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AssigneeBeijing Institute of Technology
InventorsQiang HUANG, Zhangguo YU, Xuechao CHEN, Chencheng DONG, Qingqing LI, Libo MENG, Gao HUANG
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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.
A method of tracking control for a foot force and moment of a biped robot, wherein a desired force on a foot and a desired moment on the foot of the robot are distributed through a planned zero moment point of the robot, differences of the desired force on the foot and the desired moment on the foot from an actual force on the foot and an actual moment on the foot are respectively calculated, and the differences are used as input of a force tracking controller, the force tracking controller outputs position adjustment quantities in three directions of an ankle joint, and the position adjustment quantities are added to original ankle joint trajectory planning to obtain an adjusted ankle joint trajectory, and joint angles are obtained through inverse kinematics, so as to realize tracking of the foot force and moment of the robot and then realize ZMP tracking.
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