Foot type robot pose optimization method and device and storage medium
A robot and pose technology, applied in the field of foot robot pose optimization, can solve problems such as poor applicability and scalability, affecting the effect of robots on stair climbing, etc.
Active Publication Date: 2022-07-01
深圳鹏行智能研究有限公司
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However, this method considers that the stair surface is flat and horizontal, and the vertical surface of the stair is also flat and vertical. When the stair structure changes or there are obstacles on the stair, it will affect the effect of the robot climbing stairs, so the applicability and scalability are poor.
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[0070] It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.
[0071] In the following description, suffixes such as 'module', 'component' or 'unit' used to represent components are used only to facilitate the description of the present invention and have no specific meaning per se. Thus, "module", "component" or "unit" may be used interchangeably.
[0072] see figure 1 , figure 1 It is a schematic diagram of the hardware structure of the multi-legged robot 100 according to one embodiment of the present invention. exist figure 1 In the illustrated embodiment, the multi-legged robot 100 includes a mechanical unit 101 , a communication unit 102 , a sensing unit 103 , an interface unit 104 , a storage unit 105 , a control module 110 , and a power supply 111 . The various components of the multipedal robot 100 may be connected in any manner, including wired or wireless conn...
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The invention discloses a method and device for optimizing the pose of a foot type robot and a storage medium, which are used for controlling the robot and improving the adaptability and expansibility of the robot to different stairs. The method comprises the following steps: acquiring point cloud information and image information of a current environment; extracting a first feature point set based on the point cloud information of the current environment; identifying a demand feature image in the image information, performing semantic marking on a first feature point set based on the demand feature image, and screening out a demand feature point set marked with semantic information; obtaining point cloud information in map data, and determining a second feature point set from the point cloud information of the map data; and matching the demand feature point set marked with the semantic information with the second feature point set to obtain the actual pose of the robot.
Description
technical field [0001] The present application relates to the field of robotics, and in particular, to a method, a device and a storage medium for optimizing the pose of a footed robot. Background technique [0002] Compared with traditional wheeled robots and crawler robots, footed robots have the advantage of good obstacle-surmounting performance. The multi-degree-of-freedom leg and foot structure of footed robots enables them to cope with some more complex terrains. As a bionic robot for common animals, quadruped robot has good application prospects and potential. [0003] For robots, the simplest function is to walk, but the external terrain environment in the real world is very complex, such as natural environments such as mountains and deserts, and artificial environments such as roads, lawns, and stairs. a typical life scene. In order for the robot to have the function of climbing stairs, the robot needs to have a strong perception ability. In the prior art, there ...
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IPC IPC(8): B25J9/16G06V20/10G06V10/74G06V10/44G06V10/764G06K9/62G06N20/00G06T7/73
CPCB25J9/1664B25J9/161G06N20/00G06T7/73G06T2207/10028G06T2207/20081G06F18/24
Inventor 肖志光邱志昌方根在古明辉黄游平刘振武赖思博林位麟陈盛军张洋
Owner 深圳鹏行智能研究有限公司