CN105346618B - Band upper body biped robot's level walking method based on series elastic driver - Google Patents
Band upper body biped robot's level walking method based on series elastic driver Download PDFInfo
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- CN105346618B CN105346618B CN201510809169.6A CN201510809169A CN105346618B CN 105346618 B CN105346618 B CN 105346618B CN 201510809169 A CN201510809169 A CN 201510809169A CN 105346618 B CN105346618 B CN 105346618B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention belongs to robot ambulation control technology field, more particularly to a kind of band upper body biped robot's level walking method based on series elastic driver, including：Series elastic driver is installed respectively on tape, the series elastic driver is in series by motor and linear torsion spring between the upper body and both legs of body biped robot；Hip series elastic driver not only supports upper body, and completes energy as medium using elastic potential energy and fill into, and drives robot ambulation；Collided using landing of leading leg and driving stage duration is as event, each step during robot ambulation is divided into two driving stages and one freely swings the stage；The action of series elastic driver is controlled by event driven state machine, realizes the control to walking；And driving angle amplitude is preset by regulation motor, drives the duration in stage, the elastic coefficient to realize that the walking states of robot reach goal-selling.
Description
Technical field
The invention belongs to robot ambulation control technology field, more particularly to a kind of taking based on series elastic driver
Body biped robot's level walking method.
Background technology
Numerous researchers wish to realize that biped robot has similar mankind's in general walking performance：It is natural, stable and high
Effect.In order to reduce the complexity of dynamic locomopion motion control, some constraints can be added to robot.At present, according to the more of constraint
The walking mode of biped robot can be divided into three classes less, including static walking, ZMP walkings, and limit cycle walking.Wherein,
Static state walking is that occur being also earliest a kind of most basic traveling method, and it requires the barycenter of robot in walking process all the time
Keep within the polygon that both feet are formed on the ground, this method is easy to keep the stabilization of robot, but also greatly limits
The speed of travel of Zhi Liao robots simultaneously consumes excessive power.ZMP, which walks, requires point of zero moment (the Zero Moment of robot
Point, ZMP) remain within the polygon of both feet composition, this method reduces than static state walking to a certain extent
Artificial restraint.But ZMP walkings have still used more artificial restraint, therefore in energy efficiency, the speed of travel, anti-interference energy
Power and gait naturality etc. still have larger gap compared with the walking of the mankind.
Limit cycle walking is a kind of new walking theory occurred in recent years, and its proposition receives opening for mankind's walking
Hair, further reduces the dynamics for the artificial restraint of robot, being sufficiently used robot itself, thus with compared with
Improve energy efficiency, the speed of travel and the antijamming capability of robot in big space.Limit cycle walking requires periodically step
State sequence is orbitally stable, i.e., gait sequence can form a stable limit cycle in state space, but in gait week
It is interim any instantaneously not have local stability.At present, gait generation method is relatively complicated used by limit cycle walking,
Some then need to use machine learning, and the requirement to experimental situation is higher.
Passive walking is a kind of prominent example of limit cycle walking, and passive biped robot is not applying the feelings of any control
Under condition, it can only be walked by Action of Gravity Field along light grade slope stability, the gravitional force that slope provides is converted into robot row
Walk required kinetic energy.The gait of passive walking generation is very naturally, energy efficiency can reach the level of the mankind.Numerous research people
Member attempts to realize the power walking on passive biped robot level land according to this principle, needs to provide new move for robot for this
Power source is with the gravity on replacement slope.The method that some has used the increase excitation at robot ankle, leads leg in every step
Hind paw is collided with ground with pedaling, for Implantation Energy of walking；Some uses are being led leg and collision on the ground front clamp hip pass
The way of section, the purpose for filling into energy is equally reached.But the energy of both the above method fills into opportunity when being respectively positioned on collision
Before and after quarter, energy is instantaneously to fill into, it is desirable to has high energy density, therefore greatly limit the row of robot
Speed is walked, while this energy fills into method that larger disturbance can be caused to gait, reduces the stability of walking.
