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Measuring method of motion parameters of legged robot and its application

A technology for robot motion and parameter measurement. It is used in measurement devices, linear/angular velocity measurement, velocity/acceleration/shock measurement, etc., and can solve problems such as signal drift.

Active Publication Date: 2016-08-10
CHINA NORTH VEHICLE RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a simple, high-precision method for measuring the motion parameters of the legged robot to overcome the existing problem of accelerometer signal drift, and further, to provide two applications of the measurement method

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  • Measuring method of motion parameters of legged robot and its application
  • Measuring method of motion parameters of legged robot and its application
  • Measuring method of motion parameters of legged robot and its application

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Embodiment Construction

[0041] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0042] Such as figure 1 As shown, the invention provides a method for measuring motion parameters of a legged robot, comprising the following steps:

[0043] S1. When the footed robot is walking and the supporting leg does not slip, the position vector of the foot end of the supporting leg of the footed robot in the body coordinate system and the world coordinate system of the footed robot are obtained according to the sensor measurement. The angular velocity of the fuselage below, the support leg is the leg on the ground, and the speed of the support leg is zero, which means that the support leg does not slip; in this embodiment, the foot of the support leg of the legged robot is measured according to the position sen...

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Abstract

The invention relates to a leg robot motion parameter measurement method and application thereof, belonging to the technical field of leg robot motion parameter measurement and application. According to the measurement method disclosed by the invention, a speed and a position of a robot body can be calculated only according to sensor information necessary for motion control on a leg robot, so that a requirement for speed control on the leg robot can be met; the measurement method is simple, feasible and high in precision; in a motion process, the speed and the position of the robot body of the leg robot which always has a leg in a supporting phase (the supporting state of each leg is determined by force at the foot end, and if a measured value is greater than a threshold value, the leg is in the supporting phase) can be calculated only by the method, and an accelerometer is not needed, so that the cost is lowered, the problem of drifting is solved, and the precision is high. The measurement method disclosed by the invention can be matched with the accelerometer, so that the redundancy of speed and position calculation is improved.

Description

technical field [0001] The invention relates to the technical field of measurement and application of motion parameters of a legged robot, in particular to a method for measuring motion parameters of a legged robot and its application. Background technique [0002] Irregular and uneven terrain limits the application of wheeled and tracked robots, while the trajectory of footed robots is a series of discrete footprints, while the trajectory of wheeled and tracked robots is continuous ruts. Rugged terrain often contains obstacles such as rocks, mud, sand, and even cliffs and steep slopes. The continuous path that can stably support the robot is very limited, while the legged robot only needs to touch the ground at discrete points when moving, so it is less adaptable to this terrain. powerful. In addition, the legs of the footed robot have multiple degrees of freedom, which greatly enhances the flexibility of movement. It can maintain the body level by adjusting the length of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C23/00
CPCG01C21/00G01P3/00
Inventor 苏波姚其昌李春明江磊卢国轩许威毛宁蒋云峰张振宇卢玉传
Owner CHINA NORTH VEHICLE RES INST
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