The invention discloses a bionic biped robot balance control method and a humanoid robot system, and the method comprises the steps: carrying out the kinetic analysis of a biped robot, and constructing a simplified kinetic model; predicting the state of the biped robot in a future time domain by using the simplified dynamic model to obtain a predicted state of the robot; setting an expected state of the biped robot in a future time domain, and correcting the expected state by using a bionic ankle joint strategy and a hip joint strategy to obtain a target expected state; and solving the constructed optimization model to obtain an optimal foot end three-dimensional force, so that the system state of the robot reaches a target state. The method has the advantages of higher control reaction speed, higher self-recovery capability, higher impact resistance and wide application range.
本发明公开了一种仿生双足机器人平衡控制方法及人形机器人系统,包括:对双足机器人进行动力学分析,构建简化的动力学模型;利用简化的动力学模型对双足机器人在未来时域的状态进行预测,得到机器人的预测状态;设定双足机器人在未来时域的期望状态,利用仿生踝关节策略和髋关节策略,修正期望状态,得到目标期望状态;对构建的优化模型进行求解,得到最优的足端三维力,使得机器人系统状态达到目标状态。本发明具有更快的控制反应速度与自恢复能力以及更强的抗冲击能力且适用范围广。
Bionic biped robot balance control method and humanoid robot system
仿生双足机器人平衡控制方法及人形机器人系统
2024-09-03
Patent
Electronic Resource
Chinese