Method and system for measuring terrain parameters of a legged robot

A robot and foot-type technology, applied in the field of robot parameter measurement, can solve the problems of large amount of calculation, robot overturning, high cost, etc., and achieve the effect of simplifying mathematical operation, high precision and reducing cost

Active Publication Date: 2022-04-05
CHINA NORTH VEHICLE RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Legged robots are mainly used in unstructured environments. The walking gait in an unstructured environment is different from that in a flat environment, which requires higher stability of the robot, and the constantly changing up and down slopes make it easier for the robot to fall over.
The prerequisite for a footed robot to adapt to a complex unstructured environment is to be able to perceive the surrounding terrain environment. However, existing footed robots usually process lidar and video image information to obtain external terrain information, which is costly and computationally intensive.
Especially for the gait control of footed robots with only two supporting legs, such as the gait control of biped robots and the gait (trot, bound, etc.) Surrounding terrain parameter information

Method used

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  • Method and system for measuring terrain parameters of a legged robot
  • Method and system for measuring terrain parameters of a legged robot

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Experimental program
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Embodiment 1

[0052] The invention provides a method for measuring terrain parameters of a legged robot, such as figure 1 Shown, is the flowchart of the inventive method, comprises the following steps:

[0053] S1: Calculate the unit vector of the foot end position of the supporting leg of the legged robot;

[0054] S101: When the legged robot is walking, under the condition that the supporting leg does not slip, the position vector of the foot end of the supporting leg of the legged robot in the fuselage coordinate system is obtained according to the sensor measurement. leg, the speed of the supporting leg being zero means that the supporting leg does not slip;

[0055] In this embodiment, a quadruped robot is taken as an example for description. Such as figure 2 As shown, the supporting legs are 1 leg and 2 legs, and the position vector of each leg can be obtained after kinematic calculation based on the sensor data installed on the legs.

[0056] S102: Calculate the position vector ...

Embodiment 2

[0083] Based on the same inventive concept, the present invention also provides a measurement system for the topographical parameters of a legged robot, the structure diagram of which is as follows image 3 As shown, the system includes:

[0084] The first calculation module 301 is used to calculate the unit vector of the position of the foot end of the supporting leg of the legged robot;

[0085] The second calculation module 302 is used to calculate the normal vector of the earth relative to the world coordinate system according to the unit vector;

[0086] The third calculating module 303 is used for calculating terrain parameters according to the normal vector of the earth relative to the world coordinate system.

[0087] The first calculation module 301 further includes:

[0088] The measuring unit is used to obtain the position vector of the foot end of the supporting leg of the legged robot in the body coordinate system according to the sensor measurement;

[0089] T...

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Abstract

The invention relates to a method and system for measuring terrain parameters of a legged robot, comprising: calculating the unit vector of the foot end position of the supporting leg of the legged robot; calculating the normal vector of the earth relative to the world coordinate system according to the unit vector; The normal vector of the coordinate system calculates the terrain parameters. The measurement method of the present invention can calculate the terrain parameters of the terrain, including the roll angle and the attitude angle of the pitch angle, only by using the sensor information necessary for the motion control of the legged robot, which can meet the requirements of the motion control of the legged robot, and is simple and easy ,High precision.

Description

technical field [0001] The invention relates to a method for measuring robot parameters, in particular to a method and system for measuring terrain parameters of a legged robot. Background technique [0002] Legged robots are mainly used in unstructured environments. The walking gait in an unstructured environment is different from that in a flat environment, which requires higher stability of the robot, and the constantly changing up and down slopes make it easier for the robot to fall over. The prerequisite for a legged robot to adapt to a complex unstructured environment is to be able to perceive the surrounding terrain environment. However, existing legged robots usually process lidar and video image information to obtain external terrain information, which is costly and computationally intensive. Especially for the gait control of footed robots with only two supporting legs, such as the gait control of biped robots and the gait (trot, bound, etc.) Surrounding terrain p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C7/02
CPCG01C7/02
Inventor 姚其昌苏波许鹏党睿娜蒋云峰许威慕林栋降晨星韩相博赵洪雷高建峰
Owner CHINA NORTH VEHICLE RES INST
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