Omnidirectional Wheeled Humanoid Robot Based on Linear Prediction Position and Velocity Controller

一种人形机器人、全方向的技术，应用在车辆位置/路线/高度控制、程序控制机械手、姿态控制等方向，能够解决碰撞管理难等问题

Active Publication Date: 2019-06-21
SOFTBANK ROBOTICS EURO +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Often, managing collisions is a difficult problem for real-time control

Method used

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  • Omnidirectional Wheeled Humanoid Robot Based on Linear Prediction Position and Velocity Controller
  • Omnidirectional Wheeled Humanoid Robot Based on Linear Prediction Position and Velocity Controller
  • Omnidirectional Wheeled Humanoid Robot Based on Linear Prediction Position and Velocity Controller

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Embodiment Construction

[0087] figure 1 The physical architecture of a humanoid robot in several embodiments of the invention is shown.

[0088] The particular robot 100 in the figures is to be seen only as an example of a humanoid robot in which the invention can be practiced. The lower limbs 180 of the robot in the figure are not used for walking, but are able to move in any direction on its base 140, which rotates on the surface on which it rests. For example, the robot has a height 110 that may be about 120 cm, a depth 120 of about 65 cm, and a width 130 of about 40 cm. In a particular embodiment, the robot of the present invention has a tablet 150 that the robot can use to deliver messages (audio, video, web pages) to its environment or receive input from the user through the tablet's tactile interface. In addition to the processor of the tablet computer, the robot of the present invention also uses the processor of its own motherboard, for example, the processor of the motherboard can be from...

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Abstract

The object of the invention is a humanoid robot (100) with a body (190) attached to an omnidirectional mobile ground base (140), said humanoid robot (100) being equipped with: - body position sensors for providing measurements, a base position sensor and an angular velocity sensor, - an actuator (212) comprising at least 3 wheels in said omnidirectional mobile base, - an extractor (211) for converting sensed measurements into useful data, - a monitor (500) for calculating position commands, velocity commands and acceleration commands from said useful data, - a unit for converting commands into commands for said actuators, which It is characterized in that the monitor includes: - a non-tilted state controller (501), a tilted state controller (502) and a landing state controller (503), each controller comprising a unit for calculation based on Position commands, velocity commands, and acceleration commands are computed using a moving two-point-mass robot model and a linear model predictive control law expressed as a quadratic minimum with a weighted sum of objectives and a pre-defined set of linear constraints. Optimize the formula.

Description

technical field [0001] The invention relates to the field of robot programming systems. More specifically, the present invention is applicable to the control of the movement of robots, particularly robots having a humanoid or animal shape, which move back and forth by articulated limbs or which use articulated limbs. A robot can be considered a humanoid when it has certain human-looking attributes (head, torso, arms, hands, etc.). However, humanoid robots can be somewhat complex. Its limbs can have a greater or lesser number of joints. It can control its own balance both statically and dynamically, and can turn on a base. It can pick up ("listen", "see", "touch", "feel", etc.) signals from the environment and react with somewhat complex actions, and interact with other robots or humans through speech or gestures. With the current generation of humanoid robots, programmers are able to create scenarios, which can be somewhat complex, as sequences of events / actions that the r...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J5/00B25J9/16G05D1/08
CPCG05D1/0891B25J5/007B25J9/1628B25J9/1679B25J19/02B25J11/0005B25J5/00B25J9/16B25J9/162
Inventor J·拉费C·科莱特P-B·维贝尔
Owner SOFTBANK ROBOTICS EURO
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