Self-adaptive stair-climbing control system and method

A control system and control method technology, applied in control/adjustment system, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems of restricting the range of activities and not enough to help disabled people adapt to various terrains, etc. Achieve the effect of improving intelligence, strong portability and stability, and improving adaptability

Active Publication Date: 2018-04-20
布法罗机器人科技(成都)有限公司
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AI Technical Summary

Problems solved by technology

Due to the inconsistent size of the stairs in various places, if a fixed gait is used, it is not enough to help the disabled to adapt to various terrains, severely limiting their range of motion

Method used

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  • Self-adaptive stair-climbing control system and method
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  • Self-adaptive stair-climbing control system and method

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Embodiment Construction

[0028] The present invention will be further described in detail according to specific embodiments below. Use distance sensors (distance sensors can be infrared, laser, camera, etc., which can directly or indirectly obtain the distance from obstacles through algorithms, etc., and the number of distance sensors that can be installed on each leg is greater than or equal to one), and the installation position can be each joint After determining the installation position of the sensor, the exoskeleton (biped) robot model is established according to the length of the connecting rod between the joints and the joint angle. Based on the forward kinematics of the robot, the forward and longitudinal measurements Calculate the distance and size information of the obstacle in front from the sensor measurement data. Using Motion Capture (motion capture) and other methods to collect and fit the trajectory of normal people going up and down stairs in advance, using DMP (Dynamic Movement Prim...

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Abstract

The invention discloses a self-adaptive stair-climbing control system and a self-adaptive stair-climbing control method. The self-adaptive stair-climbing control method comprises the steps of: establishing an exoskeleton or biped robot model according to lengths and overall weight of joints and connecting rods; acquiring obstacle distance information, and detecting whether an obstacle exists in the front is detected by means of an obstacle detection module; if so, detecting size information of the obstacle, and judging whether the obstacle is an obstacle that can be crossed by means of an obstacle classification module; if the obstacle is an obstacle that cannot be crossed, controlling a robot to move into a safety range through planning a motion trajectory by means of a safety judgment module; and if the obstacle is an obstacle that can be crossed, completing the crossing of the obstacle by means of the stair-climbing control module. The self-adaptive stair-climbing control system andthe self-adaptive stair-climbing control method solve the problem of identifying environments with unfixed height of stairs, improve the adaptability of the robot to the external environment, realizethe anthropomorphic gait of the robot, improve the overall intelligence of a machine, and have high transportability and stability.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an adaptive control system and method for going up and down stairs. Background technique [0002] In the field of robot control, especially in the field of biped robot control, environment perception and adaptive control are direct manifestations of robot intelligence. The normal environment mainly includes flat ground, slopes and stairs, etc. If it can automatically recognize the environment and adopt corresponding motion control strategies, it will greatly help expand the range of motion for wheeled, bipedal, multi-legged and other mobile robots . In the field of medical rehabilitation, although exoskeleton robots that help patients with hemiplegia and paralysis of the lower limbs to walk can achieve operations such as standing up, sitting down, and walking, they are obviously not enough to deal with other complex environments. Existing exoskeleton (biped) robots can on...

Claims

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Application Information

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IPC IPC(8): G05D1/02B62D57/032
CPCB62D57/032G05D1/0214G05D1/0221G05D1/0242G05D1/0246G05D1/0276
Inventor 程洪徐发树
Owner 布法罗机器人科技(成都)有限公司
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