Model used in early stage passive walking usually only focuses on lower limb and ignores upper body, band upper body biped machine after 2000
The passive walking of device people engenders.The main method of support upper body has three classes：1. by the mechanism of particular design, such as hip pair
Sub-agencies, keep upper body upward；2. support upper body by applying torque to upper body using driver in hip；3. pass through hip bullet
Property element support upper body.First method introduces dynamic effect, limits effect of the dynamics of upper body in walking,
Its upper body does not have the real free degree, can not can be regarded as real free upper body.Second method make to add driver with
Control, destroy the passive dynamics of model itself.The third method is a kind of really passive on biped robot
Increase the method for upper body.Power type walking method is developed on its basis, and the slope in passive walking is replaced using driver, will
The efficient dynamical type limit cycle walking of nature is realized on level land.
Existing band upper body biped robot level land power type walking method, mainly by using driver in hip
Apply torque to realize.Currently used method all employ the control device of high-gain, destroy the quilt of robot itself
Dynamic characteristic, caused gait upper body lean forward all the time, and posture is unnatural, while also has deficiency in energy efficiency.
The content of the invention
Insufficient existing for current robot level walking in order to solve, the present invention proposes a kind of based on series connection flexible drive
Band upper body biped robot's level walking method of device, including：
Series elastic driver, the string are installed respectively between the upper body and both legs of step 1, on tape body biped robot
Connection elastic driver is in series by motor and linear torsion spring, and motor is fixed on upper body, and the rotation output end of motor is with turning round
The one end for turning spring connects, and the angle of junction and upper body is defined as motor driving angle, the other end and the leg phase of torsionspring
Even；Switching regulator sensor is separately installed with the sole of both legs；
Step 2, both legs during robot ambulation are respectively defined as leading leg and supporting leg, will be every during robot ambulation
One step is divided into two driving stages and one freely swings the stage；
First stage：When the supporting leg currently walked of leading leg of previous step collides with ground, two motors start
Uniform rotation, from positive default driving angle vanishing, corresponding motor of leading leg drives motor driving angle corresponding to supporting leg
Dynamic angle is changed into negative default driving angle from zero；
Second stage：Motor stalls corresponding to supporting leg, the reverse uniform rotation of corresponding motor of leading leg, lead leg
Corresponding motor driving angle is changed into positive default driving angle from negative default driving angle；
Phase III：Two motors stop operating, until lead leg collided with ground after return to the first stage,
Lead leg and exchange role with supporting leg；
Step 3, when the walking states of robot are not up to goal-selling, then adjust default driving angle；
Step 4, when only adjusting default driving angle the walking states of robot can not be made to reach goal-selling, then adjust
The duration in two driving stages；
Step 5, when adjusting default driving angle size anyway and driving the duration in stage, can not cause machine
The walking states of people reach goal-selling, then the coefficient of elasticity of spring are adjusted, until the walking states of robot reach default mesh
Mark.
In the step 3, slow in action after robot starts walking, stride is too small, and in not up to goal-selling
In the case of fall down, then increase default driving angle amplitude；Action is quick after robot starts walking, and stride is excessive, and not
Fallen down in the case of reaching goal-selling, then reduce default driving angle amplitude.
The duration in two driving stages is adjusted in the step 4, first fixes first stage duration, when adjusting second stage
It is long, if can not still reach goal-selling, continue to adjust first stage duration；Specifically adjustment criteria is：
Slow in action after robot starts walking, stride is too small, and is fallen down in the case of not up to goal-selling, then
Driving stage duration need to be increased；Action is quick after robot starts walking, and stride is excessive, and in the feelings of not up to goal-selling
Fallen down under condition, then need to reduce driving stage duration.
The coefficient of elasticity that spring is adjusted in the step 5 specifically includes：Slow in action, stride after robot starts walking
It is too small, and fallen down in the case of not up to goal-selling, then need to change the big spring of coefficient of elasticity, and change process is repeated,
Until the walking states of robot reach goal-selling；
Action is quick after robot starts walking, and stride is excessive, and is fallen down in the case of not up to goal-selling, then
The small spring of coefficient of elasticity need to be changed, and repeats change process, until the walking states of robot reach goal-selling.
The walking states of the robot include following parameter：Supporting leg and hip are to the folder between the plumb line on ground
Angle, the angle led leg between the plumb line of hip to ground, upper body and hip to the angle between the plumb line on ground, with
And the angular speed that three angles are corresponding.
