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Multi-mode movement conversion method for humanoid robot

A humanoid robot and motion technology, applied in the field of robotics, can solve problems affecting the humanoid robot's movement ability and environmental adaptability, limit the application occasions and development of humanoid robots, and achieve seamless connection and conversion and reduce time. Effect

Active Publication Date: 2015-05-06
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

It affects the motion ability and environmental adaptability of humanoid robots, and limits the application occasions and development of humanoid robots

Method used

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  • Multi-mode movement conversion method for humanoid robot

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Embodiment Construction

[0023] Such as figure 2 As shown, the embodiment of the present invention provides a conversion method between multiple motion modes of a humanoid robot based on the idea of ​​multi-modal motion conversion, including the following steps:

[0024] Carry out motion pattern sequence planning according to job tasks.

[0025] According to the designed action sequence, select the corresponding action data in the robot motion database.

[0026] Between two action sequences, transition fusion between states is performed through a motion mode converter.

[0027] Converter working process:

[0028] According to the relationship between two adjacent sequences of actions, the dynamic conversion process is planned, and the trajectory of a period of time before the end of the previous sequence of actions is dynamically fused with the trajectory of a period of time after the start of the next sequence of actions. Considering the movement of the robot Under the conditions of mechanics, dy...

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Abstract

The invention provides a multi-mode movement conversion method for a humanoid robot. The humanoid robot comprises a robot state sensor, a movement database, a movement control converter and a movement stability controller. By the adoption of the multi-mode movement conversion method for the humanoid robot, the humanoid robot can be controlled to move in multiple modes, switching between various modes of movement is achieved, the humanoid robot can be applied on more occasions, and the environment adaptability of the humanoid robot is improved.

Description

technical field [0001] The invention discloses a multi-modal motion conversion method for a humanoid robot, which belongs to the technical field of robots. Background technique [0002] The field of robotics is undergoing a three-dimensional, deep-seated large-scale transformation, centered on industrial robots, and robots are rapidly expanding into human life. Especially in the field of intelligence, robots show outstanding advantages in interaction, assistance and service. As a representative of intelligent robots, humanoid robots have achieved rapid development in stable walking, intelligent interaction, and dexterous operation. [0003] With the increase in the application requirements of humanoid robots, the requirements for the motion ability and environmental adaptability of humanoid robots are more stringent. The motion control of humanoid robots in the prior art is mainly aimed at single action modes such as walking and crawling. If the humanoid robot needs to swi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/18B62D57/032
Inventor 黄强孟立波余张国陈学超马淦张伟民高峻峣
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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