CN111844013B - 机器人步态规划方法、装置、机器人及存储介质 - Google Patents
机器人步态规划方法、装置、机器人及存储介质 Download PDFInfo
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- CN111844013B CN111844013B CN201910363908.1A CN201910363908A CN111844013B CN 111844013 B CN111844013 B CN 111844013B CN 201910363908 A CN201910363908 A CN 201910363908A CN 111844013 B CN111844013 B CN 111844013B
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000005021 gait Effects 0.000 title claims abstract description 22
- 238000004364 calculation method Methods 0.000 claims abstract description 26
- 230000007704 transition Effects 0.000 claims abstract description 21
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 238000004590 computer program Methods 0.000 claims description 19
- 238000013016 damping Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 description 22
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 210000002683 foot Anatomy 0.000 description 4
- 238000004422 calculation algorithm Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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CN201910363908.1A CN111844013B (zh) | 2019-04-30 | 2019-04-30 | 机器人步态规划方法、装置、机器人及存储介质 |
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CN201910363908.1A CN111844013B (zh) | 2019-04-30 | 2019-04-30 | 机器人步态规划方法、装置、机器人及存储介质 |
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CN111844013A CN111844013A (zh) | 2020-10-30 |
CN111844013B true CN111844013B (zh) | 2021-08-27 |
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Families Citing this family (2)
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CN111844013B (zh) * | 2019-04-30 | 2021-08-27 | 深圳市优必选科技有限公司 | 机器人步态规划方法、装置、机器人及存储介质 |
CN112947312B (zh) * | 2021-01-28 | 2021-09-14 | 仲恺农业工程学院 | 一种农业机器人运动控制方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3117967A1 (en) * | 2015-07-15 | 2017-01-18 | ETH Zurich | Transparency control method for robotic devices and a control device therefor |
WO2017105996A1 (en) * | 2015-12-14 | 2017-06-22 | Board Of Regents, The University Of Texas System | Torque control methods and devices for powered orthosis |
EP2343164A3 (en) * | 2010-01-12 | 2017-07-05 | Samsung Electronics Co., Ltd. | Walking control apparatus of robot and method of controlling the same |
CN109693236A (zh) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | 足式机器人着地控制方法及装置 |
CN111844013A (zh) * | 2019-04-30 | 2020-10-30 | 深圳市优必选科技有限公司 | 机器人步态规划方法、装置、机器人及存储介质 |
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- 2019-04-30 CN CN201910363908.1A patent/CN111844013B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2343164A3 (en) * | 2010-01-12 | 2017-07-05 | Samsung Electronics Co., Ltd. | Walking control apparatus of robot and method of controlling the same |
EP3117967A1 (en) * | 2015-07-15 | 2017-01-18 | ETH Zurich | Transparency control method for robotic devices and a control device therefor |
WO2017105996A1 (en) * | 2015-12-14 | 2017-06-22 | Board Of Regents, The University Of Texas System | Torque control methods and devices for powered orthosis |
CN109693236A (zh) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | 足式机器人着地控制方法及装置 |
CN111844013A (zh) * | 2019-04-30 | 2020-10-30 | 深圳市优必选科技有限公司 | 机器人步态规划方法、装置、机器人及存储介质 |
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Address after: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Youbixuan Technology Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
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Effective date of registration: 20231206 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
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CB03 | Change of inventor or designer information | ||
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Inventor after: Xu Zhe Inventor after: Xiong Youjun Inventor before: Xu Zhe Inventor before: Zhao Mingguo Inventor before: Xiong Youjun |