The beneficial effects of the present invention are：Using the band upper body biped robot level land power of hip series elastic driver
Formula traveling method flexibly supports upper body based on passive walking principle, by hip, and string is controlled during robot ambulation
The motor joined in elastic driver rotates, and then by controlling the deformation of torsionspring to adjust the elastic potential energy of robot system,
The energy of robot is supplemented, realizes the stabilized walking on robot level land.This method inherits passive row well
The good walking performance of robot walking, walking posture is naturally, control method is simple, and can realize the tune to robot ambulation performance
Section, and this method realizes that simple and amount of calculation is very small, therefore it is applied to the occasion higher to requirement of real-time.Institute of the present invention
The biped robot stated has the characteristic that gait is evolved, and this characteristic is shown as parameter persistently changes, including driving angle
There is bifurcation in the structural parameters such as control parameter and torsionspring coefficient of elasticity, the gaits such as degree amplitude, and particular type includes：Times
Periodic Bifurcation, Neimark-Sacker forks, Neimark-Sacker-2 forks, multicycle fork and Neimark-
Sacker-X diverges.The characteristics exhibit diversity of the present invention with upper body biped robot's gait that gait is evolved,
Show that the method for the invention maintains the passive characteristic of robot.
Brief description of the drawings
Fig. 1 is series elastic driver schematic diagram in the present invention；
Fig. 2 is robot model's side view schematic diagram in the present invention；
Fig. 3 is stage by stage schematic diagram of the heretofore described traveling method in a step walking process；
Fig. 4 is state machine controller used in traveling method of the present invention；
Fig. 5 is that rod figure is walked in the stable walking of monocycle gait example one of traveling method generation of the present invention；
Fig. 6 is the step state of stable monocycle gait example one-time graph of traveling method generation of the present invention.
Embodiment
Below in conjunction with the accompanying drawings, embodiment is elaborated.
The foundation that Fig. 1 and Fig. 2 further illustrates service machine people of the present invention is combined first.
Establish the connection of machine upper part of human body and two legs：Upper body and two legs are coaxially distinguished between coxa joint, upper body and two legs
Series elastic driver is installed.
Shown in the schematic diagram of above-mentioned series elastic driver such as Fig. 1 (A), 1 is upper body, and 2 be coxa joint, and 3 (4) are legs, 5
(6) it is motor, 9 (10) are torsionsprings, and the deformation of torsionspring is together decided on by the output of the posture and motor of upper body and leg,
The free angle of torsionspring is 180 °.In order to express and understand that conveniently, Fig. 2 and Fig. 3 uses the drive rod 7 (8) in Fig. 1 (B)
Position represent motor driving angle.
The upper body is respectively fixedly connected with the first motor of left and right coaxial placement and the body of the second motor, and described first
The rotation output end of motor and first torsionspring one end are coaxially connected, and the first torsionspring other end coaxially connects with the first leg
Connect, the rotation output end of second motor and second torsionspring one end are coaxially connected, the second torsionspring other end and
Two legs are coaxially connected.
Two above-mentioned motors use servomotor, use respectivelyWithRepresent first motor and the second motor
Driving angle, and two motors described in a PC control, wherein：
It is describedThe angle of drive rod and upper body is corresponded to for first motor, when first motor corresponds to drive rod position
During positioned at upper body rearAnd when in front of upper body
It is describedThe angle of drive rod and upper body is corresponded to for second motor, when second motor corresponds to drive rod position
During positioned at upper body rearAnd when in front of upper body
Control signal output of the control signal input of above-mentioned each motor respectively with a host computer is connected；In pin
Bottom installation switching regulator sensor detects the contact with ground, signal access host computer.
In a step, always there is one leg to play a supportive role, referred to as supporting leg, another one leg is swung in the air, is referred to as swung
Leg, in the description to a step walking process below, with supporting leg and two leg-training energy of differentiation of leading leg.
