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

A humanoid robot and multi-sensor technology, applied in the field of humanoid robot state detection, can solve the problems of incomplete determination of robot stability and controllability, and achieve the effect of improving the accuracy of determination and reliability.

Active Publication Date: 2014-12-17
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
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  • Claims
  • Application Information

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

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Embodiment Construction

[0048] The specific implementation of the present invention will be described in detail below in conjunction with the accompanying drawings, but the implementation and protection of the present invention are not limited thereto. Achieved with technology.

[0049] (1) Establish a robot multi-sensor information fusion model during the walking process of the humanoid robot to provide information and judgment results for the control of the robot, so that the controller can control the stable walking of the humanoid robot and protect it when it falls to the ground action. According to the characteristics of sensor information fusion, the present invention proposes a sensor information fusion model with layered structure to realize the stability judgment of the walking process of the humanoid robot. See attached figure 1 .

[0050] Wherein the acceleration sensor and the angular velocity sensor are installed at the hip joint of the robot. The FSR sensor is installed on the botto...

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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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Claims

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Application Information

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Owner SOUTH CHINA UNIV OF TECH
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