Walking control method and walking control device for two-legged robot

摘要

Disclosed are a method and a device for controlling a gait of a biped robot. The method comprising: selecting gait controlling parameters in a step starting phase, a mid-step phase and a step ending phase, and acquiring a movement trajectory of a center of mass in the mid-step phase when a zero moment point of the biped robot is located within a steady area; obtaining first numerical values of each of the gait controlling parameters of the center of mass when the mid-step phase starts and second numerical values of the center of mass when the mid-step phase ends; setting a first constraint condition when the step starting phase ends by using the first numerical values, and setting a second constraint condition when the step ending phase starts by using the second numerical values; calculating the movement trajectories of the center of mass in the step starting phase and the step ending phase on the basis of the first constraint condition and the second constraint condition, respectively; and controlling a walking of the biped robot, so that in walking the movement trajectory of the center of mass satisfies each of the movement trajectories of the center of mass in the step starting phase, the mid-step phase and the step ending phase.