CN202439775U - Walking previewing control device for biped robot - Google Patents
Walking previewing control device for biped robot Download PDFInfo
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- CN202439775U CN202439775U CN2012200677757U CN201220067775U CN202439775U CN 202439775 U CN202439775 U CN 202439775U CN 2012200677757 U CN2012200677757 U CN 2012200677757U CN 201220067775 U CN201220067775 U CN 201220067775U CN 202439775 U CN202439775 U CN 202439775U
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Abstract
The utility model discloses a walking previewing control device for a biped robot. The walking method in the prior art is awkward like the walking of a blind person, so that the walking method is difficult to be applied to the living environment of human beings. The walking previewing control device comprises a long U-shaped rod, a T-shaped rod and an infrared distance measuring sensor, wherein the head part of the long U-shaped rod is movably connected with the upper part of a robot body; the tail part of the long U-shaped rod is movably connected with one end of the T-shaped rod; the infrared distance measuring sensor is fixed at the other end of the T-shaped rod; the long U-shaped rod can swing upwards and downwards; and the T-shaped rod can swing leftwards, rightwards, forwards and backwards around the tail part of the long U-shaped rod. Through previewing control of the infrared distance measuring sensor, the dynamic walking control strategy of the biped robot is enhanced, presetting of a ZMP (Zero Moment Point) position and pre-judgment of the leg lifting height and falling point of the robot are realized, walking of the robot on an uneven road surface is realized, and the walking capability of the robot in the normal living environment of human beings is increased.
Description
Technical field
The utility model belongs to the Robotics field, relates to a kind of biped robot's walking preview control setup.
Background technology
Anthropomorphic robot is the superlative degree of current Robotics development and most advanced performance, and the difficult point of the core technology of anthropomorphic robot and tool challenge is the realization of double feet walking dynamical equilibrium.On human lives's the earth, nearly half the land is divided into the forbidden area of conventional vehicles, and succeeding in developing of walking robot will make the major part in these forbidden areas become history.
Domestic and international most of biped robot is through attitude sensor and mechanics sensor adjustment robot's gait; When running into the obstacle that to cross; They often can not in time adjust gait, but through just confirming the gait of crossing over blockage behind the contact of the mechanics sensor on the pin obstacle.This walking method is comparatively clumsy, and the walking like as the blind person is difficult to be applied in the human living environment.Ladder and roughness pavement even ditch that human normal life environment has a large amount of height to differ usually, for the robot and the wheeled robot of fumbling the formula walking, this will be bad dream.For normal human subject, be to lean on vision perception the place ahead condition of road surface in advance mostly, adjust ZMP, and confirm to lift the height of leg and the place of stopping over.
Summary of the invention
The utility model provides a kind of biped robot's walking preview control setup to the deficiency of prior art.The utility model is used preposition infrared distance sensor just, measures the condition of road surface in the place ahead and the height of detection obstacle.Through robot on one's body the Computer Processing related data and calculate the position that should put ZMP and lift the leg height.
A kind of biped robot's walking preview control setup comprises long U type bar, T type bar and infrared distance sensor.
Long U type club head is connected with the robot body top movable, and an end of long U type bar afterbody and T type bar flexibly connects, and the other end of T type bar is fixed with infrared distance sensor.
Described long U type bar can swing up and down, and described T type bar can swing and swing around long U type bar afterbody.
The beneficial effect of the utility model: through the preview control of infrared distance sensor; Strengthened biped robot's dynamic walking control policy; Relate to the ZMP position preset and robot is lifted the leg height and is landed the anticipation in place; Realize the walking of robot on non-even running road surface, strengthened the walking ability of robot under human normal life environment.
Description of drawings
Fig. 1 is the utility model lateral plan;
Fig. 2 is the utility model birds-eye view;
Fig. 3 is the utility model workflow diagram.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described further.
As depicted in figs. 1 and 2, a kind of biped robot's walking preview control setup comprises long U type bar 1-1, T type bar 1-2 and infrared distance sensor 1-3.
Long U type club head is connected with robot body 2-1 top movable, and an end of long U type bar afterbody and T type bar flexibly connects, and the other end of T type bar is fixed with infrared distance sensor.
Described long U type bar can sway, and described T type bar can be around the swing of long U type bar afterbody.
As shown in Figure 3, the working process of the utility model: the control center of robot body 2-1 begins each parameter of initialization.Get into the infrared distance measurement search pattern.Get into the walking schema update, realize that the array of joint angle parameter is upgraded, implement joint angle control according to array parameter, robot begins one step of walking.Again get into the infrared distance measurement search pattern.
During robot body 2-1 walking, the infrared distance sensor 1-3 of T type bar 1-2 below measures the place ahead semi circular surface ground-surface height situation.When robot body 2-1 walked with plane walking pattern, infrared distance sensor 1-3 measured the obstacle that there is certain altitude in the place ahead.Infrared distance sensor 1-3 is transported to detected obstacle height at the computing center of robot body 2-1; Each azimuthal obstacle height of the place ahead and the current ground-surface height minimal difference of standing are sought in the computing center; Generate walking pattern to obstacle; Calculate the angle change sequence of each joint angle, send this sequence to each joint successively, the walking mode converting is an obstacle walking pattern from the plane to accomplish robot body 2-1.Lift the obstacle height decision that the leg height is directly recorded by infrared distance sensor 1-3.While robot body 2-1 will adjust barycenter and ZMP before the contact obstacle position.
The obstacle of said certain altitude also can be the gully of certain depth.The manner of walking of robot is not limited to from the plane that the walking mode converting is an obstacle walking pattern, and it can switch between several walking patterns.
Claims (1)
1. biped robot's walking preview control setup comprises long U type bar, T type bar and infrared distance sensor, it is characterized in that:
Long U type club head is connected with the robot body top movable, and an end of long U type bar afterbody and T type bar flexibly connects, and the other end of T type bar is fixed with infrared distance sensor;
Described long U type bar can swing up and down, and described T type bar can swing and swing around long U type bar afterbody.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200677757U CN202439775U (en) | 2012-02-28 | 2012-02-28 | Walking previewing control device for biped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200677757U CN202439775U (en) | 2012-02-28 | 2012-02-28 | Walking previewing control device for biped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202439775U true CN202439775U (en) | 2012-09-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012200677757U Expired - Fee Related CN202439775U (en) | 2012-02-28 | 2012-02-28 | Walking previewing control device for biped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202439775U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107943021A (en) * | 2017-10-19 | 2018-04-20 | 布法罗机器人科技（成都）有限公司 | A kind of adaptive stair activity control system and method |
| CN108345211A (en) * | 2017-01-23 | 2018-07-31 | 深圳市祈飞科技有限公司 | Biped anthropomorphic robot and its non-linear gait planning method and control method |
-
2012
- 2012-02-28 CN CN2012200677757U patent/CN202439775U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108345211A (en) * | 2017-01-23 | 2018-07-31 | 深圳市祈飞科技有限公司 | Biped anthropomorphic robot and its non-linear gait planning method and control method |
| CN107943021A (en) * | 2017-10-19 | 2018-04-20 | 布法罗机器人科技（成都）有限公司 | A kind of adaptive stair activity control system and method |
| CN107943021B (en) * | 2017-10-19 | 2021-03-30 | 布法罗机器人科技（成都）有限公司 | Self-adaptive stair ascending and descending control system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120919 Termination date: 20150228 |
|
| EXPY | Termination of patent right or utility model |