Unlock instant, AI-driven research and patent intelligence for your innovation.

A calibration method for the body center of mass of a quadruped robot

A quadruped robot and robot book technology, which is applied in the field of quadruped robot body center of mass calibration, can solve the problems of high cost and complicated operation

Active Publication Date: 2022-06-17
DELU DYNAMICS TECH (CHENG DU) CO LTD
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] Option 2 requires a special center-of-mass position measurement device, which is costly and complicated to operate

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A calibration method for the body center of mass of a quadruped robot
  • A calibration method for the body center of mass of a quadruped robot
  • A calibration method for the body center of mass of a quadruped robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0026] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and the accompanying drawings. as a limitation of the present invention.

[0027] like figure 1 A method for calibrating the center of mass of a quadruped robot body is shown. The method for calibrating the center of mass of a quadruped robot body accurately estimates and calibrates the position of the center of mass of the robot according to the basic sensor on the robot body.

[0028] Among them, the quadruped robot has 4 legs, each leg has 3 joints, and the 3 joints are driven by motors. The basic sensor includes a sensor for estimating the position of the body center in the world coordinate system and the body posture. IMU, encoder for feedback joint position and current sampling resistor for feedback joint torque;

[0029] Considering that each moving leg of the quadrup...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a method for calibrating the center of mass of a quadruped robot body, which accurately estimates and calibrates the position of the center of mass of the robot according to the basic sensor on the robot body; the method for calibrating the center of mass disclosed in the invention can conveniently and accurately measure the quadruped robot The position of the center of mass of this irregular structure does not require a professional center of mass measurement device.

Description

technical field [0001] The present invention relates to the technical field of robots, and more particularly to a method for calibrating the center of mass of a quadruped robot body. Background technique [0002] In the application of the quadruped robot, it is necessary to accurately measure the position of the center of mass of the irregular structure of the quadruped robot, so as to guide the quadruped robot motion controller to perform more precise dynamic control and make the robot more stable in motion. Usually, the following two methods are used. Solutions: [0003] 1. Use special CAE software to simulate and calculate the position of the center of mass according to the structural model and material properties of the quadruped robot. [0004] 2. Use a special centroid position measuring device to measure and calibrate the position of the robot's centroid. [0005] In the above two scenarios: [0006] Scheme 1 requires the 3D structure model and material parameters ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16
Inventor 李学生龚迪琛沈雅阁
Owner DELU DYNAMICS TECH (CHENG DU) CO LTD