CN109605364A - A fall detection and stability control method for a humanoid robot - Google Patents
A fall detection and stability control method for a humanoid robot Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000001514 detection method Methods 0.000 title claims abstract description 23
- 238000005259 measurement Methods 0.000 claims description 16
- 210000002683 foot Anatomy 0.000 claims description 7
- 210000001503 joint Anatomy 0.000 claims description 7
- 210000003141 lower extremity Anatomy 0.000 claims description 5
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 4
- 210000001624 hip Anatomy 0.000 claims description 4
- 210000000629 knee joint Anatomy 0.000 claims description 4
- 210000001699 lower leg Anatomy 0.000 claims description 4
- 230000006641 stabilisation Effects 0.000 claims description 4
- 238000011105 stabilization Methods 0.000 claims description 4
- 239000000470 constituent Substances 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 claims description 3
- 210000000115 thoracic cavity Anatomy 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000011217 control strategy Methods 0.000 abstract description 5
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 230000007613 environmental effect Effects 0.000 abstract 1
- 230000005484 gravity Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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Abstract
本发明提供了一种仿人机器人摔倒检测和稳定控制方法，包括：步骤1，计算仿人机器人运动过程中的ZMP期望轨迹，测量ZMP实际轨迹，并计算二者之间的误差；步骤2，计算仿人机器人运动过程中期望的身体姿态，测量仿人机器人运动过程中实际的身体姿态，并计算两者的误差；步骤3，设定仿人机器人ZMP轨迹误差阈值D1，仿人机器人身体姿态向前倾倒时的阈值D2，以及仿人机器人身体姿态向后倾倒时的阈值D3；通过设定的阈值范对机器人当前的稳定状态进行判定。本发明将机器人的稳定状态快速分为稳定、抗扰动、摔倒等状态，使机器人能够根据不同的稳定状态选择相应的运动控制策略，增强仿人机器人的环境适应能力。
The invention provides a fall detection and stability control method for a humanoid robot, comprising: step 1, calculating the ZMP expected trajectory during the movement of the humanoid robot, measuring the actual ZMP trajectory, and calculating the error between the two; step 2 , calculate the expected body posture during the movement of the humanoid robot, measure the actual body posture during the movement of the humanoid robot, and calculate the error between the two; step 3, set the ZMP trajectory error threshold D1 of the humanoid robot, and the humanoid robot body The threshold D2 when the posture is tilted forward, and the threshold D3 when the humanoid robot body posture is tilted backward; the current stable state of the robot is determined by the set threshold range. The invention quickly divides the stable state of the robot into stable, anti-disturbance, falling and other states, enabling the robot to select corresponding motion control strategies according to different stable states, and enhancing the environmental adaptability of the humanoid robot.
Description
Technical field
The present invention relates to a kind of control methods of anthropomorphic robot, especially fall down detection and stabilization for anthropomorphic robot
Control method.
Background technique
Anthropomorphic robot is a kind of intelligent robot with mankind shape spy, has head, trunk and four limbs.It can make
With Bipedal, operation task is completed using both hands, is a kind of ideal form of intelligent robot.However, anthropomorphic robot has
There is more freedom degree, and its vola bearing area is smaller, so that anthropomorphic robot is easy in walking or operation process
It falls down.If anthropomorphic robot cannot detect the generation fallen down in time, Given task is continued to execute instead, it will gives machine
It is artificial at serious damage, will the serious development for restricting anthropomorphic robot.
Chinese patent literature " method that there is the anthropomorphic robot for falling down managerial ability and management to fall down " (patent No.
Center of gravity is in the projected position of supporting plane and the appearance of machine human body when CN201180046440.5) being moved according to anthropomorphic robot
State angle differentiates that direction is fallen down and fallen down in robot whether, however for the anthropomorphic robot of movement, center of gravity is in supporting surface
Projection be a static parameter, it is difficult to fall down to the anthropomorphic robot quickly moved the judgement of state.
