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A robot footprint planning method, 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: 2022-07-19
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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

Method used

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

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Embodiment Construction

[0059] In order to make the purpose, features and advantages of the invention of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some, but not all, embodiments of the present application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0060] It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and / or component, but does not exclude one or more other features , whole, step, operation, element, component and / or the pres...

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Abstract

The present application belongs to the field of robotics technology, and in particular relates to a robot footprint planning method, device, computer-readable storage medium and robot. The method uses a preset 3D vision sensor to perform a global scan on a specified target space to obtain depth information of the target space; performs three-dimensional reconstruction of the target space according to the depth information to obtain voxels of the target space the terrain environment surface map; divide each walkable area in the terrain environment surface map; triangulate each walkable area to obtain the three-dimensional navigation grid of the target space; according to the three-dimensional navigation The mesh and the robot's bipedal joint kinematic constraints perform the footprint planning of the robot. Through the embodiments of the present application, the geometric properties of complex terrain surfaces can be accurately estimated, and consideration of the kinematic constraints of the bipedal joints of the robot is added to the footprint planning, which can be directly applied to humanoid robots.

Description

technical field [0001] The present application belongs to the field of robotics, and in particular, relates to a robot footprint planning method, device, computer-readable storage medium, and robot. Background technique [0002] When planning the robot footprint in the existing technology, the 3D point cloud is generally converted into such as: figure 1 The OctoMap is shown, and the planning is based on a pathfinding algorithm. However, the spatial representation strength of OctoMap cannot satisfy the accurate reconstruction of the surface geometric properties 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. SUMMARY OF THE INVENTION [0003] In view of this, the embodiments of the present application provide a robot footprint planning method, device, computer-readable storage medium and robot, so as to solve the problem that the exis...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 熊友军罗志平
Owner UBTECH ROBOTICS CORP LTD
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