Robot control method and device based on physical engine and rehabilitation robot
A technology of physical engine and control method, which is applied in the direction of program-controlled manipulators, physical therapy, manipulators, etc., can solve problems such as unfavorable user safety, and achieve the effect of improving user safety and reducing impact
Pending Publication Date: 2021-12-24
SHANGHAI FOURIER INTELLIGENCE CO LTD
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- Application Information
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Problems solved by technology
[0007] The embodiment of the present application provides a robot control method and device based on a physics engine, and a rehabilitation robot to solve the technical problem in the prior art that the scheme of controlling a robot based on a virtual object simulated by a physics engine is not conducive to user safety
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[0039] In order to understand the characteristics and technical contents of the embodiments of the present application in more detail, the implementation of the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. The attached drawings are only for reference and description, and are not intended to limit the embodiments of the present application. In the following technical description, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawings.
[0040] The terms "first" and "second" in the description and claims of the embodiments of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to descr...
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The invention relates to the technical field of robots, and discloses a robot control method based on a physical engine. The method comprises the steps that current first resultant force borne by a robot and current second resultant force borne by a virtual object in a virtual environment constructed by the physical engine are obtained; current motion information corresponding to the current first resultant force and the current second resultant force is determined according to a corresponding relation between the force and the motion information; the current second resultant force is determined by the physical engine according to previous motion information corresponding to previous first resultant force of the robot and previous second resultant force of the virtual object, and the current motion information enables the current first resultant force and the current second resultant force to tend to be synchronous; the current motion information is fed back to the robot, and the robot is controlled to move according to the current motion information. With adoption of the method, the impact of the robot on a user can be reduced, and the safety of the user can be improved. The invention further discloses a robot control device based on the physical engine and the rehabilitation robot.
Description
technical field [0001] The present application relates to the field of robot technology, for example, to a robot control method and device based on a physics engine, and a rehabilitation robot. Background technique [0002] The physics engine calculates motion, rotation, and collision reactions by assigning realistic physical properties to rigid objects. The physics engine can simulate the motion state of virtual objects in various virtual environments. After combining the physics engine with the robot, the force state and motion state of the virtual object in the virtual environment can be fed back to the user through the robot, so that the user can obtain For a more realistic tactile experience, this solution can be applied to scenarios such as physical training and rehabilitation training. [0003] In order to feed back the force state and motion state of the virtual object in the virtual environment to the user through the robot, the motion information of the robot can ...
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Login to View More IPC IPC(8): B25J9/16A61H1/02
CPCB25J9/161B25J9/1633B25J9/1661B25J9/1664A61H1/0237A61H1/0274A61H2205/06A61H2205/10A61H2201/1207A61H2201/1659A61H2201/50Y02P90/02A61H1/00B25J9/1605
Inventor 陈鑫顾捷沈建忠丁立
Owner SHANGHAI FOURIER INTELLIGENCE CO LTD