Compensation method and device for body attitude angle error of humanoid robot

Abstract

The invention discloses a method and a device for compensating body posture angle errors of a humanoid robot and belongs to the field of robots. The method includes the steps of detecting elevation angle errors of the humanoid robot with a detecting unit, and setting the elevation angle errors as compensatory angle values of planning ankle joints values. The device comprises an angle error confirming module and an angle error compensating module, wherein the angle error confirming module is used for detecting and dealing with the deflection angle errors, and the angle error compensating module is used for compensating the confirmed deflection angle errors via degrees of freedom in deflection directions of the ankle joints. The method and the device for compensating body posture angle errors of the humanoid robot is capable of compensating body posture angle errors during a rapid, continuous and targeted operation process, and guaranteeing rapidity and tail end posture accuracy of operations of the humanoid robot.

Description

technical field [0001] The invention relates to a method and a device for compensating body attitude and pitch angle errors of a humanoid robot, belonging to the technical field of robots. Background technique [0002] Humanoid robots have human appearance characteristics, which can better adapt to the living environment of human beings and serve people better. In recent years, there has been an upsurge of research on humanoid robots at home and abroad, and its research contents mainly include stable walking, dexterous operation, and human-computer friendly interaction. The fast, continuous, fixed target point operation of humanoid robot is a kind of operation method in which the target point is fixed and the completion time of the operation changes according to the requirements. As humanoid robots are getting closer to practicality, this operation method will have a wide range of applications. application occasions. [0003] The end pose of the humanoid robot is determine...

AI Technical Summary

Problems solved by technology

When the action is executed, the operating arm moves with a large acceleration, resulting in a very large inertial force, and the arm has a large moment arm relative to the ankle joint, so the generated moment causes the robot body to shake

This shaking is mainly due to the flexibility of the pitching direction of the ankle joint of the humanoid robot. Under the action of a large torque, the actual joint angle value deviates from the planned angle value, which causes an error in the pitching angle of the robot's body posture, which in turn affects the operation accuracy of the end of the arm.

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