Robot falling protection method and system based on impact prediction and active compliance

A robotic and active technology, applied in the field of information science, can solve problems such as reducing the effect of active adaptation, and achieve the effect of enhancing adaptability, reducing parameter space, and simplifying design

Active Publication Date: 2020-12-04
PEKING UNIV
View PDF7 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In previous work, the active adaptation strategy was often adopted after the impact was detected, which would result in most of the impact energy being absorbed by the robot at the moment of impact on the ground
Taking the active adaptation strategy after the impact moment will reduce the effect of active adaptation

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot falling protection method and system based on impact prediction and active compliance
  • Robot falling protection method and system based on impact prediction and active compliance
  • Robot falling protection method and system based on impact prediction and active compliance

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0047] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be noted that the following embodiments are intended to facilitate the understanding of the present invention, but do not limit it in any way.

[0048] Such as figure 1 As shown, the robot fall protection system includes a fall detection module and a fall protection module. The specific composition of the fall protection module is as follows: figure 2 As shown, the movement process of fall protection is as follows image 3 shown.

[0049] The robot fall protection method of the present invention comprises a model training stage and a model application stage:

[0050] Model training phase:

[0051] (1) Design a mapping model from the sensor value of the robot to the motion control parameters, called the fall protection control model. The output of the fall protection control model contains multiple motion control parameters, so that ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a robot falling protection method and system based on impact prediction and active compliance. The method comprises the steps of after a robot is subjected to thrust, calculating and obtaining motion control parameters of the robot by using a pre-trained falling protection control model; conducting impact prediction according to the motion control parameters of the robot,and thus obtaining a predicted moment when the robot impacts the ground; and according to the motion control parameters of the robot and the predicted moment when the robot impacts the ground, conducting active compliance on the robot, and thus realizing robot falling protection. The system comprises a falling detection module and a falling protection module. According to the method, the moment when the robot touches the ground is predicted, and active compliance is executed in advance according to the prediction result, so that interference caused by sensor delay is reduced, and impact forceis reduced. The method can be used for falling protection of a humanoid robot, provides help for research and application of the robot in a complex environment, and reduces possible damage to the robot.

Description

technical field [0001] The invention relates to the field of information science, in particular to a robot fall protection method and system based on impact prediction and active compliance. Background technique [0002] The goal of humanoid robot research is to enable robots to go out of the laboratory and have the ability to perform tasks in the environment of human daily work and life. To achieve this goal, the robot needs to be able to handle the inevitable falls. Robot fall control has been researched for more than ten years. During the process, researchers have proposed a series of protective control methods for humanoid robot falls, among which triangular support and active compliance have been proved to be very effective methods. [0003] The triangular support is a humanoid robot forward fall control strategy proposed by referring to the human body protection action in Judo (UKEMI), including rapid squatting to reduce potential energy, bending the knee to touch the...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/08B25J17/02
CPCB25J9/1664B25J9/1679B25J13/087B25J17/0258
Inventor 罗定生吴玺宏张祥琦袁逸凡方帅刘天林
Owner PEKING UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap