Foot robot motion behavior identification method and system based on multi-modal perception

A technology of robot motion and recognition method, applied in the field of legged robot motion behavior recognition, can solve the problems of uncertain number of recessive states, rapid transition of recessive states, reducing the accuracy of motion behavior recognition, etc., to achieve enhanced time consistency, Improve accuracy and avoid overfitting effects

Active Publication Date: 2020-06-02
INST OF INTELLIGENT MFG GUANGDONG ACAD OF SCI
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Problems solved by technology

However, as the complexity of the environment and the diversity of tasks increase, there are mainly two problems: (1) only considering the single-modal sensing information, it is impossible to accurately realize the perception of the environment and the state estimation of the robot system, reducing the It improves the fault tole

Method used

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  • Foot robot motion behavior identification method and system based on multi-modal perception
  • Foot robot motion behavior identification method and system based on multi-modal perception
  • Foot robot motion behavior identification method and system based on multi-modal perception

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Embodiment

[0063] see figure 1 , figure 1 It is a schematic flowchart of the method for recognizing the movement behavior of a legged robot based on multi-modal perception in an embodiment of the present invention.

[0064] like figure 1 Shown, a kind of legged robot motion behavior recognition method based on multimodal perception, said method comprises:

[0065] S11: Based on multiple types of sensors, collect multi-modal sensing data information generated by the legged robot repeatedly walking a preset distance on different types of ground;

[0066] In the specific implementation process of the present invention, the multi-modal sensing data information generated by the legged robot repeatedly walking a preset distance on different types of ground based on multiple types of sensors includes: collecting based on multiple types of sensors The data information generated by the legged robot repeatedly walking the preset distance on different types of ground; the data information is art...

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Abstract

The invention discloses a foot robot motion behavior identification method and system based on multi-modal perception. The method comprises the steps that multi-modal sensing data information generated when a foot robot repeatedly walks on different types of grounds by a preset distance is collected based on multiple types of sensors; data set division is performed on the multi-modal sensing datainformation according to the different types of grounds, and multi-modal sensing data sets of different ground types are obtained; a hidden Markov model of a sticky-level Dirichlet process is trainedbased on the multi-modal sensing data sets of the different ground types, and an optimal hidden Markov model of the sticky-level Dirichlet process is obtained; to-be-identified sample information is input into the optimal hidden Markov model of the sticky-level Dirichlet process, and the sum of log-likelihood function values is calculated; and foot robot motion behavior identification is performedbased on a calculation result. Through the embodiment, the reliability and accuracy of motion behavior identification are improved.

Description

technical field [0001] The present invention relates to the technical field of robot motion behavior recognition, in particular to a multi-modal perception-based method and system for legged robot motion behavior recognition. Background technique [0002] Footed robots have good environmental adaptability, wide range of motion, and strong load capacity, and can perform tasks such as rugged mountain transportation, dangerous disaster rescue, and military reconnaissance. Therefore, being able to recognize in real time the motion behavior and motion characteristics of the legged robot walking on different types of ground (such as sand, cement, grass, wood, tiles, etc.) will be able to directly adjust the control and gait of the robot, and improve the environment. Adaptability and robustness of the system. Therefore, it is the key technology for the frontier research of legged robots to carry out motion behavior recognition of legged robots based on joint encoders, IMUs, joint ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1694
Inventor 吴鸿敏鄢武徐智浩苏泽荣唐观荣周雪峰
Owner INST OF INTELLIGENT MFG GUANGDONG ACAD OF SCI
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