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

A robot motion, robot technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of unable to guarantee the stable walking of quadruped robots, and achieve the effect of ensuring stable walking

Active Publication Date: 2021-07-20
GUANGDONG BOZHILIN ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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, system, computer equipment and storage medium
  • Robot motion planning method, system, computer equipment and storage medium
  • Robot motion planning method, 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 present application provides a robot motion planning method, system, computer equipment and storage medium. The method includes: acquiring a time-based gait plan, and detecting the gait information and phase information of the robot when the robot executes the time-based gait plan; The time-based gait planning is input into the Kalman filter detector to predict the estimated contact state after the robot executes the time-based gait planning; the gait information and phase information are input into the Kalman filter detector for detection, and the actual contact state of the robot is obtained; according to Estimated and actual contact states trigger event-based gait planning for robot motion. The above method realizes the perception of the unknown complex environment based on the robot body, triggers the event-based gait planning according to the actual perception and the predicted measurement after the perception, and adjusts and corrects the gait in time, so that the robot relies on the body perception to perform adaptive adjustment to realize the complex and unknown environment. The autonomous walking of the terrain ensures the stable walking of the quadruped robot in unknown terrain.

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 Patents(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