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Robot footprint planning method and device, readable storage medium and robot

A robot and footprint technology, applied in the field of robotics, can solve the problems of low accuracy and difficult to directly apply to humanoid robots.

Active Publication Date: 2021-01-01
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a robot footprint planning method, device, computer-readable storage medium, and robot to solve the problem that the existing robot footprint planning method has low accuracy and is difficult to directly apply to humanoid robots

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  • Robot footprint planning method and device, readable storage medium and robot
  • Robot footprint planning method and device, readable storage medium and robot

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Embodiment Construction

[0069] In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0070] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other features. , whole, step, operation, element, component and / or the presence or...

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Abstract

The invention belongs to the technical field of robots, and particularly relates to a robot footprint planning method and device, a computer readable storage medium and a robot. The method comprises the following steps of performing global scanning on a specified target space by using a preset 3D visual sensor to obtain the depth information of the target space; performing three-dimensional reconstruction of the target space according to the depth information to obtain a voxelized terrain environment surface map of the target space; respectively dividing each walkable area in the topographic environment surface map; performing triangulation processing on each walkable area to obtain a three-dimensional navigation grid of the target space; and performing footprint planning of the robot according to the three-dimensional navigation grid and the biped joint kinematics constraint of the robot. Through the embodiment of the invention, the geometric attribute of the complex terrain surface can be accurately estimated, the consideration of the kinematics constraint of the biped joints of the robot is added during footprint planning, and the method can be directly suitable for the humanoidrobot.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a robot footprint planning method, device, computer-readable storage medium and robot. Background technique [0002] When the existing technology is planning the robot footprint, it generally converts the 3D point cloud into figure 1 The octree map (OctoMap) shown, and based on the pathfinding algorithm for planning. However, the spatial representation of OctoMap cannot satisfy the precise reconstruction of the geometric properties of the surface of complex terrain maps, resulting in low accuracy, and this method does not consider the motion characteristics of humanoid robots, so it is difficult to directly apply to humanoid robots. Contents of the invention [0003] In view of this, the embodiment of the present application provides a robot footprint planning method, device, computer-readable storage medium, and robot to solve the problem that the existin...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 熊友军罗志平
Owner UBTECH ROBOTICS CORP LTD
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