Robot balance detection method, device, equipment and robot
A technology of balance detection and robotics, applied in the field of robotics, can solve the problems of small support area, easy fall of bionic robots, high center of gravity, etc., and achieve the effect of avoiding falling
Pending Publication Date: 2019-10-15
CLOUDMINDS BEIJING TECH CO LTD
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Problems solved by technology
[0003] At present, compared with other robots, bionic robots have more degrees of freedom, a higher center of gravity, and a relatively small support area on the ground, which makes bionic robots easy to fall during exercise
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[0036] Hereinafter, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.
[0037] figure 1 It shows a schematic flowchart of an offline balance detection method for a robot provided by an embodiment of the present invention. This method is applied to robots, and is especially suitable for bionic robots. Such as figure 1 As shown, the method includes:
[0038] Step 110: Obtain a motion trajectory of the robot, where the motion trajectory includes rotation angles of each joint of the robot...
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The embodiment of the invention relates to the technical field of robots, and discloses a robot balance detection method, a device, equipment and a robot. The robot balance detection method comprisesthe following steps that, the movement track of the robot is acquired, wherein the movement track comprises all joint corners of the robot; according to the all joint corners and a preset movement model, the mass center coordinates of each connecting rod of the robot relative to a base of the robot are calculated; according to the mass center coordinates of each the connecting rod of the robot relative to the base of the robot, the mass center coordinates of the robot are calculated; and by judging whether the projection of the mass center coordinates of the robot on a supporting surface of the base of the robot is within a preset position range or not, whether the robot is balanced or not is judged. By means of the mode, the robot balance detection method, the device, the equipment and the robot can prejudge the balance of the robot, so that the robot can be prevented from falling down.
Description
Technical field [0001] The embodiment of the present invention relates to the technical field of robots, in particular to a robot balance detection method, device, equipment and robot. Background technique [0002] With the development of science and technology, robots have been gradually applied to various fields. Bionic robots are intelligent robots with human external characteristics, most of which have a head, torso, and arms. [0003] At present, compared with other robots, the biomimetic robot has more degrees of freedom, the center of gravity is higher, and the supporting area on the ground is relatively small, making the biomimetic robot easy to fall during movement. Summary of the invention [0004] One objective of the embodiments of the present invention is to provide a robot balancing method, device, equipment, and robot, which can predict the balance of the robot and prevent it from falling. [0005] According to one aspect of the embodiments of the present invention, t...
Claims
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Login to View More IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 李连中徐慎华
Owner CLOUDMINDS BEIJING TECH CO LTD