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Robot motion planning method and system, computer equipment and storage medium

A robot movement and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the inability to guarantee the stable walking of quadruped robots, and achieve the effect of ensuring stable walking

Active Publication Date: 2020-05-19
GUANGDONG BOZHILIN ROBOT CO LTD
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  • Claims
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Problems solved by technology

[0005] Based on this, it is necessary to provide a robot motion planning method, system, computer equipment and storage medium for the above-mentioned technical defects, especially the technical defect that the time gait planning under the unknown complex position terrain cannot guarantee the stable walking of the quadruped robot

Method used

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  • Robot motion planning method and system, computer equipment and storage medium
  • Robot motion planning method and system, computer equipment and storage medium
  • Robot motion planning method and system, computer equipment and storage medium

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Embodiment approach

[0064] The Kalman filter detector can predict the contact state according to the time-based gait plan. After inputting the time-based gait plan into the Kalman filter detector, the estimated contact state after the robot executes the time-based gait plan is obtained. In one embodiment, as image 3 As shown in the predicted contact state side, image 3 It is a schematic diagram of the prediction and detection logic of the Kalman filter detector. The contact probability prediction model in the Kalman filter detector predicts the contact state of the time-based gait planning.

[0065] Step S230: Input the gait information and phase information into the Kalman filter detector for detection, and obtain the actual contact state of the robot.

[0066] The Kalman filter detector is constructed based on the Kalman filter, which can reduce the influence of detection errors in the gait information and phase information on the actual contact state.

[0067] According to the gait inform...

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Abstract

The invention provides a robot motion planning method and system, computer equipment and a storage medium. The method comprises the steps that a time-based gait plan is obtained, and gait informationand phase information of a robot are detected when the robot performs the time-based gait plan; the time-based gait plan is input into a Kalman filtering detector, and an estimated contact state is predicted after the robot performs the time-based gait plan; the gait information and the phase information are input into the Kalman filtering detector for detection to obtain an actual contact state of the robot; and an event-based gait plan for robot motion is triggered according to the estimated contact state and the actual contact state. According to the method, an unknown complex environment is sensed by a robot body, the event-based gait plan is triggered according to the actual perception and the prediction amount after perception, and gaits are adjusted and corrected in time, so that the robot walks autonomously in a complex and unknown terrain by self-adaptive adjustment based on ontology perception, and stable walking of the quadruped robot in the unknown terrain is guaranteed.

Description

technical field [0001] The present application relates to the technical field of robot motion planning, in particular, the present application relates to a robot motion planning method, system, computer equipment and storage medium. Background technique [0002] Quadruped robots have natural advantages in adapting to complex unstructured terrain because of their multi-joint, multi-degree-of-freedom leg supports and kinematic mechanisms. [0003] Motion planning is the key to limit the motion performance of quadruped robots. Its core content is to plan the state phase of the four legs of the quadruped robot and the posture of the body in real time according to the moving target and the terrain environment of the robot, so that it can maintain balance. Steady and continuous through the terrain. [0004] However, for unknown and complex terrain, only relying on time-based gait planning will not be able to guarantee the stable walking of quadruped robots. Contents of the inve...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00B25J19/02
CPCB25J9/161B25J9/1628B25J9/1664B25J13/00B25J19/02
Inventor 赵玉栋刘玉平向星灿张月圆梁文钰
Owner GUANGDONG BOZHILIN ROBOT CO LTD
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