Humanoid robot foot grounding detection method

A humanoid robot and detection method technology, applied in the direction of instruments, measuring devices, computer components, etc., can solve the problems of high price, easy damage, and affecting practicality, etc., and achieve scalability, strong program operation ability, and avoid The effect of mechanical structure

Pending Publication Date: 2020-06-23
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] 1. The use of force sensors, etc., is expensive and easily damaged, and additional mechanical structures need to be designed;
[0008] 2. The method level requires a whole-body dynamics model. When the mechanism is particularly complex, inaccurate modeling will affect the practicality;
[0009] 3. Both the device and the method need a fixed scope of use, and they do not have scalability

Method used

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  • Humanoid robot foot grounding detection method
  • Humanoid robot foot grounding detection method
  • Humanoid robot foot grounding detection method

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Embodiment Construction

[0030] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0031] Such as figure 1 , a kind of humanoid robot foot contact detection method proposed by the present invention, comprises the following steps:

[0032] Step 1. The walking of the humanoid robot is highly similar to the walking of human beings. In the cyclically symmetrical gait, when the foot collides with the ground, the hip joint sometimes swings forward and sometimes backward, but the knee joint is in the downward swing process; figure 2 When contact separation occurs, the knee joint always tends to lift (i.e., swing back), so there is a close relationship between the foot contact state and the knee joint movement, so the angular velocity of the knee joint is selected angular acceleration and joint drive torque As the motion state point of the robot at a cer...

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Abstract

The invention provides a humanoid robot foot grounding detection method, which comprises the steps of extracting motion state points of all robots and contact states corresponding to the motion statepoints in a plurality of walking periods through walking simulation to form a training data set; training a support vector machine SVM by using the training data set to obtain a foot contact detector;actually-detected motion state point data are classified by using a foot contact detector, so that detection of foot contact with the ground of the humanoid robot is realized. Sensors do not need tobe arranged at the tail ends of feet of the humanoid robot, and redundant mechanical structures can be avoided; no extra processing process is needed, and detection of foot grounding is achieved according to knee joint movement.

Description

technical field [0001] The invention relates to the technical field of humanoid robots, in particular to a method for detecting ground contact of a foot of a humanoid robot. Background technique [0002] A humanoid robot is an intelligent robot with the appearance of a human being, such as hands, feet, torso, and head. Strong adaptability to unknown environments, greatly reducing the cost of environmental transformation required by special robots, and at the same time replacing manual labor to complete more complex tasks. Humanoid robot is a comprehensive application platform system that integrates many basic disciplines and technologies, and cooperates with the development of bionics, control theory, artificial intelligence and other disciplines. The advanced and innovative mechatronics platform can evaluate the national technological development level. In recent years, the research on the structure, driving and control of humanoid robots has relied more on the basic theor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/62G01D21/00
CPCG01D21/00G06F18/214G06F18/2411
Inventor 黄强韩连强余张国陈学超孟立波朱西硕
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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