Method and device for controlling robot to stand up after falling down
A control method and robot technology, applied in the field of robots, can solve the problems of easy falling, the robot cannot stand normally, and cannot meet the intelligentization of the robot, and achieve the effect of improving intelligence
Active Publication Date: 2019-06-11
UBTECH EDUCATION SHENZHEN CO LTD
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Problems solved by technology
[0003] Humanoid robots are prone to fall due to the high center of gravity. At present, the existing technology usually adopts the center of gravity control method to prevent the center of gravity of the robot from shifting and falling, but there is no control method for the robot with the high center of gravity to stand up after falling. Because the robot with an upper center of gravity is limited by the structural design of the gas itself, the robot with an upper center of gravity cannot stand normally after falling down, so the robot can only be manually intervened to help the robot stand by manual support, but this method requires human intervention. Intervention cannot meet people's needs for intelligent robots
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[0024] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
[0025] It should be understood that when used in this specification and the appended claims, the terms "comprising" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude one or Presence or addition of multiple other features, integers, steps, operations, elements, components and / or collections thereof.
[0026] It ...
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The invention provides a method and device for controlling a robot to stand up after falling down. The method comprises the steps that when it is detected that the robot falls down, a first control signal is sent to a first arm motion mechanism and a second arm motion mechanism of the robot to control a first arm and a second arm to support the body of the robot so that the upper part of the bodyof the robot can get away from the ground surface; and a second control signal is sent to a first foot motion mechanism and a second foot motion mechanism of the robot to control the bottom of a firstfoot and the bottom of a second foot to make contact with the ground surface; and a third control signal is sent to a first leg motion mechanism and a second leg motion mechanism of the robot to control a first leg and a second leg of the robot to carry out bending motion according to the preset actions, so that the gravity center of the robot is located in the standing supporting area of the robot, and the robot is controlled to stand up. With the embodiment of the invention, namely the method and device for controlling the robot to stand up after falling down, it can be achieved that the humanoid robot automatically stands up, and robot intellectualization is improved.
Description
technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method and device for controlling a robot to fall and stand. Background technique [0002] For humanoid robots, due to structural design, components such as processors and batteries are usually installed on the upper part of the robot, causing the center of such robots to shift upwards. [0003] Humanoid robots are prone to fall due to the high center of gravity. At present, the existing technology usually adopts the center of gravity control method to prevent the center of gravity of the robot from shifting and falling, but there is no control method for the robot with the high center of gravity to stand up after falling. Because the robot with an upper center of gravity is limited by the structural design of the gas itself, the robot with an upper center of gravity cannot stand normally after falling down, so the robot can only be manually intervened to help the ro...
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IPC IPC(8): B25J9/16
Inventor 吴芷莹王轶丹
Owner UBTECH EDUCATION SHENZHEN CO LTD