Chinese patent literature " one kind is based on multi-sensor information anthropomorphic robot tumble condition detection method " (patent No.
CN2014102428085.3) track ZMP during measurement Humanoid Robot Based on Walking and attitudes vibration, utilize fuzzy decision system
System is to analyze robot motion's information of acquisition, thus predict whether robot is fallen down, however the robot that the patent only considers
Actual motion state, there is no consider robot desired motion state, may to the stable state of robot generate erroneous judgement.
Summary of the invention
The purpose of the present invention is to provide a kind of anthropomorphic robots based on robot motion's state to fall down detection method, will
The stable state of robot is divided into stabilization, disturbance rejection and falls down three states of protection, allows robot for not being subject to not
With disturbance, different control strategies is taken, enhances anthropomorphic robot adaptive capacity to environment.
Technical scheme is as follows.
One aspect of the present invention provides a kind of anthropomorphic robot and falls down detection and stable control method, comprising:
Step 1, the ZMP desired trajectory in anthropomorphic robot motion process is calculated, measures ZMP actual path, and calculate two
Error between person；
Step 2, desired body posture in anthropomorphic robot motion process is calculated, is measured in anthropomorphic robot motion process
Actual body posture, and calculate the error of the two；
Step 3, anthropomorphic robot ZMP trajectory error threshold value D is set1, when anthropomorphic robot body posture dumps forward
Threshold value D2And threshold value D of anthropomorphic robot body posture when toppling over backward3；It is current to robot by the threshold value model of setting
Stable state is determined.
Preferably, the optimal ZMP track [p in the anthropomorphic robot motion process in the step 1xr pyr] by desired
Oint motion trajectory and the kinetic parameters of all constituent element of whole body calculate, formula is as follows:
Wherein [xi yi zi] be i-th of connecting rod of anthropomorphic robot centroid position, pzFor the height on ground, when apery machine
Device people on the ground when, pz=0.
Preferably, the practical position the ZMP [p in the step 1 in anthropomorphic robot operational processx py] double by being fixed on
The six-dimensional force of foot/torque sensor obtains, and calculation formula is as follows:
Wherein [pRx pRy] and [fRx fRx fRx] it is the six-dimensional force/torque sensor measurement position ZMP for being mounted on right crus of diaphragm
With the stress in three directions, [pLx pLy] and [fLx fLx fLx] it is the six-dimensional force/torque sensor measurement for being mounted on left foot
The stress of the position ZMP and three directions.
Preferably, the desired body posture of the anthropomorphic robot joint angle current according to anthropomorphic robot in the step 2
Degree and positive kinematics, which calculate, to be obtained:
θr=Forward_k ine (q (q1,q2,...,qn))
Wherein qnThe joint angles read for robot joints electronic code disc.
Preferably, in the step 2 in anthropomorphic robot motion process actual body posture by being mounted on apery machine
The IMU sensor real-time monitoring trunk in device people thoracic cavity is obtained about the absolute pose θ of world coordinate system.
Preferably, in the step 3, when the actual track ZMP of anthropomorphic robot is in the sole of anthropomorphic robot, and
With at a distance from the track reference ZMP be less than D1, it is believed that anthropomorphic robot is in equilibrium state, does not need the shape of adjustment anthropomorphic robot
State.
Preferably, in the step 3, when anthropomorphic robot is rotated around tiptoe, if the practical posture of body and phase
The difference of posture is hoped to be less than D2When, determine that robot can restore balance by disturbance rejection control, when difference is greater than D2When, sentence
Determining robot will occur to fall down forward.
Preferably, in the step 3, when anthropomorphic robot is rotated around heel, if the practical posture of body and phase
The difference of posture is hoped to be less than D3When, determine that robot can restore balance by disturbance rejection control, when difference is greater than D3When, sentence
Determining robot will occur to fall down backward.
