Offset warning method and device for biped robot and biped robot
A biped robot and offset technology, applied in the field of robotics, can solve problems such as the inability to effectively guarantee the stability and safety of biped robots, and achieve the effect of ensuring stability and safety and avoiding abnormal deviations
Active Publication Date: 2022-06-28
UBTECH ROBOTICS CORP LTD
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[0003] In view of this, the embodiment of the present invention provides a biped robot deviation early warning method, device and biped robot to solve the problem that the existing biped robot cannot effectively guarantee the biped robot due to the data drift of the inertial measurement unit Problems with walking stability and safety
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[0038] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are set forth in order to provide a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, systems, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
[0039] In order to illustrate the technical solutions of the present invention, the following specific embodiments are used for description. Please refer to figure 1 , figure 1 The implementation process of the deviation warning method for a biped robot provided by the embodiment of the present invention is shown, and the details are as follows:
[0040] In step S101, ...
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The present invention is applicable to the field of robot technology, and provides a biped robot deviation early warning method, device and biped robot, by obtaining and recording the first posture when the biped robot is determined to be in a biped standing state and no longer shaking Angle parameter, and trigger the timer to start counting, and when the timer’s timing reaches the preset duration, obtain and record the second attitude angle parameter, and then calculate the biped robot according to the first attitude angle parameter and the second attitude angle parameter IMU offset of the inertial measurement unit, when it is determined that the IMU offset is greater than the preset offset, the offset prompt message is sent, and the current state of the biped robot remains unchanged, thereby effectively avoiding the Data drift leads to abnormal deviation of biped robot walking, which cannot effectively guarantee the stability and safety of biped robot walking, and ensures the stability and safety of biped robot movement.
Description
technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an offset early warning method and device of a biped robot and a biped robot. Background technique [0002] With the development of science and technology, robot technology has been rapidly developed and applied. Among them, the inertial measurement unit plays an important role in the robot technology and plays a key role in the walking motion of the robot. However, due to the data drift of the inertial measurement unit , when the data has a large drift, it will lead to abnormal input of the robot state data, thus erroneously estimating the state of the robot, resulting in abnormal deviation of the robot's walking, which cannot effectively ensure the stability and safety of the robot's walking. SUMMARY OF THE INVENTION [0003] In view of this, the embodiments of the present invention provide an offset warning method and device for a biped robot, and a biped robot, s...
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IPC IPC(8): G01C25/00G01C21/16G01C1/00
CPCG01C25/005G01C21/16G01C1/00
Inventor 陈春玉刘益彰葛利刚谢铮苏宪伟熊友军庞建新
Owner UBTECH ROBOTICS CORP LTD