State estimation method, device and equipment of parallel configuration humanoid robot and medium

Abstract

The invention relates to the technical field of robots, and discloses a state estimation method, device and equipment of a parallel configuration humanoid robot and a medium. The method comprises the following steps: acquiring a first state estimation value obtained according to a sensor at a leg joint position of the humanoid robot, a second state estimation value obtained according to a sensor at a leg ankle position of the humanoid robot and a third state estimation value obtained according to a sensor at a waist position of the humanoid robot at the same time; adopting forward kinematics to obtain a leg pose estimation value under the body coordinate system according to the first state estimation value and the third state estimation value; and obtaining a centroid pose estimation value under the world coordinate system according to the leg pose estimation value under the body coordinate system, the first state estimation value, the second state estimation value and the third state estimation value. The pose of the centroid in the world coordinate system is accurately estimated based on the state estimation value of the sensor, the state estimation problem of the parallel configuration humanoid robot is solved, and the centroid state estimation accuracy is improved.

Description

technical field [0001] The present application relates to the field of robot technology, in particular to a state estimation method, device, equipment and medium of a parallel configuration humanoid robot. Background technique [0002] The parallel configuration humanoid robot is to set the traditional serial configuration humanoid robot as a hip-knee parallel mechanism or a knee-ankle parallel mechanism. The state estimation of humanoid robot is the basis of gait planning and balance control, so it is necessary to obtain accurate state estimation from the feedback of the sensor system. The state estimation of the humanoid robot is realized based on the data fed back by the sensor, because the internal state of the humanoid robot (for example, the pose of the center of mass) cannot be directly measured by the sensor, and the data fed back by the sensor is inaccurate, thereby reducing the The accuracy of the state estimation of the humanoid robot is reduced, and the accuracy...

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Problems solved by technology

[0003] The main purpose of this application is to provide a state estimation method, device, equipment and medium for a parallel configuration humanoid robot, aiming to solve the problem that the state estimation of humanoid robots in the prior art is realized based on the data fed back by sensors, because for The internal state of the humanoid robot cannot be obtained directly through the sensor, and the data fed back by the sensor is inaccurate, which reduces the accuracy of the state estimation of the humanoid robot, and because the gait planning of the existing humanoid robot and The balance control algorithms are all based on the series configuration, which leads to new challenges and technical problems for the algorithm development of the gait planning and balance control of the parallel configuration humanoid robot

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