Method and device for controlling gait of biped robot

A device for controlling a gait of a biped robot, comprising:

• a center of mass mid-step phase trajectory acquiring unit, for selecting gait controlling parameters of the biped robot in a step starting phase, a mid-step phase and a step ending phase, and acquiring a movement trajectory of a center of mass of the biped robot in the mid-step phase when a zero moment point of the biped robot is located within a steady area;
• a parameter value acquiring unit, for obtaining, according to the movement trajectory of the center of mass in the mid-step phase, first numerical values of each of the gait controlling parameters of the center of mass when the mid-step phase starts and second numerical values of each of the gait controlling parameters of the center of mass when the mid-step phase ends;
• a constraint condition setting unit, for setting a first constraint condition that the center of mass is required to satisfy when the step starting phase ends by using the first numerical values, and setting a second constraint condition that the center of mass is required to satisfy when the step ending phase starts by using the second numerical values;
• a center of mass step starting and step ending phase trajectory calculating unit, for calculating the movement trajectories of the center of mass in the step starting phase and the step ending phase on the basis of the first constraint condition and the second constraint condition, respectively;
• and
• a center of mass trajectory controlling unit, for controlling a walking of the biped robot, so that when the biped robot is walking, the movement trajectory of the center of mass satisfies each of the movement trajectories of the center of mass in the step starting phase, the mid-step phase and the step ending phase, to realize a steady walking of the biped robot.

A device for controlling a gait of a biped robot, wherein the device comprises a processor and at least one computer-readable storage medium, the at least one computer-readable storage medium stores computer-executable instructions which, when executed by the processor, cause the processor to perform operations comprising:

• selecting gait controlling parameters of the biped robot in a step starting phase, a mid-step phase and a step ending phase, and acquiring a movement trajectory of a center of mass of the biped robot in the mid-step phase when a zero moment point of the biped robot is located within a steady area;
• according to the movement trajectory of the center of mass in the mid-step phase, first numerical values of each of the gait controlling parameters of the center of mass when the mid-step phase starts and second numerical values of each of the gait controlling parameters of the center of mass when the mid-step phase ends;
• setting a first constraint condition that the center of mass is required to satisfy when the step starting phase ends by using the first numerical values, and setting a second constraint condition that the center of mass is required to satisfy when the step ending phase starts by using the second numerical values;
• calculating the movement trajectories of the center of mass in the step starting phase and the step ending phase on the basis of the first constraint condition and the second constraint condition, respectively;
• and
• controlling a walking of the biped robot, so that when the biped robot is walking, the movement trajectory of the center of mass satisfies each of the movement trajectories of the center of mass in the step starting phase, the mid-step phase and the step ending phase, to realize a steady walking of the biped robot.