Robot overall structure schematic diagram is as shown in Figure 2.1 is upper body, and 2 be coxa joint, and 3,4 be both legs, wherein 3 be branch
Support leg, 4 is lead leg, and 7,8 be the drive rod for representing motor output, corresponds to supporting leg respectively with leading leg, and 9,10 be to reverse bullet
Spring, it is connected respectively with supporting leg with leading leg, 11,12 be sole switching regulator sensor, is separately mounted to two legs and feet bottoms.Use
WithRepresent and supporting leg and two drive rods and the angle of upper body of leading leg corresponding, that is, two series elastic drivers
The driving angle of middle motor, unit are radian, the regulation in its direction withIt is consistent.Use θst、θsw、θtoDescription machine
Device people's posture, unit are radian, are respectively：
θst, it is supporting leg and hip to the angle between the plumb line on ground,
θsw, for the angle led leg between the plumb line of hip to ground,
θto, it is upper body and hip to the angle between the plumb line on ground,
The θ when the supporting leg is located at hip to before the plumb line on groundst>0, afterwards when θst<0,
The θ when described lead leg before the plumb line of hip to groundsw>0, afterwards when θsw<0,
The θ when the upper body is located at hip to before the reverse extending line of the plumb line on groundto<π, afterwards when θto>π；
For above-mentioned robot model, a kind of taking using hip series elastic driver described in the embodiment of the present invention
Body biped robot level land power type walking method, specifically includes following steps：
First, the original state and parameter of robot are set, including original state θst0、θsw0、θto0、
And parameter K.
θst0、θsw0、θto0The initial attitude of robot is described.
The initial velocity of robot is described.
K is coefficient of elasticity, and unit is the every radian of ox rice, and its size can be adjusted by changing torsionspring.
In host computer, three key control parameters, including the first driving stage duration t are set1, second driving stage duration t2
And default driving angle amplitude Φ.One step, freely swing the stage after two driving stages and one, put from previous step
Dynamic leg landing leads leg landing to terminate to start with current step, next step supporting leg and role swap of leading leg.Lead leg
Liftoff changed with landing by the open and-shut mode of sole switching regulator sensor perceives.Set when a step starts by host computer internal clocking
Start the timing of a step, remember t=0；Hereafter started for two driving stages, controlled by clock timing, t1And t2Unit is all the second；Two
After the driving stage terminates, motor robot freedom of entry swing state, until landing of leading leg, triggers sole there is no action
The current the end of the step of switching regulator sensor notification host computer.Default driving angle amplitude Φ, is that motor is defeated in series elastic driver
Go out the maximum of angle between end and upper body, and when the first driving stage started supporting leg correspond to motor driving angle size,
Led leg at the end of first driving stage and correspond to the opposite number of motor driving angle size and put at the end of the second driving stage
Dynamic leg corresponds to motor driving angle size, and unit is radian.
Above three stage among one step can represent by four key frames, and the motor action between key frame is with the uniform velocity turning
Dynamic connection.
In host computer, in one gait cycle, following four key frame is set：
First key frame, positioned at the t=0 moment, the initial of the step of robot one is represented, now the state of robot is initial shape
State, wherein：
Represent the driving angle of the motor of t=0 moment two, now, the torsion being connected with supporting leg
The deformation of spring is not only determined by the posture of the moment supporting leg and upper body, due also to motor action is by adds additional size
Φ deformation quantity, deformation of the torsionspring being connected at the t=0 moment is then determined by the posture led leg with upper body completely with leading leg
It is fixed.
Second key frame, positioned at t=t1At the moment, be the end time in the first driving stage, and the second driving stage
Start time, wherein：
Represent t=t1The driving angle of the motor of moment two, now, the torsion being connected with supporting leg
Turn spring there is no additionally by motor belt motor Lai deformation quantity, then have with the torsionspring being connected of leading leg extra by series connection with it
Motor belt motor come size be-Φ deformation quantity.
3rd key frame, positioned at t=t1+t2When, be the second driving stage end time, and the beginning of phase III
Moment, wherein：
Represent t=t1+t2The driving angle of the motor of moment two, now, the torsion being connected with supporting leg
Turn spring there is no additionally by motor belt motor Lai deformation quantity, then have with the torsionspring being connected of leading leg extra by series connection with it
Motor belt motor come size be Φ deformation quantity.
4th key frame, positioned at landing moment of leading leg, and the end currently walked, t=T is designated as, wherein：
Identical with the 3rd key frame, T size is not fixed, and by leading leg, landing determines, falls
The end that ground currently walks triggering sole switching regulator sensor notification host computer.
