Method of tracking control for foot force and moment of biped robot

US11618519B2 · kind B2 · utility

Assignee

• Beijing Institute of Technology · CN

Inventors

• Qiang Huang · Austin, US
• Zhangguo Yu · Beijing, CN
• Xuechao Chen · Beijing, CN
• Chencheng Dong · Beijing, CN
• Qingqing Li · San Jose, US
• Libo Meng · Shanghai, CN
• Gao HUANG · Beijing, CN

Key dates

• Filing date: May 28, 2020
• Grant date: Apr 4, 2023
• Expiry date: Mar 6, 2041

Classification

• Technology area (CPC G): Physics
• CPC primary: G05D15/01
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

The present invention discloses a method of tracking control for a foot force and moment of a biped robot. According to the method, a double-spring damping model is designed, and a force tracking controller is designed by using an LQR optimization method, so as to realize tracking of the foot force and moment of the biped robot. Further, a desired force on a foot and a desired moment on the foot are calculated through a planned ZMP distribution method, thereby eventually achieving better ZMP tracking of the biped robot and adapting to ground of certain unevenness. According to the present invention, the traditional control method of ZMP tracking to realize stable walking of a biped robot and adapting to uneven ground is abandoned; instead, a desired force and moment on a foot enabling stable walking of the robot are directly calculated, and direct control is performed to realize tracking of the force and moment on the foot, so as to carry out stable control in a more essential and easy-to-implement manner, thereby achieving faster control response, stronger capability of adapting to uneven ground, and ideal ZMP tracking effect.