Biped robot walking control method and walking control device

摘要

A walking control method and apparatus for a biped robot, wherein the walking control method selects walking control parameters at a walking start stage, a walking intermediate stage, and a walking stop stage, and a zero moment point of the biped robot is set. The motion trajectory at the middle stage of walking at the center of mass when located in the stable region is acquired (S11), the first numerical value of each walking control parameter at the start of the middle stage of walking at the center of mass and the end of the middle stage of walking at the center of mass Obtain the second numerical value in (S12), use the first numerical value to set the first constraint condition at the end of the walking start stage, and use the second numerical value to set the second constraint condition at the start of the walking stop stage (S13), based on the first constraint condition and the second constraint condition, calculate the motion trajectory at the walking start stage and the walking stop stage of the center of mass (S14), and by controlling the walking of the biped robot, quality The amount-centric motion trajectory satisfies the motion trajectories in the mass-centric walking start stage, walking intermediate stage, and walking stop stage (S15). [Selection] Figure 1