Said process is as shown in figure 3, I to IV corresponds to aforementioned four key frame respectively.I to II is the first stage, II to III
For second stage, III to IV is the phase III, and IV to I is impact moment of leading leg, and is both the end currently walked, and next
The beginning of step.First and second entirety time in stage is shorter for a step, and the phase III occupies most of the time and driving
Device does not act, so robot is in passive state mostly in a step, the dynamics for taking full advantage of robot itself is special
Property.
Assuming that the role of first step supporting leg is first served as by the first leg, it is described after the setting for completing original state and parameter
Host computer controls the robot ambulation according to the following steps successively：
1. set control parameter t1、t2With Φ value；
2. Δ t is material calculation, i is calculation times, and i is calculated as follows since 0 when Δ t since 0 during walking
Between it is describedWithValue：
As 0≤Δ ti<t1When,
Work as t1≤Δt·i<t1+t2When,
As Δ ti >=t1+t2When,
3. in above-mentioned host computer, it is calculated as follows when step number is n, the first and second motor driving anglesWith
Work as n=1, when 3,5,7,9...,
Work as n=2, when 4,6,8,10...,
That is when n is changed into the odd number from odd number adds the even number that 1 is formed, as the first leg of supporting leg and conduct
The second leg led leg exchanges role after a walking is walked to terminate.
4. when sole switching regulator sensor, which is not detected by, leads leg landing collision, i increases 1, step 2 is returned to.Work as sole
Switching regulator sensor detects that timing is zeroed, the timing by t=0 again when leading leg landing collision, calculation times i zeros,
Step number n increases 1, and start to walk in next step.As needed to change parameter in next step, then since 1, if not changing parameter,
Can be since 2 is direct.
Above-mentioned steps, use state machine controller of the present invention are realized, as shown in figure 4, ω in figurestAnd ωswRepresent respectively
With supporting leg and the rotating speed for corresponding motor of leading leg, its positive direction is defined as the inverse time as viewed from the right side of robot direction of advance
Pin direction.Three phases correspond to different motor rotational angular velocities respectively：First stage, two motors are with-Φ/t1It is same for speed
Direction rotates；Second stage, the motor stalls corresponding with supporting leg, the motor corresponding with leading leg is with 2 Φ/t2Turn
Dynamic, direction is opposite with the first stage；Phase III, two motors stop operating.
Regulation of this method to robot ambulation is explained：
In the process of walking, when the walking states of robot are not up to goal-selling, then the predetermined set of robot is changed
To realize regulation, including default driving angle amplitude Φ and driving stage duration t1And t2, wherein preferentially regulation Φ, is secondly adjusted
t2, t is adjusted again1, it is specially：
Change default driving angle amplitude Φ size, then proceed to drive robot ambulation, judge robot again
Whether walking states reach goal-selling；If being also not up to goal-selling, repeat to change the process of default driving angle amplitude, directly
Walking states to the robot reach goal-selling.
, wherein it is desired to the concrete condition for changing default driving angle amplitude size is：
The robot start walking after it is slow in action, stride is too small, and is fallen down in the case of not up to goal-selling,
Illustrate that Φ is too small, the energy that fills into deficiency, Φ is increased by 0.01 radian, repeat this process, until the robot can walk 100
Untill step.
The robot walks quickly after starting walking, and stride is excessive, and is fallen down in the case of not up to goal-selling,
Illustrate that Φ is excessive, the energy filled into is too many, Φ is reduced 0.01 radian, repeats this process, until the robot can walk 100
Untill step.
It is similar, when only adjusting default driving angle amplitude and being unable to reach purpose, driving duration can be adjusted, at two
Long parameter is consistent to the affecting laws of walking, can first adjust t2, because this parameter value scope will be slightly larger than t1, it is specially：
The robot start walking after it is slow in action, stride is too small, and is fallen down in the case of not up to goal-selling,
Illustrate that duration is too small, duration is increased by 0.01 second, this process is repeated, untill the robot can walk 100 steps.
The robot walks quickly after starting walking, and stride is excessive, and is fallen down in the case of not up to goal-selling,
Illustrate that duration is excessive, duration is reduced 0.01 second, this process is repeated, untill the robot can walk 100 steps.
