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Robot foot end collision stability control method and device and foot-type robot

A stable control method and robot technology, applied in the direction of program control manipulators, manipulators, motor vehicles, etc., can solve problems such as falls, robot instability, errors, etc., and achieve the effect of ensuring safety

Active Publication Date: 2021-10-22
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] For legged robots, such as biped robots, such as figure 1 As shown in the figure, when the robot is walking up the steps or on the ground with obstacles, if there is an error in the external sensory information or there is no external sensory information, when the robot kicks the obstacle, it will often cause the robot itself or the external obstacle Damaged, or the robot is unstable and falls down, etc.

Method used

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  • Robot foot end collision stability control method and device and foot-type robot
  • Robot foot end collision stability control method and device and foot-type robot
  • Robot foot end collision stability control method and device and foot-type robot

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Embodiment 1

[0055] Please refer to figure 2 , this embodiment proposes a robot foot end collision stability control method, which can be used in different scenarios such as climbing steps and the ground with obstacles, so as to realize that the robot will not fall or self-damage when the foot end kicks an obstacle. and other issues, so as to achieve the purpose of stable control.

[0056] In this embodiment, in order to facilitate the motion control of the robot’s swing leg, the planned trajectory of the robot’s swing leg can be decomposed into three different directions, which are the trajectory component in the forward direction of the foot end, the lateral movement of the foot end The trajectory component in the direction and the trajectory component in the foot lift direction. Based on the above-mentioned motion trajectory, the method for stabilizing the collision of the foot end of the robot will be described below.

[0057] Step S110, when it is detected that the swing leg of the...

Embodiment 2

[0105] Please refer to Figure 5 , based on the method of Embodiment 1 above, this embodiment proposes a robot foot end collision stability control device 100 . In this embodiment, the single-leg motion planning trajectory of the robot includes the trajectory component of the forward direction of the foot end, the trajectory component of the lateral movement direction and the trajectory component of the lifting direction.

[0106] Exemplarily, the robot foot end collision stability control device 100 includes:

[0107] The collision detection module 110 is configured to stop the trajectory component planning of the swing leg in the collision direction when detecting a foot-end collision of the swing leg of the robot, where the trajectory component in the collision direction is the trajectory component in the forward direction and / or or the sideways direction trajectory component;

[0108] The offset calculation module 120 is configured to calculate the position offset in the...

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Abstract

The invention provides a robot foot end collision stability control method and device and a foot-type robot. A single-leg motion planning track of the robot comprises a foot end advancing direction track component, a side moving direction track component and a lifting direction track component. The method comprises the following steps: when it is detected that foot end collision happens to a swing leg of the robot, stopping track component planning of the swing leg in a collision direction, wherein track components in the collision direction are the advancing direction track component and / or the side moving direction track component; calculating the position offset in the collision direction on the basis of a foot end dragging control mode according to the real-time external force borne by the foot end of the swing leg in the collision direction; and controlling the motion of the swing leg by using the position offset in the collision direction and expected trajectory components in a non-collision direction. According to the method, after the robot is subjected to foot end collision, falling, damage or the like can be avoided, so that the safety of the robot or an external environment is guaranteed.

Description

technical field [0001] The present application relates to the technical field of legged robots, in particular to a method and device for stabilizing robot foot collisions and a legged robot. Background technique [0002] For legged robots, such as biped robots, such as figure 1 As shown in the figure, when the robot is walking up the steps or on the ground with obstacles, if there is an error in the external sensory information or there is no external sensory information, when the robot kicks the obstacle, it will often cause the robot itself or the external obstacle Damaged, or the robot is unstable and falls down. Contents of the invention [0003] The embodiment of the present application provides a robot foot end collision stability control method, device and legged robot. The robot foot end collision stability control method can prevent the robot from falling or being damaged after the foot end collision occurs, and can ensure The safety of the robot itself and the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B62D57/032
CPCB25J9/1661B25J9/161B62D57/032B25J9/1666B25J13/085G05B2219/39082B25J9/1676
Inventor 陈春玉刘益彰葛利刚白杰周江琛罗秋月熊友军
Owner UBTECH ROBOTICS CORP LTD