CN112960047B - Gravity center transfer control method for biped robot - Google Patents
Gravity center transfer control method for biped robot Download PDFInfo
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- CN112960047B CN112960047B CN202110144235.8A CN202110144235A CN112960047B CN 112960047 B CN112960047 B CN 112960047B CN 202110144235 A CN202110144235 A CN 202110144235A CN 112960047 B CN112960047 B CN 112960047B
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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
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Abstract
The invention discloses a gravity center transfer control method for a biped robot, which utilizes the opposite rotation between joint motors (a left motor and a right motor) to ensure that two feet generate opposite forces, and the interaction of the forces can further cause the rotation of a middle connecting rod, thereby realizing the movement of the gravity center and further realizing the alternate forward movement of the two feet.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a gravity center transfer control method for a biped robot.
Background
The humanoid biped robot should achieve the following three features: the humanoid robot can work in the environment where a person is located, can use tools of the person and has the shape of the person, and although the humanoid robot has double feet similar to the person, the humanoid robot cannot complete many actions with high difficulty like the person due to the limitation of the freedom degree of joints.
Therefore, the method for controlling the gravity center transfer of the biped robot is provided, the opposite rotation between the joint motors is utilized to realize the twisting of the middle connecting rod, further the movement of the gravity center is realized, and further the alternate advancing of the biped is realized.
Disclosure of Invention
In order to solve the problems, the invention provides a method for controlling gravity center transfer of a biped robot, which is characterized by comprising the following steps of:
(1) taking a left leg:
s1: stretching out the upper part of the left leg:
the first left motor rotates clockwise, the second left motor rotates anticlockwise and/or does not rotate, and meanwhile, the first right motor and the second right motor do not rotate;
s2: stretching out the lower part of the right leg:
the right two motors rotate clockwise for a certain distance, while the other motors are static, so that the right leg part descends,
the left end of the connecting rod moves forwards and upwards, the right end moves backwards and downwards, and the gravity center moves rightwards;
s3: standing the right leg:
the first right motor rotates clockwise, the upper part of the right leg deflects clockwise, the second right motor rotates anticlockwise, and the lower part of the right leg deflects anticlockwise;
s4: lifting the left leg:
the first left motor rotates anticlockwise, the second left motor rotates clockwise, and the upper part and the lower part of the left leg are respectively lifted;
(2) taking a right leg:
s5: stretching out the upper part of the right leg:
the first right motor rotates clockwise, the second right motor rotates anticlockwise and/or does not rotate, and meanwhile, the first left motor and the second left motor do not rotate;
s6: stretching out the lower part of the left leg:
the left two motors rotate clockwise for a certain distance, while the other motors are static, so that the right leg part descends,
the right end of the connecting rod moves towards the front upper part, the left end moves towards the rear lower part, and the gravity center moves towards the left;
s7: standing the left leg:
the first left motor rotates clockwise, the upper part of the left leg deflects clockwise, the second left motor) rotates anticlockwise, and the lower part of the left leg deflects anticlockwise;
s8: lifting the right leg:
the first right motor rotates anticlockwise, and the second right motor rotates clockwise to respectively lift the upper part of the right leg and the lower part of the right leg;
further, the left leg is taken a step by a slight left leg elevation and movement of the center of gravity generated in the step S.
Further, the step S generates a small right leg lifting and the movement of the gravity center to complete the stepping of the right leg.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the joint motors (the left motor and the right motor) are reversely rotated to realize the twisting of the middle connecting rod, so that the center of gravity is moved, and the feet alternately move forwards.
Drawings
FIG. 1 is a schematic structural view of a joint of a biped robot;
in the figure: 11-a left motor; 12-a left two motor; 13-upper left leg; 14-lower left leg; 21-a right motor; 22-two right motors; 23-upper right leg; 24-lower right leg; 30-connecting rod.
Detailed Description
The invention provides a gravity center transfer control method for a biped robot, which has the advantages of simple structure, high heat exchange efficiency and excellent heat dissipation performance.