What deserves to be explained is in actual mechanical process, situation is walked by the walking of observer robot 100 to judge that robot is
It is no can stabilized walking, the walking step number of observation can be decreased or increased according to actual requirement.
Such a case also be present, when the size for changing default driving angle amplitude anyway, can not cause machine
The walking states of device people reach goal-selling, then the change made is specially：
Slow in action after robot starts walking, stride is too small, and is fallen down in the case of not up to goal-selling, then
Spring that need to be bigger by changing coefficient of elasticity, the energy that increase system fills into, this process is repeated, until the robot can go
Untill walking 100 steps；
Action is quick after robot starts walking, and stride is excessive, and is fallen down in the case of not up to goal-selling, then
Spring that need to be smaller by changing coefficient of elasticity, the energy that reduction system fills into, this process is repeated, until the robot can go
Untill walking 100 steps.
No matter how operating personnel adjust, and can not all make the step of robot ambulation 100, or 100 steps that can walk, but
Need to change leg speed or stride, then increased or decrease Φ size, increased or decrease t1And t2Size, or change spring system
The greater or lesser spring of number, so as to obtain different strides and gait cycle, realizes the walking of friction speed.
The above-mentioned robot model of explained later and the strategy for realizing robot model's travelling control：
The complete walking of robot is walked to be made up of swing process and landing collision, and wherein swing process refers to robot support
Leg end lands, and is swung using end to be axially preceding, while lead leg and swung in the air by supporting leg rear in front of supporting leg；Fall
Instantaneous time collision occurs for led leg at the end of referring to swing process end and ground of ground collision.Collision rift, which is led leg, is converted to support
Leg, supporting leg, which is converted to, leads leg.During this, upper body provides support torque by the torsionspring of hip, and keep up posture.
With certain initial velocity when the step of robot one starts, while motor starts to act.In first and second stage, electricity
Machine increases the deformation degree of connection supporting leg and the torsionspring led leg respectively, increases the elastic potential energy of system with this, is
System supplements energy.Motor driven torsionspring fills into energy, system capacity increase E1 to system.Lead leg and touched with ground
Hitting other factors causes system capacity to reduce E2, to enable a system to be formed stable limit cycle walking, should make E1 substantially etc.
In E2.If E1 is more than E2, machine may converge to another limit cycle and walk at faster speed, or with the gait row that diverges
Walk, or excessive velocities are fallen down forward.If E1 is less than E2, machine may converge to another limit cycle with slower speed row
Walk, or system capacity incrementss can not top-up system amount of power loss and make walking slower and slower, finally fall down.
Biped robot of the present invention has a characteristic of the progressive balance of energy, and the performance of this characteristic is as follows：One step
In walking process, when the energy filled into is as the energy for collision loss of leading leg, the walking of robot is put into limit cycle,
The starting velocity of collision rift is the speed at fixed point.If the energy filled into is more than the energy of system collision loss, machine
People is walked with bigger stride, faster speed, collision energy loss increase, the energy finally filled into and collision loss of leading leg
Energy reaches balance, and robot gait converges to that stride is bigger, the faster limit cycle of the speed of travel.If the energy filled into is less than
The energy of system collision loss, then with smaller stride, the walking of more jogging speed, collision energy loss reduces, final to mend for robot
The energy that enters and the energy for collision loss of leading leg reach balance, and robot gait converges to that stride is smaller, the speed of travel is slower
Limit cycle.
Effect example：
The stable monocycle gait example of traveling method generation of the present invention is as shown in figure 5, the machine of examples detailed above
People's state-time graph changes over time curve as shown in fig. 6, Fig. 6 (a) is two legs with upper body angle state, and Fig. 6 (b) is two
Leg changes over time curve with upper body angular speed state.
In one step walking process, supporting leg is around contact point monotony forward swing of the pin with ground；Lead leg first it is small after put away ground,
Swing further along, swing in front of body to backswing occurs after peak, then land；Upper body first forward again backward it is last again to
Preceding reciprocally swinging, it is similar to mankind's walking process.
