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Walking balance detection system and method for biped robot

A biped robot, balance detection technology, applied in radio wave measurement systems, machine/structural component testing, static/dynamic balance testing, etc. , to achieve the effect of simplifying the balance detection process and simplifying the adjustment process

Inactive Publication Date: 2021-01-05
NANJING YUSHENG ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The current biped walking robot has added many joint structures and center of gravity change prediction systems, but the balance state detection of the robot when walking is too complicated to be widely used in industrial robots for large-scale applications

Method used

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  • Walking balance detection system and method for biped robot
  • Walking balance detection system and method for biped robot
  • Walking balance detection system and method for biped robot

Examples

Experimental program
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Effect test

Embodiment 1

[0034]The robot balance detection uses the balance instrument to judge the center of gravity, and at the same time, the algorithm is assisted to predict the change of the center of gravity. The technology is difficult and it is difficult to promote it on industrial robots. Unbalanced or not, the operation is simple and easy to apply.

[0035] In this example, if figure 1 As shown, a biped robot walking balance detection system includes an acoustic wave ranging unit, a knee-bending control unit, a sole control unit and a range adjustment unit;

[0036] The sound wave ranging unit includes a sound wave transmitter and a sound wave receiver. The sound wave transmitter is arranged on the crotch of the robot to emit sound waves to the ground, and the sound wave receiver receives reflected sound waves;

[0037] Knee control unit, controlling the rotation angle of the robot knee joint gear;

[0038] The foot control unit controls the rotation angle of the robot's ankle joint gear; ...

Embodiment 2

[0054] When the robot walks out of balance, the existing body adjustment methods for the robot are difficult to popularize, and the requirements for the robot's own structure are too high, which is not suitable for industrial robots. In order to solve this problem, the biped robot is divided into three ranges of variation according to the height of the crotch, and the necessary adjustments are made to the leg joints of the robot according to the range of variation to simply adjust the unbalanced state.

[0055] In this example, if figure 1 As shown, a biped robot walking balance detection system includes an acoustic wave ranging unit, a knee-bending control unit, a sole control unit and a range adjustment unit;

[0056] The sound wave ranging unit includes a sound wave transmitter and a sound wave receiver. The sound wave transmitter is arranged on the crotch of the robot to emit sound waves to the ground, and the sound wave receiver receives reflected sound waves;

[0057] K...

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Abstract

The invention discloses a walking balance detection system and method for a biped robot. The walking balance detection system comprises an acoustic ranging unit, a knee bending control unit, a sole control unit and a range adjusting unit. The acoustic ranging unit comprises a sound wave emitter and a sound wave receiver, the sound wave emitter is arranged at the crotch of the robot to emit sound waves to the ground, and the sound wave receiver receives reflected sound waves; the knee bending control unit controls the rotation angle of a knee joint gear of the robot; the sole control unit controls the rotation angle of the ankle joint gear of the robot; and the range adjusting unit is used for setting a robot motion range and adjusting according to an actual distance measuring result. The height detection range is set according to the height change of the robot during walking, the balance state of the robot during walking is judged through acoustic ranging, and the walking balance stateof the biped robot is judged more accurately.

Description

technical field [0001] The invention relates to sound wave ranging and belongs to the field of robot balance detection. Background technique [0002] Robot is a comprehensive subject developed in recent years. With the development of science and technology, the meaning of robot is constantly expanding, generally referring to robotized technology or system; permeates many aspects of human life. The biped walking robot is a humanoid robot. The typical feature is that the lower limbs of the robot are connected by rigid components through rotating pairs, imitating human legs and hip joints, knee joints and ankle joints, and replacing muscles with actuators to support the body. And continuous coordinated movement, each joint can have a certain angle of relative rotation. Through the simulated movement of the robot, people can obtain many quantitative data that cannot be obtained by observing real people. So, with the help of robots that closely mimic the way humans walk, resea...

Claims

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Application Information

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IPC IPC(8): G01M1/38G01S15/08G01S7/534G01S7/526G01S7/524G05D1/08
CPCG01M1/14G01M1/30G01S15/08G01S7/524G01S7/526G01S7/534G05D1/0891
Inventor 梁之立潘太
Owner NANJING YUSHENG ROBOT CO LTD
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