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METHOD FOR CONTROLLING GAIT OF BIPED ROBOT, AND BIPED ROBOT
METHOD FOR CONTROLLING GAIT OF BIPED ROBOT, AND BIPED ROBOT
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机译：控制双足机器人步态的方法及双足机器人
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摘要
Provided are a method for controlling the gait of a biped robot, and a biped robot, comprising the following steps: obtaining six-dimensional force information, and, according to the six-dimensional force information, determining the state of support of a biped robot; according to the six-dimensional force information, calculating a ZMP position of each foot of the biped robot; setting a ZMP expected value of each foot according to the state of support and body posture error; determining the ankle joint compensation angle of each foot of the biped robot according to the ZMP position and the ZMP position change rate, the ZMP expected value, and the ZMP expected value change rate; according to the ankle joint compensation angle, tracking and adjusting, in real time, the current ankle joint angle of the biped robot; repeating the above steps at a set frequency until posture control or ankle joint compliance is completed in different states of support.
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