The invention discloses a movement control method of a legged robot, which comprises the following steps: acquiring target parameters of the legged robot, and establishing a mixed angular momentum linear inverted pendulum model based on the target parameters; performing periodic gait analysis based on the phase plane graph of the mixed angular momentum linear inverted pendulum model to obtain periodic gait features; and determining a step length control rate based on the periodic gait characteristics, so as to perform movement control on the legged robot according to the step length control rate. According to the method, theoretical ideas of the hybrid linear inverted pendulum model and the angular momentum linear inverted pendulum model are integrated, the hybrid angular momentum linear inverted pendulum model is constructed, the gap between the model and a real system can be reduced, and rich moving gaits can be achieved.
本发明公开了一种腿式机器人的移动控制方法,其包括以下步骤:获取腿式机器人的目标参数,并基于所述目标参数建立混合角动量线性倒立摆模型;基于所述混合角动量线性倒立摆模型的相平面图进行周期步态分析,以获取周期步态特征;基于所述周期步态特征确定步长控制率,以根据所述步长控制率对所述腿式机器人进行移动控制。在本发明中,综合混合线性倒立摆模型和角动量线性倒立摆模型的理论思想,构建混合角动量线性倒立摆模型,可以缩小模型与真实系统的差距并实现丰富的移动步态。
Movement control method of legged robot
一种腿式机器人的移动控制方法
2025-01-24
Patent
Electronic Resource
Chinese
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