Patent ID: 11858138
Assignee: ZHEJIANG UNIVERSITY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A method for realizing a dynamic running gait of a biped robot on a rough terrain road, comprising:
simplifying a torso of the biped robot as a center of mass that concentrates all masses of a torso;
simplifying a leg of the biped robot as a linkage without mass and inertia that is retractable and connects the torso and a foot;
constraining the center of mass to move in a constrained plane; and
dividing, bases on whether a left leg and a right leg are in a state of a supporting phase, a phase state machine of the biped robot in a stable advancing process into one of a supporting phase of a left leg, a supporting phase of a right leg, an in-air phase of the left leg, and an in-air phase of the right leg, wherein stable and periodic switching of states form the running gait of the biped robot;
wherein a balance control of the biped robot, a movement trajectory planning of a supporting leg and a movement trajectory planning of a swinging leg are performed in each of the supporting phase of the left leg, the supporting phase of the right leg, the in-air phase of the left leg, and the in-air phase of the right leg, and the balance control of the biped robot comprises a balance control of a body posture, a balance control of a height of the center of mass, and a control of an advancing speed of the biped robot; and
wherein a balance control of a height of the center of mass is performed by controlling the height of the center of mass of the biped robot through controlling a force of ground, and the force is set by a following formula:

Fz=Kpf(hset−h)+Kdf(−vh)+Mg, 

where hset denotes a set height of the center of mass; h denotes an actual height of the center of mass; vh denotes a velocity of the center of mass in an upright direction; Kpf and Kdf denote a proportion coefficient and a differentiation coefficient; M denotes a weight of the center of mass of the biped robot; and g denotes an acceleration of gravity.