METHOD OF CONTROLLING WALKING POSTURE OF BIPED ROBOT AND DEVICE

Title:

METHOD OF CONTROLLING WALKING POSTURE OF BIPED ROBOT AND DEVICE

Document Type and Number:

WIPO Patent Application WO/2017/092463

Kind Code:

A1

Abstract:

A method of controlling a walking posture of a biped robot and a device. The method comprises: selecting walking posture control parameters of a start stage, an intermediate stage and a stop stage, and obtaining a movement trace of a center of mass at the intermediate stage when a zero-torque point of the biped robot is at a stable area (S11); obtaining a first value of each of walking posture control parameters when the center of mass is at a start of the intermediate stage and a second value of each of walking posture control parameters when the center of mass is at an end of the intermediate stage (S12); configuring, using the first value, a first constraint at an end of the start stage, and configuring, using the second value, a second constraint at a start of the end stage (S13); computing, based on the first and second constraints, movement traces for the center of mass at the start stage and the end stage, respectively (S14); and controlling the biped robot to walk so as to enable a movement trace of the center of mass during walking to satisfy each of the movement traces of the center of mass at the start stage, intermediate stage, and stop stage (S15). The embodiment of the invention ensures smooth connections between the start, intermediate, and stop walking postures and walk stability.

Inventors:

SU PENGCHENG (CN)

Application Number:

PCT/CN2016/098084

Publication Date:

June 08, 2017

Filing Date:

September 05, 2016

Export Citation:

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Assignee:

GOERTEK INC (CN)

International Classes:

G05D1/02

Foreign References:

CN105511465A	2016-04-20
CN103149933A	2013-06-12
CN101950176A	2011-01-19
CN103770111A	2014-05-07
JP2012040644A	2012-03-01
JP2004114243A	2004-04-15
US20090271037A1	2009-10-29

Other References: