Stable walking is the foundation of humanoid robot in practical work,and is the key and hot topic of research.In order to improve the response rate and control accuracy of the humanoid robot's walking instability,the attitude measurement and control of the gyroscope can not be used to describe the movement state of the robot completely,which leads to the shortcomings of the control lag.In this paper,the RCG attitude control algorithm is proposed.Based on the model of angular velocity and angle as the control parameters,the acceleration of robot movement in the process is taken as the factor of attitude judgment and adjustment,and the feedback control of the robot walking process is realized.The response rate and response accuracy of the robot to the unstable state are improved.The test of RCG attitude control algorithm were carried using self-built robot prototype.The results show that RCG attitude control algorithm can correct attitude deviation more timely and accurately compared with the attitude of the control method only using angular velocity and angle,and maintain a stable attitude,when the biped robot is unstable.
Key words
humanoid robot /
gait stability /
control algorithm /
attitude measurement
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References
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Footnotes
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Funding
Science and Technology Program of Education Department of Jilin Province during the 13th Five-year Plan (No.JJKH20170800KJ)
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