Band upper body biped robot level land power type walking side of the present invention based on hip elasticity series driver
Method flexibly supports upper body based on passive walking principle, using hip, control and torsionspring during robot ambulation
The motor being connected, and then by adjusting the elastic potential energy of robot system, the energy of robot is supplemented, realizes machine
Stabilized walking on people level land.This method inherits the good walking performance of passive walking robot, walking posture well
Naturally, control method is simple, amount of calculation is small, and can realize the regulation to robot ambulation speed.
This embodiment is only the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (5)
- A kind of 1. band upper body biped robot's level walking method based on series elastic driver, it is characterised in that including：Series elastic driver, the series connection bullet are installed respectively between the upper body and both legs of step 1, on tape body biped robot Property driver be in series by motor with linear torsion spring, motor is fixed on upper body, and the rotation output end of motor is turned round with linear Turn one end connection of spring, the angle of junction and upper body is defined as motor driving angle, the other end of linear torsion spring with Leg is connected；Switching regulator sensor is separately installed with the sole of both legs；Step 2, both legs when walking with upper body biped robot are respectively defined as leading leg and supporting leg, will be with upper body biped Each step during robot ambulation is divided into two driving stages and one freely swings the stage；First stage：When the supporting leg currently walked of leading leg of previous step collides with ground, two motors start at the uniform velocity Rotate, motor driving angle corresponding to supporting leg is from positive default driving angle vanishing, corresponding motor driving angle of leading leg Degree is changed into negative default driving angle from zero；Second stage：Motor stalls corresponding to supporting leg, the reverse uniform rotation of corresponding motor of leading leg, lead leg correspondingly Motor driving angle be changed into positive default driving angle from negative default driving angle；Phase III：Two motors stop operating, until lead leg collided with ground after return to the first stage, swing Leg and supporting leg exchange role；Step 3, when the walking states with upper body biped robot are not up to goal-selling, then adjust default driving angle；Step 4, when only adjusting default driving angle the walking states with upper body biped robot can not be made to reach goal-selling, Then adjust the duration in two driving stages；Step 5, when adjusting default driving angle size anyway and driving the duration in stage, can not make it that band upper body is double The walking states of biped robot reach goal-selling, then the coefficient of elasticity of linear adjustment torsionspring, until band upper body biped machine The walking states of device people reach goal-selling.
- 2. method according to claim 1, it is characterised in that in the step 3, upper body biped robot starts to walk when band Slow in action afterwards, stride is too small, and is fallen down in the case of not up to goal-selling, then increases default driving angle amplitude；When Band upper body biped robot takes action quickly after starting walking, and stride is excessive, and is fallen down in the case of not up to goal-selling, then Reduce default driving angle amplitude.
- 3. method according to claim 1, it is characterised in that the duration in two driving stages is adjusted in the step 4, it is first solid Determine first stage duration, adjust second stage duration, if can not still reach goal-selling, continue to adjust first stage duration； Specifically adjustment criteria is：Slow in action after band upper body biped robot starts walking, stride is too small, and in the case of not up to goal-selling Fall down, then need to increase driving stage duration；Action is quick after band upper body biped robot starts walking, and stride is excessive, and Not up to fallen down in the case of goal-selling, then need to reduce driving stage duration.
- 4. method according to claim 1, it is characterised in that the coefficient of elasticity of linear adjustment torsionspring in the step 5 Specifically include：Slow in action after band upper body biped robot starts walking, stride is too small, and in the feelings of not up to goal-selling Fallen down under condition, then need to change the big linear torsion spring of coefficient of elasticity, and repeat change process, until band upper body biped robot Walking states reach goal-selling；Action is quick after band upper body biped robot starts walking, and stride is excessive, and in the case of not up to goal-selling Fall down, then need to change the small linear torsion spring of coefficient of elasticity, and repeat change process, until the row with upper body biped robot Walk state and reach goal-selling.
- 5. method according to claim 1, it is characterised in that the walking states with upper body biped robot include as follows Parameter：Supporting leg and hip are to the angle between the plumb line on ground, the folder led leg between the plumb line of hip to ground Angle, upper body and hip are to the angle between the plumb line on ground, and the angular speed that three angles are corresponding.
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| JP3665013B2 (en) * | 2001-11-09 | 2005-06-29 | 本田技研工業株式会社 | Leg joint assist device for legged mobile robot |
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