Robot falls and stands control method and device
A control method and robot technology, applied in the field of robotics, can solve problems such as easy to fall, the robot cannot stand normally, and the robot cannot be intelligent.
Active Publication Date: 2021-04-20
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 present invention provides a method and device for controlling a robot to stand when it falls. Supporting the body of the robot with the second arm makes the upper body of the robot leave the ground; sending a second control signal to the first foot action mechanism and the second foot action mechanism of the robot to control the bottom of the first foot and the second foot to contact the ground; Send the third control signal to the first leg action mechanism and the second leg action mechanism of the robot, control the first leg and the second leg of the robot to bend and move according to the preset action, so that the center of gravity of the robot is placed on the standing position of the robot In the support area, and control the robot to stand, the embodiment of the present invention can realize the automatic standing of the humanoid robot, and improve the intelligence of the robot.
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