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Method for estimating body posture angle of humanoid robot in real time

A humanoid robot and robot technology, applied in the field of robotics, can solve the problems of inaccurate static inclination angle information and the inability to overcome angular velocity integration errors, etc., to achieve real-time accurate estimation and overcome drift effects

Inactive Publication Date: 2011-07-13
ZHEJIANG UNIV
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Problems solved by technology

However, due to the collision between the robot and the ground during the movement, the static inclination information calculated by the accelerometer is not accurate, and this scheme cannot overcome the integral error of the angular velocity.

Method used

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  • Method for estimating body posture angle of humanoid robot in real time
  • Method for estimating body posture angle of humanoid robot in real time
  • Method for estimating body posture angle of humanoid robot in real time

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Experimental program
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Embodiment 1

[0075] image 3 and Figure 4 Showing the difference between applying the method of the present invention and the existing integration method on the humanoid robot, setting the walking speed of the robot to be 0.8km / h, by image 3 It can be seen that due to the lack of rigidity of the robot's hip, the rolling angle of the robot changes periodically during walking, and this data reflects the change of the rolling angle during the robot's motion. Due to the deviation of the initial position or zero position of the robot, the roll angle is not zero. From the comparison with the integral method, it can be seen that this method effectively overcomes the drift problem of angular velocity integration. Depend on Figure 4 It can be seen that when the robot motion is over, the data of the pitch angle remains stable all the time. In summary, this method can effectively overcome the drift problem of the angular velocity integral, reflect the changes in the pitch and roll attitude ang...

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Abstract

The invention discloses a method for estimating a body posture angle of a humanoid robot in real time, which comprises the following steps of: first establishing a kinematics model of a robot posture; then establishing a noisy linear discrete random system model according to the kinematics model of the robot posture, estimating the posture state of the robot based on the acceleration data of a triaxial accelerometer, the angular velocity data of a three-axis gyroscope and the three-dimensional force data of a six-dimensional force / torque sensor by utilizing a corresponding Kalman filtering method; and obtaining the actual posture angle of the robot according to the estimated posture information of the robot, thereby correcting the current posture of the robot. By the method, the shortcomings of drift of an angular velocity integral and relatively narrower measurement range of the conventional linear method are overcome, and the real-time accurate posture estimation of the humanoid robot is realized.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a posture estimation method of a humanoid robot based on a six-dimensional force / torque sensor, an accelerometer and a gyroscope. technical background [0002] A humanoid robot is a robot that imitates the skeleton structure of the human body. The biggest difference between it and other robots lies in its humanoid bipedal movement. Bionic analysis shows that humanoid robots have the advantages of strong environmental adaptability and flexible movements, so they have broader application and development prospects. [0003] Unlike wheeled and industrial robots, humanoid robots have a smaller field of support and are more prone to falls. Therefore, it is necessary to know the attitude angle of the robot, including pitch and roll angles, in order to detect the state of the robot and prevent the robot from falling. [0004] A more commonly used attitude estimation algorithm is to fi...

Claims

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Application Information

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IPC IPC(8): G01C21/16
Inventor 相远飞熊蓉
Owner ZHEJIANG UNIV
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