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Universal action debugging method for human-like robot

A debugging method and robot technology, applied in the field of robotics, can solve problems such as inability to provide real-time feedback, time-consuming, and poor versatility, and achieve the effects of stable movements, optimized movements, and strong versatility

Inactive Publication Date: 2014-09-24
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The present invention mainly solves the defects of long time consumption, poor versatility, and incapable of real-time feedback existing in the prior art, and the present invention has strong versatility

Method used

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  • Universal action debugging method for human-like robot
  • Universal action debugging method for human-like robot
  • Universal action debugging method for human-like robot

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Embodiment Construction

[0023] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0024] The patent of the present invention mainly solves the problems of time-consuming, poor versatility, and incapability of real-time feedback in the prior art, and provides a universal action debugging method for humanoid robots, which has strong versatility.

[0025] The present invention is achieved through the following technical solutions:

[0026] (1) The debugger puts the robot in any pose in an action, which is defined as the initial pose of the action, and then sends a command to read the parameters of the steering gear to all the steering gears of the robot to obtain all the steering gear parameter data of the robot. The parameter data includes the ID number of the steering gear itself and the angle value of the steering gear. The angle value of the steering gear when the robot is in the initial posture of the action is called the initial a...

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Abstract

The invention provides a universal action debugging method for a human-like robot. All steering gear parameter data can be obtained by sending an order to a steering gear of the robot, the difference between steering gear actual data and steering gear original target data of the robot can be narrowed, the optimized steering gear target data are stored, so that the debugging of an action that the robot actuates a structure mechanically is completed, and a group of optimal action data can be obtained. The method is a universal independent debugging method and is strong in universality, the technology enables the robot action debugging to be targeted and directional by adopting the robot steering gear actuating result real-time data read-back technology instead of depending on experience to debug, the spline interpolation technology is used for three times, the action of the robot is greatly optimized, and the robot is stable and smooth in action.

Description

technical field [0001] The invention relates to the field of robots, especially the control of humanoid robots. Background technique [0002] Humanoid robots can replace humans to complete various tasks, and can expand human capabilities in many ways, and are widely used in many fields such as services, medical care, education, and entertainment. Our country has done a lot of research on humanoid robots and achieved a lot of results. For example, National University of Defense Technology has developed a bipedal walking robot, Beihang University has developed a multi-fingered dexterous hand, and Harbin Institute of Technology and Northwestern Polytechnical University have also done a lot of in-depth work in this area. [0003] At this stage, each research and development unit mainly uses the following two methods in the process of development and debugging of humanoid robot movements: first, manual debugging. This method mainly relies on staff with rich debugging experience ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/18G06F19/00G06F17/50
Inventor 史豪斌宋玉龙刘洋洋宋家驹
Owner NORTHWESTERN POLYTECHNICAL UNIV