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A method for distinguishing biped support area

A support area and foot sole technology, applied in the field of robotics, can solve the problem of a single method for biped support area identification

Active Publication Date: 2020-10-20
ANHUI POLYTECHNIC UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to solve the inherent problem of relatively single identification method for the bipedal support area of ​​biped robots in the prior art, a control system and method for bipedal support area identification is proposed

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  • A method for distinguishing biped support area
  • A method for distinguishing biped support area
  • A method for distinguishing biped support area

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Embodiment Construction

[0027] Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is for the purpose of illustration only, and in no way limits the invention and its application or usage.

[0028] According to the illustrated embodiment of the invention, as figure 1 As shown, a control system for biped support area discrimination, the control system includes a master, slave 1 and slave 2.

[0029] In the control system, the master coordinates the operation of the slaves 1 and 2, receives and processes the information sent by the slaves 1 and 2, and performs real-time discrimination and calculation of the biped support area. In terms of hardware, its core device is a high-performance single-chip microcomputer;

[0030] In the control system, the slaves 1 and 2 are dispatched by the master, and mainly collect information about the biped in the gait and send it to the master. In ter...

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Abstract

The invention belongs to the technical field of a robot and relates to a two-foot support area judgment control system and method. The control system comprises a host machine, a slave machine 1 and aslave machine 2. The control method comprises the following steps: 1) establishing a two-foot mark point coordinate system under an initial standing state; 2) judging a two-foot gait phase according to signals fed back by a left foot pressure measuring unit and a right foot pressure measuring unit in the walking process; 3) judging support areas of left and right feet respectively according to thetwo-foot gait phase obtained in the step 2); determining displacement and foot deflection angles of the two feet according to a left foot inertial measurement unit and a right foot inertial measurement unit, and calculating coordinate values of mark points in the support areas of left and right feet determined in the step 3) in the coordinate system established in the step 1) respectively; and 5)calculating the two-foot support area according to an area formed when the mark points are connected. The system and method improve accuracy and real-time performance of calculation of the two-foot support area during two-foot walking.

Description

technical field [0001] The invention belongs to the technical field of robots, and more specifically relates to a control system and method for biped support area discrimination. Background technique [0002] The technical background related to the present invention will be described below, but these descriptions do not necessarily constitute the prior art of the present invention. [0003] With the continuous development of wearable belt device technology and robot sensor technology, the comprehensive application of ergonomics and robotics has become a research hotspot at home and abroad. Among them, projects such as lower extremity exoskeleton robots and biped robots are the application of human gait walking in the field of robotics. In order to realize the stability of human-like walking, it is necessary to study a set of special anti-fall mechanism, that is, to monitor the positional relationship between ZMP (zero moment point) and the support area of ​​the biped in rea...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/042
Inventor 许德章高莉俊汪步云
Owner ANHUI POLYTECHNIC UNIV