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Humanoid stair climbing robot and control method thereof

A robot and stair-climbing technology, which is applied in the field of humanoid stair-climbing robot and its control, can solve problems such as inflexibility, inability to automatically climb stairs and stair-climbing gait

Pending Publication Date: 2020-05-08
桂林凯歌信息科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a humanoid stair-climbing robot and its control method to solve the shortcomings of existing humanoid robots that cannot automatically climb stairs or have inflexible gait when climbing stairs

Method used

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  • Humanoid stair climbing robot and control method thereof
  • Humanoid stair climbing robot and control method thereof
  • Humanoid stair climbing robot and control method thereof

Examples

Experimental program
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Effect test

Embodiment 1

[0040] A humanoid robot for climbing stairs, including a humanoid robot body 1, a control system 2, and a power supply system 3; the humanoid robot body 1 includes a robot leg system 101, a robot body system 102, a robot hand system 103, and a robot head System 104; the humanoid robot body 1 has 19 robot motion joints consistent with the human body motion joints, and each joint is provided with a joint motor 105, the robot leg system 101, the robot hand system 103 The top is respectively connected with the output end of the robot body system 102; the bottom end of the robot head system 104 is connected with the output end of the robot body system 102; the control system 2 is connected with the power supply system 2 and is installed on the robot body body system 102.

[0041] The control system 2 includes a touch sensor 201, a binocular camera 202, a central processing unit 203, a speech recognition module 204, a drive unit 205, a wireless information sending and receiving unit...

Embodiment 2

[0049] A control method for a humanoid stair-climbing robot, the method is that the robot recognizes the height of the stairs through a binocular camera, then moves the center of gravity to the left and lifts the right leg to the previous step, and then moves the center of gravity to the right and lifts the left leg to place on the On the same step, move the center of gravity to the right, lift the left leg and place it on the next step, then move the center of gravity to the left, lift the right leg and place it on the same step, and so on. This cycle is realized by imitating the gait of people climbing stairs Stair climbing function.

[0050] The method includes the following steps:

[0051] a). The robot automatically walks to the front of the stairs and returns to the state of standing at attention, recognizes the stairs through the binocular camera, and measures the height H of each step;

[0052] b). Move the center of gravity to the left leg by adjusting the joint moto...

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Abstract

The invention discloses a humanoid stair climbing robot and a control method thereof, and relates to a robot and a control method thereof. The robot comprises a humanoid robot body, a control system and a power supply system; the control system involves binocular cameras, a central processing unit and a driving unit; and the binocular cameras are arranged in two eyes of a robot head system, and the output ends of the binocular cameras are connected with the input end of the central processing unit. The method is characterized in that the height of a staircase is recognized through the binocular cameras, then the gravity center moves leftwards, a right leg is lifted to be placed on an upper step, then the gravity center moves rightwards, a left leg is lifted to be placed on the same step, then the gravity center moves rightwards, the left leg is lifted to be placed on an upper step, and then the gravity center moves leftwards, and the right leg is lifted to be placed on the same step, so that circulation is formed, and a stair climbing function is achieved by simulating the human stair climbing gait. According to the robot and the method, the automatic stair climbing function of a humanoid robot can be achieved, the flexibility is good, the intelligent degree is high, the structure is simple, the cost is low and the usage and popularization are easy.

Description

technical field [0001] The invention relates to a robot and a control method thereof, in particular to a humanoid stair-climbing robot and a control method thereof. Background technique [0002] There are various forms of existing stair-climbing robots, such as crawler type, multi-legged type, humanoid type, wheel type, etc. The crawler type, multi-legged type, and wheel type are relatively large in shape, and the stairs are not flexible enough. The model can rarely climb stairs, and it is not human enough, and humanoid humanoid robots have not yet been discovered. [0003] The invention patent with authorized notification number CN104760630B discloses a stair-climbing robot with humanoid gait. Although it is a humanoid gait, it is not biped, but consists of four feet with the same structure. The flexibility is not good enough, and It's just gait analysis, and it doesn't realize the effect of the whole humanoid robot climbing stairs. Contents of the invention [0004] Th...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J9/16B25J9/00B25J19/02B62D57/024
CPCB25J11/0005B25J9/1602B25J9/0006B25J19/023B62D57/024
Inventor 潘角石忠磊傅天珠卢炳回卢森锴覃以威
Owner 桂林凯歌信息科技有限公司
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