Method and system for detecting ground contact of quadruped robot feet

Abstract

The invention relates to a method and system for detecting ground contact of a foot end of a quadruped robot, comprising the following steps: S1, calculating the height of the foot end of each leg from the ground, and calculating the contact probability of the foot end height of each leg according to the height of the foot end of each leg from the ground ; Calculate the knee joint torque contact probability according to the knee joint torque of each leg; S2, according to the gait planning contact probability of the four legs, the foot height contact probability, and the knee joint torque contact probability, use Kalman filter fusion to obtain the final The contact probability of the feet of the four legs; according to the contact probability of the feet of the four legs, the ground contact state of the feet is judged. On the premise of not deploying redundant sensors on the feet, the invention relies on the basic sensors of the quadruped robot body and the fusion algorithm to accurately estimate the contact state between the feet and the ground, and can solve the problem of sensor wiring; Jump terrain, still can get a reliable ground contact state.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method and system for detecting ground contact of a foot end of a quadruped robot. Background technique [0002] At present, there are three main ways to detect the ground contact state of the quadruped robot: [0003] 1. According to the gait planning, judge the current state of foot contact with the ground; [0004] 2. Deploy Boolean sensors on the foot, such as contact switches, to determine the state of the foot touching the ground; [0005] 3. Deploy an air pressure or pressure sensor on the foot end to detect the analog value of the pressure between the foot end and the ground, and judge the contact state of the foot end through the analog value. [0006] The above three methods have the following defects respectively: [0007] Method 1: The terrain is required to be flat. If the terrain is rough or stepped, the ground contact state obtained according to the plan is unr...

AI Technical Summary

Problems solved by technology

[0008] Method 2: The sensor is difficult to install, has a low service life, and is unreliable for long-term use;

[0009] Method 3: The sensor is deployed at the foot end, the electrical wiring is difficult, the sensor itself has high requirements on the mechanical structure and materials, and the overall deployment cost is high

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