The invention discloses a humanoid robot gait control method, and relates to the technical field of robot adaptive control, and the method comprises the steps: collecting the lifting height of a front foot; all joints of the rear legs are controlled to rotate, so that the rear feet are located under the gravity center of the humanoid robot; after the forefoot makes contact with the object, the pressure distribution condition of the forefoot is collected; whether the forefoot state is stable or not is judged, and if not, the rotation angle of the forefoot is collected; if the rotating angle is smaller than the angle threshold value, the front leg and the rear leg are converted, otherwise, the front foot is lifted, the joint angle of the front leg is adjusted, so that the object making contact with the front foot is changed, and the pressure distribution condition of the front foot is collected again. The walking stability is improved through inward rotation of the rear legs and reverse bending of the knee joints, the front feet can feel the pressure distribution condition of the contact surface, and when environment information detected by the sensing unit is not very accurate, the adaptability of gaits to the environment is improved through pressure sensing of the front feet, and the walking stability is improved. And the walking stability of the humanoid robot is further improved.

    本申请公开了一种人形机器人步态控制方法,涉及机器人自适应控制技术领域,包括:采集前足的抬起高度;控制后腿各个关节的转动,使后足位于人形机器人的重心正下方;前足与物体接触后,采集前足的压力分布情况;判断前足状态是否稳定,如果不稳定,采集前足的转动角度;如果转动角度小于角度阈值,进行前腿和后腿的转换,否则抬起前足,调整前腿各个关节角度,以改变前足接触的物体,重新采集前足的压力分布情况。本申请通过后腿内转和膝盖关节反向弯折,提高了行走的稳定性,而且前足能够感受接触面的压力分布情况,在感知单元检测的环境信息不是非常准确时,通过前足的压力感知提升了步态对环境的适应性,进一步提高了人形机器人行走的稳定性。


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    Title :

    Humanoid robot gait control method


    Additional title:

    一种人形机器人步态控制方法


    Contributors:
    WEI FEI (author) / ZHOU WENMING (author)

    Publication date :

    2024-12-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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