Multi-legged robot load balancing method and device and multi-legged robot

A multi-legged robot and balance technology, which is applied in manipulators, motor vehicles, transportation and packaging, etc., can solve problems such as loss of balance and poor stability, and achieve the effect of ensuring a balanced state and good trunk posture control effect.

Active Publication Date: 2021-06-18
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, when the robot walks fast, goods with poor stability (such as balls, water bottles, etc.) tend to lose their balance and fall

Method used

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  • Multi-legged robot load balancing method and device and multi-legged robot
  • Multi-legged robot load balancing method and device and multi-legged robot
  • Multi-legged robot load balancing method and device and multi-legged robot

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0069] Please refer to figure 1 , this embodiment proposes a multi-legged robot load balancing method, which can be applied to various occasions where multi-legged robots are used for cargo transportation. This method detects the state of the goods placed on the torso in real time and performs active balancing, not only does not require the type and shape of the goods, but also ensures that the goods will not fall even during fast walking.

[0070] Exemplarily, the multi-legged robot generally refers to a robot with at least three legs, such as a three-legged robot, a quadruped robot, a hexapod robot, etc., for example, figure 2 A simplified structure diagram of a quadruped robot is shown. In this embodiment, a corresponding force sensor is provided on the torso of the multi-legged robot, and then the position and velocity of the goods on the torso are fed back and calculated by using the detection results of the force sensors, so as to realize the balance control of the goo...

Embodiment 2

[0167] Please refer to Figure 7 , based on the method of the above-mentioned embodiment 1, this embodiment proposes a multi-legged robot load balancing device 100, wherein a force sensor is provided on the trunk of the multi-legged robot, and the state of the trunk is passed between the trunk and the origin of the world coordinate system The motion state description of several constructed virtual joints.

[0168] Exemplarily, the load balancing device 100 of the multi-legged robot includes:

[0169] The cargo state calculation module 110 is used to calculate the current position and speed of the cargo on the torso according to the measured value of the force sensor.

[0170] The expected attitude solving module 120 is used to solve the expected attitude of the torso required by the multi-legged robot to balance the goods according to the current position and velocity of the goods through a feedback control law.

[0171] The joint torque solving module 130 is used to determi...

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Abstract

The embodiment of the invention provides a multi-legged robot load balancing method and device and a multi-legged robot. The method comprises the steps that the current position and speed of goods on a trunk are obtained through a force sensor arranged on the trunk; according to the current position and speed of the goods, an expected posture required by the trunk when the goods reaches balance is solved through a feedback control law; according to the expected posture of the trunk, the expected position of a virtual joint is determined, and according to the expected position, the joint torque needed by a real joint is calculated based on a full-dynamics control algorithm of the robot; and the calculated joint torque is sent to the corresponding real joint, so that the trunk reaches the expected posture. According to the method, the aim that the multi-legged robot actively balances the goods can be fundamentally achieved, in the goods transportation process, the goods do not need to be specially fixed, balance control can be carried out only by placing the goods near the expected position, and balance of the goods can be guaranteed even in the rapid walking process.

Description

technical field [0001] The present application relates to the technical field of robot control, in particular to a load balancing method and device for a multi-legged robot and a multi-legged robot. Background technique [0002] The technology of multi-legged robot walking is relatively mature and can be applied in logistics, inspection, security and other fields. In the process of logistics transportation, the robot needs to load and place goods on the torso, and how to ensure the balance of the goods on the torso has become an important issue. Taking quadruped robots as an example, most quadruped robots at this stage achieve cargo balance by controlling the torso of the robot in an absolute horizontal state, rather than actively maintaining the position of the cargo by detecting the status of the cargo. Therefore, when the robot walks fast, goods with poor stability (such as balls, water bottles, etc.) are likely to lose balance and fall. Contents of the invention [0...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/08B25J17/02B62D57/032
CPCB25J9/1656B25J9/1679B25J13/085B25J17/0258B62D57/032
Inventor 徐喆赵明国熊友军
Owner UBTECH ROBOTICS CORP LTD
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