公开(公告)号：US11618519B2

公开(公告)日：2023-04-04

申请号：US16885527

申请日：2020-05-28

Applicant: BEIJING INSTITUTE OF TECHNOLOGY

Inventor： Qiang Huang ,  Zhangguo Yu ,  Xuechao Chen ,  Chencheng Dong ,  Qingqing Li ,  Libo Meng ,  Gao Huang

IPC: B62D57/02 ,  B25J9/16 ,  B25J13/08 ,  G05D15/01

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.