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

Abstract

This application relates to the field of robot technology, and discloses a state estimation method, device, equipment and medium of a humanoid robot in parallel configuration, wherein the method includes: acquiring the sensor at the same time based on the position of the leg joints of the humanoid robot The first state estimation value, the second state estimation value obtained from the sensor of the leg and ankle position of the humanoid robot, and the third state estimation value obtained from the sensor of the waist position of the humanoid robot; using forward kinematics according to the first state The estimated value and the third state estimated value are used to obtain the estimated value of the leg position in the body coordinate system; according to the estimated value of the leg position in the body coordinate system, the first state estimated value, the second state estimated value and the third state estimated value are obtained in the world coordinate system The centroid pose estimate. Realize accurate estimation of the position and orientation of the center of mass in the world coordinate system based on the state estimation value of the sensor, solve the state estimation problem of the parallel configuration humanoid robot, and improve the accuracy of the state estimation of the center of mass.

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...

AI Technical Summary

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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