Precise resetting system of humanoid robot initial position

A humanoid robot and initial position technology, applied in the direction of total factory control, total factory control, electrical program control, etc., can solve the problems of troublesome reset work, lack of versatility, looseness, etc., and achieve fast and universal reset process , the effect of easy installation

A humanoid robot and initial position technology, applied in the direction of total factory control, total factory control, electrical program control, etc., can solve the problems of troublesome reset work, lack of versatility, looseness, etc., and achieve fast and universal reset process , the effect of easy installation

CN101673116AInactive Publication Date: 2010-03-17SHANGHAI JIAO TONG UNIV
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  • Precise resetting system of humanoid robot initial position
  • Precise resetting system of humanoid robot initial position
  • Precise resetting system of humanoid robot initial position

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Embodiment Construction

[0028] The technical solutions of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. The following examples are not intended to limit the present invention.

[0029] Whole invention realization process is as follows:

[0030]The structure of the accurate reset system for the initial position of the humanoid robot of the present invention is as follows: figure 1 As shown, it includes a control command sending module, an upper command communication module, a reset controller module, a reset actuator module, a lower data communication module and an angle acquisition module. Among them, the control command sending module includes the humanoid robot main console and the upper real-time computer, the upper layer command communication module includes a bus adapter card and CAN bus, and the reset controller module includes a CPU, a CAN bus transceiver and a serial communication port. The controller ...

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Abstract

The invention relates to a precise resetting system of humanoid robot initial position, comprising a control command transmitting module, an upper-layer command communication module, a reset controller module, a reset actuator module, a lower-layer data communication module and an angle acquisition module, wherein a reset control command transmitted by the control command transmitting module is transmitted to the CPU of the reset controller module via the upper-layer command communication module; the CPU starts resetting, and the lower-layer data communication module controls the angle acquisition module to detect the angels of a position inclination angle sensor and a gyroscope installed on the joint and the body of the humanoid robot; after the angles are compared with the angle preset in the CPU, the error value is transmitted to the reset actuator module via the upper-layer command communication module to control the motor to reset; then, the reset controller module detects reset error angle and transmits to an upper-layer real time computer via the upper-layer command communication module to finish one-time resetting. The invention can ensure that the humanoid robot can quickly and stably restore to the same accurate initial position at any time.

Description

technical field [0001] The invention relates to a system for accurately resetting the initial position of a humanoid robot, which can automatically restore the humanoid robot to the same precise initial position set by the system at any time, and can detect the joints of the robot caused by mechanical air travel and joint looseness. The error angle value. The invention belongs to the field of robot control, computer and automation technology. Background technique [0002] The goal of a humanoid robot is to imitate operations that humans can perform. The accuracy, stability and flexibility of motion control directly determine whether a humanoid robot can imitate human motion. In order to realize the accurate, stable and flexible control of the humanoid robot, it is necessary to reset the motion joints of the human body to a precise initial position before performing motion control on it. If the humanoid robot is in an unstable initial position after reset, it may cause the...

Claims

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Application Information

Patent Timeline
17 Mar 2010
Publication
CN101673116A
IPC
G05B19/418
CPC
Y02P90/02
Inventors
εˆ˜ε‡―; 苏剑泒