A Projection and Stability Control Method for Humanoid Robot Based on Vision and Movement

A humanoid robot and stability control technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems that are not involved, do not consider the impact of robot stability, and cannot complete grasping tasks independently, so as to enhance the operation ability , increase the effect of the application

Active Publication Date: 2017-04-05
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

The paper does not consider the effect of the weight of the target object on the stability of the robot
[0006] The non-patent literature "A humanoid robot capable of carrying heavy objects" proposes a humanoid robot capable of grabbing heavy loads. The humanoid robot does not have vision and cannot complete the grabbing task autonomously.
[0007] Most of the existing humanoid robot stability control and operation planning only consider the stability control of itself, and do not involve the stability problem caused by the interaction of the operation target objects

Method used

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  • A Projection and Stability Control Method for Humanoid Robot Based on Vision and Movement
  • A Projection and Stability Control Method for Humanoid Robot Based on Vision and Movement
  • A Projection and Stability Control Method for Humanoid Robot Based on Vision and Movement

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Experimental program
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Embodiment Construction

[0035] as attached figure 1 As shown, the overall process:

[0036] 1. Job task input, that is, to formulate the target object that the humanoid robot needs to throw and the target position where the target object needs to be thrown.

[0037] 2. The humanoid robot recognizes the target object according to the binocular vision recognition system, plans the path, and picks up the target object.

[0038] 3. According to the humanoid robot throwing method based on the collision model, the operation task of throwing the target object to the target position is realized, and the stability of the humanoid robot itself is maintained in the process.

[0039] Throwing Action Design Based on Collision Model

[0040] According to the task and the detailed parameters of the target object, the humanoid robot calculates the arm movement trajectory required by the humanoid robot to complete the task, and analyzes the force when the target object is separated from the robot. The process of t...

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Abstract

The invention provides a humanoid robot throwing and stability control method based on vision and movement. By means of the combination of vision, movement and operation, the operation requirement for throwing a target object through a robot is met, throwing the object through the robot is equivalent to exerting corresponding impact force and rotating torque on the gravity of the robot, and the stability of the robot after throwing the object is kept by adjusting the joint driving force of the robot or a stepping mode of the lower limbs. The method of throwing the object through the humanoid robot based on vision, movement, operation and stability is designed, the operational capacity of the robot can be enhanced, and the number of application occasions of the humanoid robot is increased.

Description

technical field [0001] The invention relates to a vision-based and moving-based humanoid robot throwing objects and a stability control method, belonging to the technical field of robot control. Background technique [0002] Compared with other forms of robots such as wheeled and tracked robots, humanoid robots have stronger mobility in complex environments due to their unique bipedal movement. This advantage of the humanoid robot makes it have a strong advantage in special environments such as dangerous environments and rescue and disaster relief. In dangerous environments and rescue and disaster relief environments, clearing obstacles is an important task. Humanoid robots can quickly clear obstacles by throwing them with both hands. On the other hand, the stability of the humanoid robot is greatly reduced due to the small support area of ​​its feet on the ground and the high center of gravity. Especially when throwing heavy objects, it is easy to cause the humanoid robot...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1697
Inventor 黄强孟立波余张国陈学超张伟民张思刘华欣
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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