A biped robot and its navigation and positioning method and device
A bipedal robot and robot positioning technology, applied in the direction of navigation calculation tools, etc., can solve the problem of inability to directly determine the two-dimensional space position of the robot, and achieve the effect of increasing code utilization efficiency, improving accuracy, and filtering vibration.
Active Publication Date: 2021-10-29
UBTECH ROBOTICS CORP LTD
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Problems solved by technology
[0004] In view of this, the embodiment of the present application provides a biped robot and its navigation and positioning method and device to solve the problem of biped robots shaking left and right when walking in the prior art, not just translation and positioning on the ground. The rotation on the vertical ground makes it impossible to directly determine the two-dimensional space position of the robot, and it is impossible to effectively plan the navigation of the biped robot based on the ROS navigation framework.
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[0050]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 application. It will be apparent, however, to one skilled in the art that the present application 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 application with unnecessary detail.
[0051] In order to illustrate the technical solutions described in this application, specific examples are used below to illustrate.
[0052] figure 1 The implementation flow diagram of a navigation and positioning method for a biped robot provided in the embodiment of the present application is described in detail as follows:
[0053] In step S101, according to the pose relationshi...
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A method for navigation and positioning of a biped robot includes: determining the first coordinate of the projection of the positioning point of the robot in the robot positioning point coordinate system to the robot central axis coordinate system; projecting the positioning point on the robot central axis coordinate system Project the first coordinates to a predetermined two-dimensional plane to obtain the second coordinates and heading angle of the robot positioning point on the two-dimensional plane; obtain the average coordinates in the swing cycle of the robot corresponding to the second coordinates; according to the second coordinates The average coordinates of the locating point and the heading angle of the positioning point are used to determine the navigation point of the robot, and robot navigation planning is performed according to the navigation point. Determine the navigation point of the robot according to the average coordinates and the heading angle of the positioning point, so that the vibration of the positioning point of the robot can be effectively filtered, and the accuracy of the navigation point can be effectively improved, so that the navigation rules of the biped robot can be unified into ROS Under the navigation framework, increasing code utilization efficiency is beneficial to saving manpower and material costs.
Description
technical field [0001] The present application belongs to the field of biped robots, and in particular relates to a biped robot and its navigation and positioning method and device. Background technique [0002] With the development of robot technology, there are more and more types of robot applications, and the requirements for robot navigation and positioning are also getting higher and higher. Algorithm development and verification based on the ROS (Robot Operating System) navigation framework platform allows developers to have more room to play in the process of use, and only needs to replace functional components to achieve the desired effect, improving navigation and positioning Algorithm development efficiency. [0003] Then, the algorithm in the ROS navigation framework requires degenerating the robot into a navigation point, and planning in the workspace according to the position of the point. For example, a differential mobile robot usually chooses the middle poi...
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 黄明强刘志超庞建新熊友军
Owner UBTECH ROBOTICS CORP LTD