Mass center pose estimation method and device, computer-readable storage medium, and robot

A pose estimation and robotics technology, applied in the field of robotics, can solve the problem of low accuracy and achieve the effect of improving accuracy

Active Publication Date: 2021-07-23
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the embodiment of the present application provides a centroid pose estimation method, device, computer-readable storage medium, and robot to solve the problem of low accuracy of existing centroid pose estimation methods

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  • Mass center pose estimation method and device, computer-readable storage medium, and robot
  • Mass center pose estimation method and device, computer-readable storage medium, and robot
  • Mass center pose estimation method and device, computer-readable storage medium, and robot

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Embodiment Construction

[0076] 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.

[0077] 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 mass center pose estimation method and device, a computer-readable storage medium, and a robot. The method comprises: obtaining a waist measurement posture of the robot and all joint angles of supporting legs; calculating ankle postures of the supporting legs according to the waist measurement posture and the joint angles; compensating preset initial ankle positions according to the ankle postures to obtain ankle positions of the supporting legs; calculating a waist pose of the robot according to the ankle poses of the supporting legs and all the joint angles; and calculating a mass center pose of the robot according to the waist pose. According to the method, the ankle poses are fully considered in the calculation process of the mass center pose, so that the situation of sole overturning can be effectively processed, and the result accuracy is greatly improved.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a centroid pose estimation method, device, computer-readable storage medium and robot. Background technique [0002] Gait planning and balance control of humanoid robots are hot topics in the field of robotics. Both the gait planning algorithm and the balance control algorithm are based on feedback control. The premise of feedback control is to obtain the accurate feedback value of the robot state, and there are usually two types of feedback value acquisition of the robot state: one can be obtained directly from the sensor, and the other Classes need to obtain other indirect robot states through other sensors, and then perform kinematics and dynamics calculations to obtain robot states. The process is more complicated and difficult. [0003] For example, centroid pose estimation is usually a difficult point in gait planning and balance control of humanoid ro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1612B25J9/1633B25J9/1661
Inventor 白杰陈春玉葛利刚刘益彰周江琛熊友军
Owner UBTECH ROBOTICS CORP LTD
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