Multi-legged robot kinematics parameter calibration method based on vision

A technology of robot kinematics and multi-legged robots, applied in the field of robotics, can solve the problems of uncalibration and susceptibility to foot slipping, etc., and achieve the effect of improving walking effect, low cost, and improving positioning accuracy

Active Publication Date: 2022-03-11
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This method only needs IMU and joint angle data to complete the calibration, but it is easily affected by factors such as foot slippage, and cannot calibrate other kinematic parameters other than joint angles.

Method used

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  • Multi-legged robot kinematics parameter calibration method based on vision
  • Multi-legged robot kinematics parameter calibration method based on vision
  • Multi-legged robot kinematics parameter calibration method based on vision

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Embodiment Construction

[0042] The multi-legged robot of the present invention includes a fuselage and at least two legs, each leg contains at least two joints connected in series, and the number of different legs is applicable to the method of this application. The fuselage is rectangular, and each leg is distributed on four sides of the rectangular fuselage. For example, for a quadruped robot, one leg is provided at each of the two ends of the two sides on the axial sides of the rectangular body. For the 6-legged robot, one leg is respectively arranged at the two ends and the middle position of the two sides of the axial two sides of the rectangular body.

[0043] In the following embodiments, a hexapod robot with each leg including three joints is taken as an example.

[0044] Such as figure 1 Shown is the flow chart of the calibration of the kinematics parameters of the hexapod robot in this application.

[0045] Such as figure 2As shown, the hexapod robot described in this embodiment includ...

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Abstract

The invention discloses a multi-legged robot kinematics parameter calibration method based on vision. Calibration plates are fixed to the robot body and the foot ends of the robot respectively, the poses of the calibration plates are obtained through a monocular camera, and then the relative pose relation between the robot body and the foot ends of the robot is obtained; according to joint angle data of a robot, a nominal pose relation between a robot body and a foot end is calculated through forward kinematics, an error matrix is constructed, and a kinematics parameter error is estimated by using a least square method. According to the method, kinematics parameter calibration is conducted on each leg of the multi-legged robot in sequence through the visual technology, the kinematics parameter calibration process can be rapidly and accurately completed, the positioning precision of the foot ends of the multi-legged robot can be improved, and therefore the walking effect of the multi-legged robot is improved. According to the method, the kinematics parameter calibration process of the multi-legged robot can be completed only through the monocular camera and the two calibration plates, special or expensive equipment is not needed, cost is low, and implementation is easy.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for calibrating kinematic parameters of a multi-legged robot based on vision. Background technique [0002] Compared with wheeled mobile robots, legged mobile robots have the advantages of strong terrain adaptability and high flexibility, so they are widely used in many fields to replace humans to complete various complex tasks. As one of the typical representatives of legged mobile robots, hexapod robots are gradually becoming a hot spot in the field of robotics research. [0003] Due to the mechanical processing error, installation error, and component deformation of the robot, there are certain errors in the kinematic parameters of the robot, including the length of each leg joint and the zero position deviation of the joint. These dimensional errors will propagate through the kinematic chain, which may seriously affect the control accuracy of the robot's foot, thereb...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1653
Inventor 金波王谦
Owner ZHEJIANG UNIV
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