A detection method for humanoid robot fall state 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: 2017-04-19
SOUTH CHINA UNIV OF TECH
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0004] Since the robot will affect the attitude sensor information during the walking process, it is not comprehensive to use the attitude information to judge the stability and controllability of the robot.

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  • A detection method for humanoid robot fall state based on multi-sensor information
  • A detection method for humanoid robot fall state based on multi-sensor information
  • A detection method for humanoid robot fall state 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

technical field [0001] The invention relates to the technical field of state detection of a humanoid robot, in particular to a method for detecting a fall state of a humanoid robot based on multi-sensor information. Background technique [0002] When the humanoid robot walks, it is necessary to judge the stable state of the humanoid robot at all times. When the robot has a tendency to fall, it is necessary to control the corresponding joints through feedback to prevent the robot from falling. When the robot is about to fall, the state of the robot is beyond the controllable range at this time, and it is necessary to let the robot fall to the ground with the least damage. [0003] Only by obtaining the real motion state of the robot when it falls, can an effective control strategy be implemented to prevent the robot from falling or take protective measures to prevent the robot from being injured when it falls. Determining whether the current state of the robot is controllab...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F19/00G01C23/00
Inventor 毕盛闵华清董敏曾潇黄铨雍
Owner SOUTH CHINA UNIV OF TECH
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