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Footfall detection method, system, device and main controller

A technology of a main controller and a detection method, which is applied to the measurement device, measures the force applied to the control element, the instrument, etc., can solve the difficult product application, the high cost of the six-dimensional force sensor, and the inability of the six-dimensional force sensor to be miniaturized and other problems, to achieve the effect of high sensing accuracy, improved accuracy and small size

Active Publication Date: 2021-10-08
乐聚(深圳)机器人技术有限公司
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Problems solved by technology

[0004] However, the six-dimensional force sensor cannot be miniaturized, and can only be used for large-scale legged robots, but cannot be used for small and medium-sized legged robots. The cost of the six-dimensional force sensor is relatively high, and it is difficult to be used in commercial applications.

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  • Footfall detection method, system, device and main controller
  • Footfall detection method, system, device and main controller
  • Footfall detection method, system, device and main controller

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Embodiment Construction

[0057]In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

[0058] Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art wit...

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Abstract

The application provides a foot landing detection method, system, device and main controller, which relate to the technical field of legged robots. The method is applied to the main controller of the footed robot. The foot of the footed robot has at least one pressure-sensitive point, and each pressure-sensitive point is provided with a group of FSR sensors, and each group of FSR sensors is electrically connected to the main controller. The lower limb joints are provided with joint sensors, and the joint sensors are electrically connected to the main controller. The method includes: acquiring joint angles detected by the joint sensors; acquiring pressure data of at least one pressure-sensing point detected by at least one set of FSR sensors; according to the joint angles, calculating The distance between the expected position of the foot of the foot robot under the joint angle and the ground; if the distance is less than or equal to the preset distance threshold, the foot landing detection of the foot robot is performed according to the pressure data of at least one pressure-sensitive point. The application realizes the miniaturization of the footfall detection structure of the legged robot, and improves the footfall detection accuracy.

Description

technical field [0001] The present invention relates to the technical field of legged robots, in particular to a foot landing detection method, system, device and main controller. Background technique [0002] In order to accurately control the motion of the robot, it is necessary to detect the footing of the robot. [0003] At present, the footfall detection of the legged robot is mainly realized by using a six-dimensional force sensor, that is, a six-dimensional force sensor is installed on the ankle joint of the legged robot. When it is detected that the force of the six-dimensional force sensor in the preset direction satisfies the preset condition, it can be determined that the foot of the legged robot has touched the ground. [0004] However, the six-dimensional force sensor cannot be miniaturized, and can only be used for large-scale legged robots, but cannot be used for small and medium-sized legged robots, and the cost of the six-dimensional force sensor is relativ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L5/22G01L1/20
CPCG01L1/20G01L5/22
Inventor 冷晓琨常琳吴雨璁白学林柯真东王松何治成黄贤贤
Owner 乐聚(深圳)机器人技术有限公司
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