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Motion planning system for biped robot

A biped robot, motion planning technology, applied in the transformation of motion planning system, stand up motion planning system field, to achieve the effect of enhanced adaptability, ingenious design and excellent performance

Inactive Publication Date: 2012-03-14
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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But its walking performance is unmatched by other walking structures

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  • Motion planning system for biped robot
  • Motion planning system for biped robot
  • Motion planning system for biped robot

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Embodiment

[0024] The principle diagram of the present invention is as figure 1 As shown, the motion planning system of the biped robot of the present invention includes a robot controller 1 and an action executor 2, the control signal output end of the robot controller 1 is connected with the signal input end of the action executor 2, and the action executor 2 The signal output end of each joint motor 3 that drives each joint motion is connected to the signal output end of each joint, and the signal output end of the fall detection module 4 that detects each joint motion condition is connected to the signal input end of the robot controller 1.

[0025] In this embodiment, the above joint motors 3 are servo motors.

[0026] In this embodiment, the above-mentioned fall detection module 4 includes a three-axis acceleration sensor 41, a filter circuit 42 and an operational amplifier circuit 43, wherein the signal output terminal of the three-axis acceleration sensor is connected to the inpu...

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Abstract

The invention relates to a motion planning system for a biped robot. The motion planning system comprises a robot controller and an action actuator, wherein a control signal output end of the robot controller is connected with a signal input end of the action actuator; a signal output end of the action actuator is connected with a signal input end of each joint motor for driving each joint to move; and a signal output end of a falling detection module for detecting the motion station of each joint is connected with a signal input end of the robot controller; the falling detection module is used for acquiring posture information of the robot in real time by using an acceleration sensor; an action storage module is used for storing an action scheme obtained by an action generation module; and the action actuator is used for executing storage action. According to the motion planning system disclosed by the invention, an action module is triggered by closed-loop feedback according to a standing mode of human beings after falling; the motion plan is carried out on corresponding joints of the robot; the stable standing after falling is realized; and upper limbs of the robots are effectively utilized in the action plan, and thus the adaptability of the robot to a complex environment is enhanced.

Description

technical field [0001] The invention relates to a motion planning system for a biped robot, in particular to a motion planning system for a biped robot to stand up in two different situations, supine and prone, after the biped robot falls to the ground, and belongs to the transformation of the motion planning system for a biped robot technology. Background technique [0002] Robotics is a comprehensive subject developed in recent years. It integrates the latest scientific research achievements of various disciplines such as mechanical engineering, electronic engineering, computer engineering, automatic control engineering, and artificial intelligence. It represents the highest achievement of mechatronics and is one of the most active fields of scientific and technological development. [0003] The current mobile modes of robots include wheeled, crawler, walking, crawling, and peristalsis. Wheeled and tracked mobile robots are already mature. The research on wheeled and tra...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032G05B19/418
CPCY02P90/02
Inventor 刘治赵之光王丽杨郑国雄章云
Owner GUANGDONG UNIV OF TECH
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