Method for detecting tumbling state of humanoid robot based on multi-sensor information

Abstract

The invention discloses a method for detecting a tumbling state of a humanoid robot based on multi-sensor information. The method comprises the step of judging the current stability of the robot by a fuzzy decision-making system by combining the current walking state, posture information and position information of a ZMP (zero moment point) of the robot. Judgment states comprise 9 states: a controllable state, tumbling forwards, tumbling backwards, tumbling leftwards, tumbling rightwards, tumbling left forwards, tumbling left backwards, tumbling right forwards and tumbling right backwards. The method is suitable for judging whether the humanoid robot is in the controllable state when the humanoid robot is about to tumble and obtaining the tumbling direction of the humanoid robot when the robot is uncontrollable, so that a basis is supplied to generation of corresponding protection motion to the humanoid robot. According to the method, the stability of the motion of the robot can be really reflected, and the reliability and the judgment accuracy are higher.

Description

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AI Technical Summary

Benefits of technology

This patented technology helps create an improved way of navigating or controlling robotic systems by combining different types of sensors into one more complex network that provides greater stability than previous methods. It also includes advanced algorithms such as neural networks and machine learning techniques to make judgments based on these signals from multiple sources. Overall, this innovation enhances how we control and interact within our world through collaborative behaviors between diverse parts of the body like humans and machines.

Problems solved by technology

The technical problem addressed in this patents relates to accurately judging how well a humanoids robot's movement matches its own movements while avoiding collisions between obstacles such as furniture or walls. This needs precise evaluation over both static (static) and dynamic states for safe operation without causing harm. Current methods require complicated calculations involving multiple sensors like accelerometers and GPS signals, making them slow down overall.

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