Calibration method of joint angle of hexapod robot based on displacement correction of fuselage center of gravity

Abstract

The invention provides a body gravity center displacement correction-based six-foot robot joint angle calibration method. The method comprises the following steps: driving a robot to support the ground with any three feet, and keeping the other three feet uplifted and not in contact with the ground all the time; selecting one of the supporting feet, and driving a certain joint on the foot to rotate an angle, thus enabling the sole to slide and the other two soles to not slide relative to the ground; and by building a function relation between the angle of the joint and a body gravity center moving track, measuring a three-degree-of-freedom acceleration through a body IMU (Inertial Measurement Unit), calculating a relative moving track of a body through quadratic integral, and calculating coordinates of the tail end of the supporting foot relative to the body according to a multi-foot moving robot kinematic model, thus correcting angles of all joints of the supporting foot. The calibration method provided by the invention can quickly and accurately complete correction of the angles of the joints of a multi-foot moving robot, so as to guarantee multi-foot coordinating motion of the robot and the precision of the moving track; and the calibration method also can be used for checking faults of the foot joints of the robot to provide a basis for a robot motion decision.

Description

technical field [0001] The invention relates to a method for calibrating the motion of a legged mobile robot, belonging to the technical field of robots, in particular to a method for calibrating the joint angle of a hexapod robot based on the displacement correction of the body center of gravity. Background technique [0002] Compared with wheeled mobile robots, footed mobile robots have a stronger ability to overcome obstacles due to their flexible and changeable motion patterns, and have better robustness of motion functions in unstructured environments. As a typical representative of legged mobile robots, hexapod mobile robots are gradually becoming a research hotspot in the field of legged mobile robots. [0003] Since most hexapod mobile robots are hybrid mechanisms and have many redundant motion joints, it is difficult to guarantee the accuracy and efficiency of their motion control, and kinematics issues have become one of the main hot spots in the research field of ...

AI Technical Summary

Problems solved by technology

[0006] However, the above-mentioned patents have the following disadvantages: the calibration process requires the use of precision optical positioners or additional position sensors, which increases the additional investment in the calibration process, and also puts forward certain requirements for the environment in the calibration process

In addition, the mechanical system that needs to be calibrated needs to add a certain calibration device for zero point calibration, which increases the complexity and cost of the operation

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