A humanoid robot jumping and landing state detection system and method

Abstract

The invention provides a jumping landing state detection system and method of a humanoid robot, belonging to the technical field of humanoid robots. The present invention uses the motion state of the current humanoid robot to calculate the joint control torque required by each joint when the robot is in the air, so as to obtain the expected control current of each joint of the humanoid robot. When the humanoid robot completes the expected motion, the expected control torque of each joint Current, the error between the expected control current and the actual control current of each joint is obtained. When the error value is greater than the allowable value, it is determined that the humanoid robot is in contact with the ground, and the motion controller generates a new expected motion angle. The invention can accurately acquire the state of the robot on the ground, completes the motion stability control of the humanoid robot after landing, and simultaneously makes the control of the switching of the motion state of the robot easy.

Description

technical field [0001] The invention belongs to the technical field of humanoid robots, and in particular relates to a detection system and method for a jumping landing state of a humanoid robot. Background technique [0002] Humanoid robots use external sensors to measure environmental information during movement, generally including IMU sensors, force sensors, tactile sensors, vision sensors, etc., and the update cycle of these sensors is mostly around 100-300Hz; The time from collision to maximum impact force is generally within 1ms. If only based on the environmental information measured by external sensors, it is difficult to detect the collision between the robot and the ground in real time, which makes the landing stability control of the humanoid robot after jumping and the control of the robot's motion state switching very difficult. [0003] At present, most of the detection methods for the motion state of humanoid robots are about the bipedal walking of the robot...

AI Technical Summary

Problems solved by technology

If only based on the environmental information measured by external sensors, it is difficult to detect the collision between the robot and the ground in real time, making the landing stability control of the humanoid robot after jumping and the control of the robot's motion state switching very difficult.

[0003] At present, most of the detection methods for the motion state of humanoid robots are related to the bipedal walking of the robot, and there are few state detection methods for the situation where the robot jumps and lands, and the robot motion state changes greatly.

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