Joint moment-based humanoid machine action coordination method and system

By denoising and frequency analysis of joint torque data, an impedance control model is constructed, the peak propagation speed of torque is identified and optimized, the stiffness and damping parameters are dynamically adjusted, and error compensation is compensated for consideration of elastic deformation of mechanical structures, the problems of peak propagation of torque and saturation response in the existing technology are solved, and the stable interaction of the robot in unexpected contact scenarios is achieved.

CN120347741APending Publication Date: 2025-07-22SHENZHEN CHANGYING ROBOT CO LTD +1
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Patent Information

Application Number
CN202510556998.1
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-04-29
Publication Date
2025-07-22

AI Technical Summary

Technical Problem

The existing flexible control method based on torque sensing reduces accuracy when dealing with joint torque measurement noise, especially in unexpected contact scenarios, it is difficult to accurately predict the peak torque propagation and controller saturation response, resulting in instability of robot control and difficult to achieve safe human-computer interaction.

Method used

The joint torque data is obtained through sensors for denoising, an impedance control model is constructed, the torque change trend is predicted, the torque peak is identified by adaptive threshold detection, the peak propagation speed is analyzed, the stiffness and damping parameters are dynamically adjusted, the impedance control model is optimized, and the mechanical structure is elastically deformed for error compensation is considered.

Benefits of technology

It improves the robot's flexibility and adaptability and interaction stability in unexpected contact scenarios, effectively deals with unexpected contact situations, and improves the safety and interaction performance of humanoid robots.

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Abstract

The invention provides a humanoid robot action coordination method and system based on joint torque, and the method comprises the steps: obtaining the original data of the joint torque of a humanoid robot through a sensor, carrying out the preprocessing of the original data of the torque, outputting stable torque data, constructing an impedance control model through the combination of the angle data of the mechanical arm joint of the humanoid robot, and carrying out the control of the mechanical arm joint. Predicting a moment change trend to obtain a predicted moment sequence; adaptive threshold detection is carried out on the predicted moment sequence, and moment peak values of different amplitudes are identified; analyzing the propagation velocity of the torque peak value, and calculating a velocity vector of peak value propagation by combining the propagation direction of the torque peak value; whether the velocity vector of peak propagation exceeds a preset threshold value or not is judged, and if yes, the response trend of a joint torque controller is predicted to judge whether joint control parameters of the humanoid robot need to be adjusted or not; and if the joint control parameters of the humanoid robot need to be adjusted, optimizing the rigidity and damping parameters of the impedance control model to output a stable control signal.
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