A method and system for robot fall protection based on impact prediction and active compliance

Abstract

The invention relates to a robot fall protection method and system based on impact prediction and active compliance. The method includes: after the robot is pushed, applying the pre-trained fall protection control model to calculate the motion control parameters of the robot; performing impact prediction according to the motion control parameters of the robot to obtain the predicted moment when the robot hits the ground; Control parameters and predict the moment when the robot hits the ground, and actively adapt to the robot to achieve robot fall protection. The system includes a fall detection module and a fall protection module. The invention predicts the moment when the robot touches the ground, and executes active adaptation in advance according to the prediction result, which reduces the interference caused by the sensor delay and the impact force, and can be used for the fall protection of the humanoid robot, and provides protection for the robot in complex environments. The research and applications in the paper help to reduce the damage that the robot may receive.

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...

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

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