A teleoperation method for a quadruped robot based on the operator's foot position sensor

Abstract

The invention discloses a quadruped robot tele-operation mode based on an operator foot pose sensor and belongs to the technical field of robot control. In the prior art, the quadruped robot tele-operation mode is not friendly enough in man-machine interaction and is complicated in control. The quadruped robot tele-operation mode disclosed by the invention comprises the following steps: step I, fixing a pose sensor integration module on a single foot or on double feet of an operator; step II, detecting and analyzing the foot motion state of the operator by using the pose sensor integration module and generating a control command; step III, wirelessly transmitting the control command to a target quadruped robot; step IV, analyzing the received control command and performing a corresponding motion state by the target quadruped robot. According to the quadruped robot tele-operation mode disclosed by the invention, the target quadruped robot is controlled to perform the corresponding motion state according to the foot motion state of the operator, so the double hands of the operator are free, good man-machine interaction is achieved, and the target quadruped robot is simpler and more convenient to control.

Description

technical field [0001] The invention relates to a remote operation method of a quadruped robot based on an operator's foot position and posture sensor, and belongs to the technical field of robot control. Background technique [0002] The quadruped robot in the prior art has multiple motion capabilities such as walking, crawling, running, and jumping, and can adapt to complex terrains such as flat ground, hillsides, lawns, and muddy ground. Compared with other forms of motion, it has better motion stability and adaptability. It can be used for cargo, survey, entertainment, scientific research and other fields. At present, quadruped robots are mainly operated by handheld devices, such as special remote control handles and mobile phones. Handheld device control requires the operator to hold the physical device and control the robot through buttons and joysticks, which occupies the operator's hands and cannot handle other tasks (such as answering the phone), and easily causes ...

AI Technical Summary

Problems solved by technology

Handheld device control requires the operator to hold the physical device and control the robot through buttons and joysticks, which occupies the operator's hands and cannot handle other tasks (such as answering the phone), and easily causes fatigue and soreness of the operator's hands. For the manipulation of quadruped robots, handheld devices are not a natural way of human-computer interaction.

The other is to perceive the surrounding environment through the sensors (such as lidar, etc.) installed on the quadruped robot, and cooperate with the GPS and other sensors on the operator's body to realize the autonomous follow-up control method through the corresponding algorithm. At present, There are still the following deficiencies: environmental perception sensors such as lidar are often expensive, which is not conducive to the popularization of quadruped robots; the current outdoor autonomous follow-up control is still in the stage of verification and perfection, and the ability of autonomous obstacle avoidance is not very perfect. There is still a long way to go for promotion and application; it is impossible to realize autonomous tracking indoors without GPS positioning

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