Foot type robot state sensing system

Abstract

The invention discloses a foot type robot state sensing system which is characterized by choosing a field programmable gata array (FPGA) as a main chip for sensing state of a foot type robot, using an internet protocol (IP) to form an external device of a processor for improving the speed for data collecting and processing of a sensor, customizing key algorithm instructions through a hard logic circuit, building a double Nios II processor system in an FPGA chip, and respectively finishing multi-time scale collecting of heterogeneous sensor data and high-speed processing of sensor data to obtain state information. The foot type robot state sensing system comprises a data collecting and processing controller module, a power unit sensor data collecting module, a combined navigation sensor data collecting module, a controller area network (CAN) bus communication module, a man-machine interaction module and a power source module. The foot type robot state sensing system is high in circuit integration level, small in size and power consumption and low in cost, has expandability, upgrading capability and high anti-interference performance, and is fast in data processing and favorable for performing real-time control on robots.

Description

technical field

[0001] The invention relates to a state perception system of a legged robot. Background technique

[0002] High-performance legged robot is a complex system composed of many parts, mainly including environment perception part, state perception part, behavior planning and coordination part, limb servo controller part, driving device part and body mechanical part. The system collects the environment information and body state information around the robot through the environment perception part and the state perception part, and sends them to the behavior planning and coordination part. The behavior planning and coordination part plans the robot's behavior according to the environment information and state information, and controls the target Send it to the servo controller part of the limbs, and the servo controller part of the limbs controls the driving device to drive the mechanical parts of the body to make corresponding actions. As the detection device of ...

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