CN205721372U - A kind of humanoid robot gait's real-time control system - Google Patents
A kind of humanoid robot gait's real-time control system Download PDFInfo
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- CN205721372U CN205721372U CN201620593655.9U CN201620593655U CN205721372U CN 205721372 U CN205721372 U CN 205721372U CN 201620593655 U CN201620593655 U CN 201620593655U CN 205721372 U CN205721372 U CN 205721372U
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Abstract
The utility model discloses a kind of humanoid robot gait's real-time control system, including robot body, angular transducer and torque sensor, described angular transducer and torque sensor are all electrically connected with CPU, and CPU is arranged on the inside of robot body, described CPU is electrically connected with memorizer and motor, described motor is arranged at ankle, is provided with accumulator in described robot body, and described accumulator is that angular transducer, torque sensor, motor and CPU power.This humanoid robot gait's real-time control system, first CPU determines current gait parameter according to stability, then motor is started working, robot starts walking, data that CPU is transmitted through further according to each joint angular transducer and the data that torque sensor is transmitted through, carry out inverse solution to calculate, draw the movement locus in each joint, draw the ZMP of reality, and compare with the ZMP of setting in memorizer, adjust paces by motor after drawing difference, thus monitor in real time and adjust with oneself's contrast.
Description
Technical field
This utility model relates to Biped Robot Control technical field, is specially a kind of humanoid robot gait and controls in real time
System.
Background technology
By planned Center of Coxa relative to the track of left foot end and right crus of diaphragm end relative to the track of Center of Coxa,
The location track that each joint angle of lower limb is corresponding can be calculated, thus obtain the gait planning of anthropomorphic robot.If machine
People, according to the gait walking planned, determines that out a ZMP track.But, owing to external environment change is equal to disturbing, may lead
During causing robot actual motion, actual ZMP is relatively big with the ZMP track deviation of planning, even occurs that actual ZMP is positioned at stable
Situation beyond territory.Therefore, in the actual walking process of anthropomorphic robot, need by the six-dimensional force/power being arranged on ankle
Square sensor detects in real time, uses stability analysis, it is judged that whether actual ZMP position meets the requirement of walking stability.As
Really testing result can not meet stability requirement, then need the hip track to having planned to repair difficulty, thus it is each to adjust lower limb
The angle output in individual joint, here it is the real-time control of gait.Robot on market is very simply walked by the pattern set, and does not has
There are monitoring and the relative analysis in real time of oneself, to this end, we design a kind of humanoid robot gait's real-time control system.
Utility model content
The purpose of this utility model is to provide a kind of humanoid robot gait's real-time control system, to solve above-mentioned background
The problem proposed in technology.
For achieving the above object, this utility model provides following technical scheme: a kind of humanoid robot gait controls in real time
System, including robot body, angular transducer and torque sensor, described angular transducer is arranged on the pass of robot body
At joint, described torque sensor is arranged on below robot foot ankle joint and near the position of sole, described angular transducer and
Torque sensor is all electrically connected with CPU, and CPU is arranged on the inside of robot body, and described CPU is electrically connected with memorizer
And motor, described motor is arranged at ankle, is provided with accumulator in described robot body, and described accumulator is angle sensor
Device, torque sensor, motor and CPU power.
Preferably, described torque sensor is six-dimensional force/torque sensor.
Preferably, the joint of described robot body is provided with many places, and joint is mounted on angular transducer.
Preferably, the rotating shaft of described motor is provided with displacement transducer, and this displacement transducer is electrically connected with CPU.
Compared with prior art, the beneficial effects of the utility model are: this humanoid robot gait's real-time control system, first
First CPU determines current gait parameter according to stability, and then motor is started working, and robot starts walking, and CPU is further according to respectively
Data that joint angular transducer is transmitted through and the data that torque sensor is transmitted through, carry out inverse solution and calculate, draw each pass
The movement locus of joint, draws the ZMP of reality, and compares with the ZMP of setting in memorizer, pass through motor after drawing difference
Adjust paces, thus monitor in real time and oneself's contrast adjustment.
Accompanying drawing explanation
Fig. 1 is this utility model structural representation；
Fig. 2 is gait of the present utility model real-time control structure figure；
Fig. 3 is the real-time control flow chart of gait of the present utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under making creative work premise
The every other embodiment obtained, broadly falls into the scope of this utility model protection.
