CN109625118B - 双足机器人阻抗控制方法及装置 - Google Patents
双足机器人阻抗控制方法及装置 Download PDFInfo
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- CN109625118B CN109625118B CN201811654870.5A CN201811654870A CN109625118B CN 109625118 B CN109625118 B CN 109625118B CN 201811654870 A CN201811654870 A CN 201811654870A CN 109625118 B CN109625118 B CN 109625118B
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- impedance control
- robot
- impedance
- biped robot
- feet
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000012546 transfer Methods 0.000 claims abstract description 28
- 238000004364 calculation method Methods 0.000 claims abstract description 9
- 230000006870 function Effects 0.000 claims description 49
- 230000036544 posture Effects 0.000 claims description 25
- 239000011159 matrix material Substances 0.000 claims description 18
- 238000013016 damping Methods 0.000 claims description 10
- 238000004422 calculation algorithm Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 8
- 238000013461 design Methods 0.000 abstract description 2
- 210000002683 foot Anatomy 0.000 description 29
- 210000002414 leg Anatomy 0.000 description 12
- 210000003423 ankle Anatomy 0.000 description 9
- 210000001624 hip Anatomy 0.000 description 9
- 210000001503 joint Anatomy 0.000 description 9
- 210000004394 hip joint Anatomy 0.000 description 4
- 230000009466 transformation Effects 0.000 description 4
- 230000002238 attenuated effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
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- 238000010586 diagram Methods 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
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- 230000000704 physical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36429—Power assisted positioning
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Mathematical Physics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (7)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811654870.5A CN109625118B (zh) | 2018-12-29 | 2018-12-29 | 双足机器人阻抗控制方法及装置 |
US16/660,822 US10875179B2 (en) | 2018-12-29 | 2019-10-23 | Impedance control method for biped robot and apparatus and biped robot using the same |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811654870.5A CN109625118B (zh) | 2018-12-29 | 2018-12-29 | 双足机器人阻抗控制方法及装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109625118A CN109625118A (zh) | 2019-04-16 |
CN109625118B true CN109625118B (zh) | 2020-09-01 |
Family
ID=66056359
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811654870.5A Active CN109625118B (zh) | 2018-12-29 | 2018-12-29 | 双足机器人阻抗控制方法及装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US10875179B2 (zh) |
CN (1) | CN109625118B (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111854792B (zh) * | 2019-04-29 | 2022-06-28 | 深圳市优必选科技有限公司 | 一种双足机器人的偏移预警方法、装置及双足机器人 |
CN110989585B (zh) * | 2019-11-28 | 2024-02-02 | 深圳市优必选科技股份有限公司 | 避奇异的步态规划方法、装置、可读存储介质及机器人 |
CN110920769B (zh) | 2019-11-28 | 2020-12-15 | 深圳市优必选科技股份有限公司 | 机器人的足腰协调步态规划方法、装置、介质及机器人 |
CN111506100B (zh) * | 2020-06-15 | 2020-10-02 | 深圳市优必选科技股份有限公司 | 多足机器人关节控制方法、装置和多足机器人 |
CN113377114A (zh) * | 2021-07-05 | 2021-09-10 | 乐聚(深圳)机器人技术有限公司 | 足式机器人落脚控制方法、装置及存储介质 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5129044A (en) * | 1988-03-01 | 1992-07-07 | Hitachi Construction Machinery Co., Ltd. | Position/force controlling apparatus for working machine with multiple of degrees of freedom |
WO2010027968A2 (en) * | 2008-09-04 | 2010-03-11 | Iwalk, Inc. | Hybrid terrain-adaptive lower-extremity systems |
FR2962063B1 (fr) * | 2010-07-02 | 2012-07-20 | Commissariat Energie Atomique | Dispositif robotise d'assistance a la manipulation a rapport d'augmentation d'effort variable |
CN104552292A (zh) * | 2013-10-10 | 2015-04-29 | 精工爱普生株式会社 | 机器人控制***、机器人、程序以及机器人控制方法 |
CN106483964B (zh) | 2015-08-31 | 2019-12-31 | 中南大学 | 一种基于接触力观测器的机器人柔顺控制方法 |
KR102584754B1 (ko) * | 2015-11-11 | 2023-10-05 | 마코 서지컬 코포레이션 | 로봇식 시스템 및 그를 역구동하는 방법 |
GB2549072B (en) * | 2016-03-24 | 2020-07-29 | Cmr Surgical Ltd | Robot control |
CN105911995B (zh) * | 2016-06-16 | 2018-06-15 | 吉林大学 | 一种基于位置速度控制的遥操作机器人碰撞预警方法 |
CN106965187B (zh) | 2017-05-25 | 2020-11-27 | 北京理工大学 | 一种仿生手抓取物体时生成反馈力向量的方法 |
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2018
- 2018-12-29 CN CN201811654870.5A patent/CN109625118B/zh active Active
-
2019
- 2019-10-23 US US16/660,822 patent/US10875179B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20200206925A1 (en) | 2020-07-02 |
CN109625118A (zh) | 2019-04-16 |
US10875179B2 (en) | 2020-12-29 |
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Address after: Nanshan District Xueyuan Road in Shenzhen city of Guangdong province 518000 No. 1001 Nanshan Chi Park C1 building 16, 22 floor Patentee after: Shenzhen UBTECH Technology Co.,Ltd. Address before: Nanshan District Xueyuan Road in Shenzhen city of Guangdong province 518000 No. 1001 Nanshan Chi Park C1 building 16, 22 floor Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |
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Effective date of registration: 20231206 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Daxing District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |
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TR01 | Transfer of patent right | ||
CB03 | Change of inventor or designer information |
Inventor after: Xiong Youjun Inventor after: Wang Yuesong Inventor before: Xiong Youjun Inventor before: Wang Yuesong Inventor before: Zhao Mingguo |
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CB03 | Change of inventor or designer information |