The first embodiment is as follows:
a method for controlling gravity center transfer of a biped robot is characterized by comprising the steps of moving the gravity center to the right, stepping a left leg, moving the gravity center to the left and stepping a right leg, and specifically comprises the following steps:
(3) taking a left leg:
s1: left leg upper portion 13 is extended:
the first left motor 11 rotates clockwise, the second left motor 12 rotates anticlockwise and/or does not rotate, and meanwhile, the first right motor 21 and the second right motor 22 do not rotate; the end of the left motor 11 moves forwards while the right motor 21 moves backwards or does not move;
s2: extended right lower leg portion 24:
the right two motors 22 rotate clockwise for a certain distance, while the other motors are static, so that the right leg part descends, the left end of the connecting rod 30 moves forwards and upwards, the right end moves backwards and downwards, and the gravity center moves rightwards;
s3: standing the right leg straight:
the right first motor 21 rotates clockwise, the upper part 23 of the right leg deflects clockwise, the right second motor 22 rotates anticlockwise, and the lower part 24 of the right leg deflects anticlockwise;
s4: lifting the left leg:
the first left motor 11 rotates anticlockwise, and the second left motor 12 rotates clockwise, so that the upper part 13 and the lower part 14 of the left leg are respectively lifted;
(4) taking a right leg:
s5: right leg upper portion 23 projecting:
the right first motor 21 rotates clockwise, the right second motor 22 rotates anticlockwise and/or does not rotate, and meanwhile, the left first motor 11 and the left second motor 12 do not rotate;
s6: projecting left lower leg portion 14:
the second left motor 12 rotates clockwise for a certain distance, while the other motors are static, so that the right leg part descends, the right end of the connecting rod 30 moves forward and upward, the left end moves backward and downward, and the center of gravity moves leftward;
s7: standing the left leg straight:
the left motor 11 rotates clockwise, the upper part 13 of the left leg deflects clockwise, the left motor 12 rotates anticlockwise, and the lower part 14 of the left leg deflects anticlockwise;
s8: lifting the right leg:
the first right motor 21 rotates anticlockwise, and the second right motor 22 rotates clockwise, so that the upper part 23 and the lower part 24 of the right leg are respectively lifted;
and step S2, the left leg is lifted slightly and the center of gravity moves to finish the step of the left leg.
And step S6, a tiny right leg is lifted and the center of gravity moves to finish the step of the right leg.
In the concrete implementation mode, it is a method for controlling gravity centre transfer of biped robot,
in the use process, the joint motors (the left motor and the right motor) are reversely rotated, so that opposite forces are generated by the two feet, the middle connecting rod rotates due to the interaction of the forces, the gravity center moves, and the two feet move forwards alternately.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
1. A gravity center transfer control method for a biped robot is characterized by comprising the following steps of stepping a left leg and stepping a right leg:
(1) taking a left leg:
s1: left leg upper (13) projecting:
the first left motor (11) rotates clockwise, the second left motor (12) rotates anticlockwise and/or does not rotate, and meanwhile, the first right motor (21) and the second right motor (22) do not rotate;
s2: extended lower right leg (24):
the right two motors (22) rotate clockwise for a distance, while the other motors are stationary, so that the right leg part descends,
the left end of the connecting rod (30) moves forwards and upwards, the right end moves backwards and downwards, and the gravity center moves rightwards;
s3: standing the right leg straight:
the right first motor (21) rotates clockwise, the upper part (23) of the right leg deflects clockwise, the right second motor (22) rotates anticlockwise, and the lower part (24) of the right leg deflects anticlockwise;
s4: lifting the left leg:
the left motor (11) rotates anticlockwise, the left motor (12) rotates clockwise, and the upper part (13) and the lower part (14) of the left leg are respectively lifted;
(2) taking a right leg:
s5: right leg upper (23):
the first right motor (21) rotates clockwise, the second right motor (22) rotates anticlockwise and/or does not rotate, and meanwhile, the first left motor (11) and the second left motor (12) do not rotate;
s6: extended left lower leg (14):
the left two motors (12) rotate clockwise for a certain distance, while the other motors are static, so that the right leg part descends,
the right end of the connecting rod (30) moves forwards and upwards, the left end moves backwards and downwards, and the gravity center moves leftwards;
s7: standing the left leg straight:
the left motor (11) rotates clockwise, the upper part (13) of the left leg deflects clockwise, the left motor (12) rotates anticlockwise, and the lower part (14) of the left leg deflects anticlockwise;
s8: lifting the right leg:
the right motor (21) rotates anticlockwise, the right motor (22) rotates clockwise, and the upper part (23) of the right leg and the lower part (24) of the right leg are respectively lifted;
the step S2 generates a tiny left leg lifting and gravity center movement to finish the step of the left leg;
and step S6, generating a tiny right leg lifting and gravity center movement to finish the stepping of the right leg.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110144235.8A CN112960047B (en) | 2021-02-02 | 2021-02-02 | Gravity center transfer control method for biped robot |
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| CN202110144235.8A CN112960047B (en) | 2021-02-02 | 2021-02-02 | Gravity center transfer control method for biped robot |
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| CN112960047A CN112960047A (en) | 2021-06-15 |
| CN112960047B true CN112960047B (en) | 2022-11-11 |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101531006B (en) * | 2009-03-31 | 2011-06-29 | 清华大学 | Power type walking method for biped robot |
| CN203544189U (en) * | 2013-11-25 | 2014-04-16 | 滨州学院 | Opening type race walking robot |
| CN105411813A (en) * | 2015-12-29 | 2016-03-23 | 华南理工大学 | Wearable bionic exoskeleton mechanical leg rehabilitation device |
| CN108639183B (en) * | 2018-06-07 | 2021-03-19 | 重庆邮电大学 | Device for improving balance and walking speed of biped robot and control method |
| CN111625002B (en) * | 2019-12-24 | 2022-12-13 | 杭州电子科技大学 | Stair-climbing gait planning and control method of humanoid robot |
| CN111942496B (en) * | 2020-08-21 | 2021-06-08 | 常州大学 | Mechanical stepping leg for biped obstacle crossing robot |
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