Referring to Fig. 1-3, this utility model provides a kind of technical scheme: a kind of humanoid robot gait control in real time be
System, including robot body, angular transducer and torque sensor, described torque sensor is six-dimensional force/torque sensor, institute
Stating angular transducer and be arranged on the joint of robot body, the joint of described robot body is provided with many places, and joint is equal
Being provided with angular transducer, described torque sensor is arranged on below robot foot ankle joint and the position near sole, described
Angular transducer and torque sensor are all electrically connected with CPU, and CPU is arranged on the inside of robot body, described CPU electricity respectively
Property connect memorizer and motor, described motor is arranged at ankle, and the rotating shaft of described motor is provided with displacement transducer, and this position
Displacement sensor is electrically connected with CPU, is provided with accumulator in described robot body, and described accumulator is angular transducer, moment biography
Sensor, motor and CPU power.
This humanoid robot gait's real-time control system, first CPU determine current gait parameter according to stability, then
Motor is started working, and robot starts walking, and data and moment that CPU is transmitted through further according to each joint angular transducer pass
The data that sensor is transmitted through, carry out inverse solution and calculate, draw the movement locus in each joint, draw the ZMP of reality, and with in memorizer
The ZMP set compares, and adjusts paces by motor, thus monitor in real time and adjust with oneself's contrast after drawing difference
Whole.
Embodiment the most of the present utility model, for the ordinary skill in the art,
It is appreciated that in the case of without departing from principle of the present utility model and spirit and these embodiments can be carried out multiple change, repair
Changing, replace and modification, scope of the present utility model is defined by the appended claims and the equivalents thereof.
Claims (4)
1. humanoid robot gait's real-time control system, including robot body, angular transducer and torque sensor, its
Being characterised by: described angular transducer is arranged on the joint of robot body, described torque sensor is arranged on robot foot
Below ankle joint and near the position of sole, described angular transducer and torque sensor are all electrically connected with CPU, and CPU installs
In the inside of robot body, described CPU is electrically connected with memorizer and motor, and described motor is arranged at ankle, described
Being provided with accumulator in robot body, described accumulator is that angular transducer, torque sensor, motor and CPU power.
A kind of humanoid robot gait's real-time control system the most according to claim 1, it is characterised in that: described moment passes
Sensor is six-dimensional force/torque sensor.
A kind of humanoid robot gait's real-time control system the most according to claim 1, it is characterised in that: described robot
The joint of body is provided with many places, and joint is mounted on angular transducer.
A kind of humanoid robot gait's real-time control system the most according to claim 1, it is characterised in that: described motor
Rotating shaft is provided with displacement transducer, and this displacement transducer is electrically connected with CPU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620593655.9U CN205721372U (en) | 2016-06-17 | 2016-06-17 | A kind of humanoid robot gait's real-time control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620593655.9U CN205721372U (en) | 2016-06-17 | 2016-06-17 | A kind of humanoid robot gait's real-time control system |
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| CN205721372U true CN205721372U (en) | 2016-11-23 |
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| CN201620593655.9U Expired - Fee Related CN205721372U (en) | 2016-06-17 | 2016-06-17 | A kind of humanoid robot gait's real-time control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264661A (en) * | 2017-04-30 | 2017-10-20 | 中国科学院合肥物质科学研究院 | A kind of adjustable foot of gait carries out formula walking mechanism |
| CN108897332A (en) * | 2018-06-29 | 2018-11-27 | 南宁学院 | A kind of quadruped robot Free gait control method of adjustment |
| CN109656157A (en) * | 2017-10-12 | 2019-04-19 | 北京搜狗科技发展有限公司 | A kind of gait control method and apparatus |
| CN110262510A (en) * | 2019-07-11 | 2019-09-20 | 北京理工大学 | A kind of anthropomorphic robot centroid trajectory planing method reducing walking energy consumption |
-
2016
- 2016-06-17 CN CN201620593655.9U patent/CN205721372U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264661A (en) * | 2017-04-30 | 2017-10-20 | 中国科学院合肥物质科学研究院 | A kind of adjustable foot of gait carries out formula walking mechanism |
| CN109656157A (en) * | 2017-10-12 | 2019-04-19 | 北京搜狗科技发展有限公司 | A kind of gait control method and apparatus |
| CN108897332A (en) * | 2018-06-29 | 2018-11-27 | 南宁学院 | A kind of quadruped robot Free gait control method of adjustment |
| CN110262510A (en) * | 2019-07-11 | 2019-09-20 | 北京理工大学 | A kind of anthropomorphic robot centroid trajectory planing method reducing walking energy consumption |
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Legal Events
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP02 | Change in the address of a patent holder |
Address after: While the economic and Technological Development Zone of Jiangsu Province, Huaian City, 223005 East Road No. 3 Patentee after: Huaian College of Information Technology Address before: Qingpu District 223005 of Jiangsu city of Huaian Province Higher Education Park Mei Cheng Road No. 3 Patentee before: Huaian College of Information Technology |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161123 Termination date: 20170617 |