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Robot state estimation method and device, readable storage medium and robot

A state estimation and robotics technology, applied in the field of robotics, can solve problems such as poor accuracy, and achieve the effect of accurate estimation results

Active Publication Date: 2021-05-04
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, embodiments of the present application provide a robot state estimation method, device, computer-readable storage medium, and robot to solve the problem of poor accuracy existing in existing robot state estimation methods

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  • Robot state estimation method and device, readable storage medium and robot
  • Robot state estimation method and device, readable storage medium and robot

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Embodiment Construction

[0051] In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0052] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other features. , whole, step, operation, element, component and / or the presence or...

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Abstract

The invention belongs to the technical field of robots, and particularly relates to a robot state estimation method and device, a computer readable storage medium and a robot. The method comprises the steps: acquiring left foot stress information and right foot stress information of the robot; according to the left foot stress information and the right foot stress information, calculating a double-foot zero moment point of the robot under a world coordinate system; and calculating the mass center position of the robot based on a preset linear inverted pendulum model. According to the method, the brand new linear inverted pendulum model is pre-constructed, the biped zero moment point of the robot is taken as the supporting point of the model, the influence of the position change of the biped zero moment point on the position of the center of mass is fully considered, and a more accurate estimation result can be obtained based on the model.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a robot state estimation method, a device, a computer-readable storage medium and a robot. Background technique [0002] In the motion control process of a biped robot, it is often necessary to estimate the state of the robot, such as the position of the center of mass, in order to control the robot more precisely. However, in the prior art, the position of the center of mass is generally estimated based on the position of the ankle support of the robot, and the accuracy of the estimation result is poor. Contents of the invention [0003] In view of this, embodiments of the present application provide a robot state estimation method, device, computer-readable storage medium, and robot, so as to solve the problem of poor accuracy existing in existing robot state estimation methods. [0004] The first aspect of the embodiments of the present application prov...

Claims

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Application Information

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IPC IPC(8): B62D57/032G01M1/12
CPCB62D57/032G01M1/122G01L5/16B25J9/163B25J13/085B25J9/161B25J9/1633
Inventor 葛利刚刘益彰陈春玉谢铮熊友军
Owner UBTECH ROBOTICS CORP LTD
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