METHOD FOR PLANNING CENTER OF MASS PATH CAPABLE OF REDUCING ENERGY CONSUMED WHEN HUMANOID ROBOT IS MOVING

WIPO Patent Application WO/2021/004075

A1

Disclosed is a method for planning a center of mass path capable of reducing energy consumed when a humanoid robot is moving. The method comprises: respectively calculating heights of centers of mass at minimum rotation velocities and angular accelerations for a knee joint, an ankle joint and a hip joint according to a pitch angle θ knee of the knee joint, a pitch angle θ ankle of the ankle joint and a pitch angle θ hip of the hip joint under a constraint on the center of mass; and performing weighting processing on the calculated heights of centers of mass to obtain an optimized height of center of mass. The technical solution of the present invention can solve the problem of a robot consuming significant energy in a moving state moving operations by optimizing the center of mass path thereof.

HUANG QIANG (CN)
CHEN XUECHAO (CN)
YU ZHANGGUO (CN)
HUANG ZELIN (CN)
ZHANG RUNMING (CN)
DONG CHENCHENG (CN)
GAO JUNYAO (CN)

PCT/CN2020/077552

January 14, 2021

March 03, 2020

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BEIJING INSTITUTE TECH (CN)

G05D1/02

CN110262510A	2019-09-20
CN105511465A	2016-04-20
CN105511465A	2016-04-20
CN109870947A	2019-06-11
CN101531006A	2009-09-16
CN109807884A	2019-05-28
CN101439738A	2009-05-27

XUECHAO CHEN ET AL.: "Bioinspired Control of Walking With Toe-Off, Heel-Strike, and Disturbance Rejection for a Biped Robot", IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, vol. 64, no. 10, 31 October 2017 (2017-10-31), XP055772482, ISSN: 0278-0046, DOI: 20200326162342A

NANJING IPZHI INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)

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