the rotating direction. The stability and balance capacity of the biped robot in the movement process can be improved.

    本发明涉及机器人技术领域,揭露一种基于飞轮的双足机器人平衡方法、装置、电子设备及存储介质,所述方法包括:监测到双足机器人单足站立时,对所述双足机器人进行侧倾检测,得到侧倾角度;根据所述侧倾角度,计算所述双足机器人的机器人角动量;根据所述机器人角动量,计算所述双足机器人的飞轮所需的飞轮角动量;根据所述飞轮角动量,确定所述双足机器人的飞轮的转速及转动方向;控制所述飞轮按照所述转速及所述转动方向进行转动。本发明能够提高双足机器人在运动过程中的稳定性及平衡能力。


    Access

    Download


    Export, share and cite



    Title :

    Biped robot balancing method, device and equipment based on flywheel and medium


    Additional title:

    基于飞轮的双足机器人平衡方法、装置、设备及介质


    Contributors:
    ZHANG DI (author) / YU YANAN (author) / YU JINXU (author)

    Publication date :

    2024-03-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge / G06V



    Flywheel energy storage type angular momentum balance biped robot

    YANG WEIMIN / ZHAO YIFAN / HOU YILONG et al. | European Patent Office | 2025

    Free access

    Motion balancing device of biped walking robot

    ZHANG DONGHONG / CHEN CHEN | European Patent Office | 2020

    Free access

    METHOD FOR CONTROLLING BIPED ROBOT BIPED ROBOT AND READABLE STORAGE MEDIUM

    XIE YAN | European Patent Office | 2024

    Free access

    METHOD FOR CONTROLLING BIPED ROBOT, BIPED ROBOT, AND READABLE STORAGE MEDIUM

    XIE YAN | European Patent Office | 2024

    Free access

    BIPED ROBOT CONTROL METHOD AND APPARATUS, BIPED ROBOT, AND STORAGE MEDIUM

    CHEN CHUNYU / XIONG YOUJUN / LIU YIZHANG et al. | European Patent Office | 2022

    Free access