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Foot gesture real-time detection system and method for human-imitated robot

A humanoid robot, real-time detection technology, applied in the field of automation

Inactive Publication Date: 2009-04-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the actual work of the humanoid robot, it needs to complete various actions such as walking, turning, going up and down stairs, and dancing performances. Most of the time, there is relative motion between the feet and the ground, rather than being static, so this A method for detecting the inclination angle of a humanoid robot has significant limitations

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  • Foot gesture real-time detection system and method for human-imitated robot
  • Foot gesture real-time detection system and method for human-imitated robot
  • Foot gesture real-time detection system and method for human-imitated robot

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Embodiment 1

[0069] see figure 2 , the embodiment of the present invention provides a humanoid robot foot posture real-time detection system, the system includes: DSP (Digital Signal Processing, digital signal processing) controller 11, three-axis acceleration sensor 12, angular rate gyroscope 13.

[0070] The DSP controller 11 is used to write a control signal to the three-axis acceleration sensor 12, and calculate the output of the three-axis acceleration sensor 12 to obtain static inclination angle information;

[0071] The DSP controller 11 is also used to write the control signal to the angular rate gyroscope 13, and calculate the output of the angular rate gyroscope to obtain the angle change value;

[0072] The DSP controller calculates according to the obtained static inclination angle information and angle change value to obtain real-time inclination angle information.

[0073] Among them, the DSP controller specifically includes:

[0074] The first reading module 14 is used to...

Embodiment 2

[0103] see image 3 , the embodiment of the present invention provides a humanoid robot foot posture real-time detection system, the system specifically includes: DSP controller 1, three-axis acceleration sensor 2, angular rate gyroscope, SPI (Serial Peripheral Interface, serial Synchronous communication protocol) bus 3, CAN (Controller Area Network, controller area network) bus 4.

[0104] Wherein, the DSP controller includes CAN interface 5 and SPI interface 6;

[0105] The three-axis acceleration sensor 2 is connected to the SPI interface 6 of the DSP controller 1 through the SPI bus 3, and is used to measure the acceleration of the mutually orthogonal x, y, and z axes; the x-axis angular rate gyroscope 7, the y-axis angular rate gyroscope 8 and the z-axis angular rate gyroscope 9 are respectively connected to the SPI interface 6 of the DSP controller 1 through the SPI bus 3 for measuring the angular rate information of the x, y, and z axes.

[0106] The model of the thre...

Embodiment 3

[0140] see Figure 4 , the embodiment of the present invention provides a real-time detection method of foot posture information of a humanoid robot, specifically including:

[0141] Step 101: Initialize each sensor.

[0142] Step 102: Collect triaxial acceleration information.

[0143] Step 103: Calculate the collected triaxial acceleration information to obtain static foot inclination information.

[0144] This embodiment takes the x-axis as an example to introduce how to calculate the static inclination angle according to the acceleration information. see Figure 5 , let Ax be the acceleration value output by the x-axis acceleration sensor, in g; θx is the angle between the x-axis and the horizontal plane; the gravitational acceleration is 1g.

[0145] Under static conditions, the acceleration sensor is only affected by the acceleration of gravity, so the acceleration value Ax output by the acceleration sensor is only related to the acceleration of gravity 1g and the an...

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Abstract

The invention discloses a humanoid robot foot posture real-time detection system and a method, which belongs to the automation field. The system comprises: a DSP controller, a three-axis acceleration sensor and an angular rate gyroscope; the DSP controller gains a piece of static foot surface inclining information through the three-axis acceleration sensor, and gains an angle variety value through the angular rate speed gyroscope, and obtains the real-time foot surface inclining information according to the static foot surface inclining information and the angle variety value. The invention also discloses a humanoid robot foot posture real-time detection method, which comprises the steps of: obtaining the static foot surface inclining information by calculating the collected three-axis acceleration information; obtaining the angle variety value by calculating the collected angle speed information; and obtaining the real-time foot surface inclining information by calculating the static foot surface inclining information and the angle variety value. The humanoid robot foot posture real-time detection system and method provided by the invention can real-time and continuously measure the foot surface inclining angle.

Description

technical field [0001] The invention relates to the field of automation, in particular to a system and method for real-time detection of foot posture of a humanoid robot. Background technique [0002] Humanoid robot is the closest robot to human beings. Compared with traditional wheeled robots or tracked robots, it is more adaptable to the daily life environment of human beings, and at the same time it is easier to use various tools designed for human inventions. Therefore, imitation Human robots have broad prospects for development. [0003] At present, the research on humanoid robots is still mainly focused on exploring more effective and reliable stability control methods. The key to the stable walking of human and robot. In some more complex environments, such as walking on uneven roads, turning, and going up and down stairs, the foot posture information is even more important. The inclination angle information in the foot posture information is an important basis for...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/12
Inventor 黄强李建玺张伟民辛洪兵
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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