Halfling-shaped intelligent robot and control system thereof

Abstract

The invention provides a halfling-shaped intelligent robot and a control system thereof. An environment sensor sends measured environment information to a task manager; the task manager issues operation tasks to an upper body movement planning device and a chassis movement planning device based on the environment information and task instructions; the upper body movement planning device generatesa mechanical arm joint angle sequence based on the operation tasks and sends the mechanical arm joint angle sequence to a joint servo controller so that the operation tasks can be completed; and the chassis movement planning device generates a chassis motor rotation speed sequence based on the operation tasks and sends the chassis motor rotation speed sequence to a chassis motor controller so thatthe operation tasks can be completed. The environment sensor, the task manager, the upper body movement planning device, the chassis movement planning device, the joint servo controller and the chassis motor controller form the complete halfling-shaped intelligent robot control system, uniform control over the chassis and the upper body is achieved, the convenience of the robot is improved, and market popularization is facilitated; and the halfling-shaped intelligent robot is subjected to layered control, and the reliability and control efficiency of the system are improved.

Description

technical field

[0001] The present invention relates to the fields of intelligent manufacturing and robot technology, and more specifically, to a half-length humanoid intelligent robot and its control system. Background technique

[0002] Intelligent robots are one of the current hot research directions. Half-body humanoid intelligent robots, thanks to their technical characteristics such as flexible movement and easy operation, have broad application prospects in the field of service robots, especially indoor service robots.

[0003] At present, most robot control systems are aimed at industrial robots, and there are few control systems for intelligent robots, and the control systems specially developed for half-length humanoid intelligent robots are even more scarce.

[0004] At present, most half-body humanoid intelligent robots use two sets of control systems to control the upper body of the robot and the mobile chassis respectively. On the one hand, it is expensive, and...

Images