Foot-type robot walking test protection platform based on draw wire encoder principle

Abstract

The invention discloses a foot-type robot walking test protection platform based on a draw wire encoder principle. The platform comprises a following flat plate arranged above a foot-type robot and connected with the foot-type robot through a draw rope, and at least two traction protection devices connected with the following flat plate; and the traction protection devices comprise traction ropes,fixed pulleys, draw wire encoders, servo motors and processors, wherein one ends of the traction ropes are connected with the following flat plate, the fixed pulleys are wound by the traction ropes,the draw wire encoders and the fixed pulleys are coaxially arranged, one ends of draw wires of the draw wire encoders are connected with the following flat plate, the servo motors drive the traction ropes to be released or tensioned, and according to the data of the draw wire encoders, the servo motors are controlled to conduct traction rope releasing or tensioning so as to adjust the length of the traction ropes. According to the platform, the draw wire encoders are selected to realize positioning and following on the foot-type robot, and the data information of the draw wire encoders are utilized to realize a traction control algorithm of an active traction mechanism, so that a simple and effective traction protection scheme is provided for a walking test of the foot-type robot, and theinstallation and arrangement cost of a protection system is reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a walking test and protection platform for a legged robot based on the principle of a cable encoder. Background technique [0002] Footed robots can adapt to a variety of different ground environments, including flat ground, stairs, slopes, etc. Compared with general-shaped wheeled robots, they are more adaptable to human work and living environments. In recent years, a large number of footed robot prototypes and even products have emerged at home and abroad, and the research and development, application and promotion of footed robots have formed an upsurge. [0003] Since the state of the footed robot in contact with the ground is discrete, and the footed robot often has more than ten or even dozens of degrees of freedom, the related control theory and method are not ideal in reality. The instability of the legged robot system itself leads to various falls and other states durin...

AI Technical Summary

Problems solved by technology

[0005] In the prior art, the patent application document with the publication number CN 108001552 A provides a footed robot walking protection device, which can realize walking protection in a certain range, but the structure is too large and the installation cost is too high

At the same time, special personnel are required to follow up the protection device during the test

In addition, the patent application document with the publication number CN 110375733 A provides a test platform for a cross-legged robot, which cannot adapt to the walking of a large-scale robot and is only suitable for in-situ motion testing

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