Dual-threshold detecting system and method for ground contact force of polypod robot

Abstract

The invention discloses a dual-threshold detecting system for the ground contact force of a polypod robot and a method for carrying out dual-threshold detection on the ground contact force of the polypod robot by adopting the detecting system. The detecting system comprises a foot passive yielding device of the polypod robot and a detecting circuit. In the detecting method, a ground-contacting force threshold and a ground-leaving force threshold of the robot are set by the detecting circuit according to different conditions of a ground, so as to meet the ground-contacting judgment and the ground-leaving judgment when the robot walks on different grounds; a bigger allowance can be maintained between the ground-contacting force threshold and the ground-leaving threshold, so that the ground-contacting judgment and the ground-leaving judgment are more reliable; and the condition whether the robot is in contact with the ground or leaves the ground or not cannot be judged in a single-threshold contact force detecting method as the contact force fluctuates momentarily. The system and the method can be used for the detection of the ground contacting and the ground leaving of feet when thepolypod robot walks, and the method is an effective method for sensing the ground contacting and the ground leaving of the feet of the polypod robot.

Description

technical field [0001] The present invention designs a double-threshold detection system for detecting the ground contact force of a multi-legged robot and a method for double-threshold detection of the ground contact force of the multi-legged robot by using the detection system, which is used to detect the foot contact force of the multi-legged robot when walking. Whether the head has touched or lifted off the ground. Background technique [0002] How to detect whether the feet have touched the ground and leave the ground is a very critical issue when a multi-legged robot is walking, which directly affects gait control, walking stability and gait transition. At present, pressure sensors are mostly used to detect the ground contact and lift-off of the feet when multi-legged robots are walking. Great limitations; moreover, pressure sensors are generally more expensive. In addition, the body of the robot will vibrate when walking, especially when walking on rough and uneven ...

AI Technical Summary

Problems solved by technology

At present, pressure sensors are mostly used to detect the ground contact and lift-off of the feet when multi-legged robots are walking. Significant limitations; moreover, pressure sensors are generally more expensive

In addition, the body of the robot will vibrate when walking, especially when walking on rough and uneven roads, the contact between the foot and the ground is very unstable, which makes the contact force of the foot very unstable at the moment of touching the ground and leaving the ground With a pressure sensor, generally only one pressure threshold is set. If it is greater than this value, it is judged to be touching the ground, and if it is less than this value, it is judged to be off the ground.

Therefore, the judgment is often inaccurate due to the instability at touchdown

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