The invention relates to the field of robot walking control, and discloses a biped robot, a walking control method and device thereof and a readable storage medium, and the method comprises the steps that the mass center state of the robot in each control period is acquired, and the mass center states comprise the planning mass center state and the measuring mass center state; calculating a capture point error of the robot in each control period based on the planned centroid state and the measured centroid state; accumulating the capture point error of each control period to obtain a total accumulation error of the capture points; when the capture point error or the capture point cumulative total error exceeds a preset threshold range, adjusting the landing point position of the robot swing leg based on the capture point cumulative total error; and the swinging legs are controlled to move, so that the robot lands at the adjusted landing point position. According to the method, it is guaranteed that the biped robot can still walk stably without falling down when being disturbed by thrust.

    本申请涉及机器人行走控制领域,公开一种双足机器人及其行走控制方法、装置和可读存储介质,该方法包括:获取每个控制周期机器人的质心状态,质心状态包括规划质心状态和测量质心状态;基于规划质心状态和测量质心状态计算每个控制周期机器人的捕获点误差;对每个控制周期的捕获点误差进行累积,得到捕获点累积总误差;在捕获点误差或捕获点累积总误差超出预设阈值范围时,基于捕获点累积总误差对机器人摆动腿的落足点位置进行调整;控制摆动腿运动,以使机器人在调整后的落足点位置落地。本申请的方法保证了双足机器人在受到推力扰动时仍可以保持稳定行走而不跌倒。


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    Title :

    Biped robot, walking control method and device thereof and readable storage medium


    Additional title:

    双足机器人及其行走控制方法、装置和可读存储介质


    Contributors:
    LUO MIN (author) / GE LIGANG (author)

    Publication date :

    2025-02-14


    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



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