Foot-type robot terrain perception method based on virtual sensor

Abstract

A foot-type robot terrain perception method based on a virtual sensor belongs to the field of robot perception, and comprises the following steps: S1, establishing a ground contact detection neural network model and a soil classification machine learning model; S2, under the conditions of different terrains and different gaits, collecting the angle of a leg joint, the angular speed of the leg joint, the motor current and the contact force data of the leg and the ground of the foot-type robot as samples; S3, training a ground contact detection neural network model and a soil classification machine learning model by using the samples collected in the S2; and S4, taking the ground contact detection neural network model and the soil classification machine learning model trained in the S3 as aterrain perception system of the foot-type robot for terrain perception. According to the method, the walking stability and the movement capacity of the robot can be improved, and meanwhile the robustness of the robot and the reliability of behaviors of the robot are enhanced; in addition, hardware of the robot is simplified, and the design, machining and maintenance cost is reduced.

Description

technical field [0001] The invention relates to a terrain perception method for a legged robot based on a virtual sensor, relates to a terrain perception method for a legged robot working outdoors, is suitable for the legged robot to acquire internal and external environment information, and belongs to the field of robot perception. Background technique [0002] Terrain perception is extremely important for outdoor operations, especially for deep space exploration robots. Complex unstructured geological conditions have a great impact on the mobility of robots, making them unable to complete predetermined tasks and even causing danger to themselves. It is difficult to obtain the terrain structure and physical characteristics under the surface soil with pure vision-based terrain perception methods, and most of the tactile-based perception methods require the installation of tactile sensors on the robot's feet, which interact with various terrains and are easily damaged , there...

AI Technical Summary

Problems solved by technology

[0002] Terrain perception is extremely important for outdoor operations, especially for deep space exploration robots. Complex unstructured geological conditions have a great impact on the mobility of robots, making them unable to complete scheduled tasks and even causing danger to themselves.

It is difficult to obtain the terrain structure and physical characteristics under the surface soil with pure vision-based terrain perception methods, and most of the tactile-based perception methods require the installation of tactile sensors on the robot's feet, which interact with various terrains and are easily damaged , thus reducing the robustness of the system

Moreover, the spacecraft has the characteristics that on-orbit failures are not easy to repair, and the tactile sensing system will seriously affect the reliability of the entire system

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