Preferably, described to be restored balance by disturbance rejection control including the fortune by ankle-joint, knee joint and waist
The dynamic function of realizing disturbance rejection.
Another aspect of the present invention provides a kind of anthropomorphic robot, including sensing system and controller, in which:
The sensing system includes:
It is mounted on the attitude transducer of robot trunk, for measuring the angle of trunk,
It is mounted on power/torque sensor of sole, for measuring the track ZMP,
It is mounted on the electronic code disc in each joint of lower limb, for measuring the actual motion angle in leg joint；
The controller can carry out the anthropomorphic robot according to the method described in any one of above technical scheme
Fall down detection and stability contorting.
The anthropomorphic robot that the present invention is mentioned falls down detection method, and the stable state of robot is quickly divided into and stablizes, is anti-
It the states such as disturbs, fall down, allowing the robot to select corresponding Motion Control Strategies according to different stable states, enhance apery
The adaptive capacity to environment of robot.
Detailed description of the invention
Fig. 1 is the sensing system schematic diagram of anthropomorphic robot of the invention.
Fig. 2 is that anthropomorphic robot is disturbed schematic diagram of classifying.
Specific embodiment
A specific embodiment of the invention is described further with reference to the accompanying drawing.
Terminology used in the present invention " anthropomorphic robot " refers mainly to apish form and behavior and the machine that manufactures and designs
People, general four limbs and trunk with apery.Anthropomorphic robot has the appearance of the mankind, is adapted to the life and work of the mankind
Environment can replace the mankind to complete various operations.
Term " ZMP " refers to point of zero moment (ZMP, Zero Moment Point), is exactly the presence of a point P on the ground, makes
Axis direction parallel to the ground is obtained, the point that the net torque as caused by inertia force (F=ma) and gravity (G=mg) is zero.
Term " IMU " refers to Inertial Measurement Unit, is measurement object triaxial attitude angle (or angular speed) and acceleration
Device.
Detection method is fallen down the present invention relates to a kind of anthropomorphic robot, is sensed using the posture for being mounted on robot trunk
Device 10 measures the angle of trunk, and the electronic code disc 20 for being mounted on each joint of lower limb measures the actual motion angle in leg joint,
Six-dimensional force/the torque sensor 30 for being mounted on sole measures the track ZMP, as shown in Figure 1.Specific calculating is as follows.
Optimal ZMP track [p in anthropomorphic robot motion processxr pyr] can by desired oint motion trajectory,
And the kinetic parameter of all constituent element of whole body calculates:
Wherein [xi yi zi] be i-th of connecting rod of anthropomorphic robot centroid position, i=1,2,3 ... N, N are robot
The connecting rod number that whole body has, pzFor the height on ground, when anthropomorphic robot on the ground when, pz=0.
The practical position ZMP [p in anthropomorphic robot operational processx py] can be by being fixed on six-dimensional force/power of biped
Square sensor 30 obtains, and calculation formula is as follows.
Wherein [pRx pRy] and [fRx fRx fRx] it is the six-dimensional force/torque sensor measurement position ZMP for being mounted on right crus of diaphragm
With the stress in three directions, [pLx pLy] and [fLx fLx fLx] it is the six-dimensional force/torque sensor measurement for being mounted on left foot
The stress of the position ZMP and three directions.
The attitude transducer 10 is the IMU sensor for being mounted on anthropomorphic robot thoracic cavity, and apery machine can be monitored in real time
Absolute pose θ of the device people trunk about world coordinate system, the expectation posture θ of robot trunkrIt can be worked as according to anthropomorphic robot
Preceding joint angles and positive kinematics, which calculate, to be obtained.
θr=Forward_k ine (q (q1,q2,...,qn))
Wherein qnThe joint angles read for robot joints electronic code disc 20.
The stable state of anthropomorphic robot is judged by setting the threshold value of anthropomorphic robot state change, sets D1It is imitative
Robot people's ZMP trajectory error threshold value, D2Threshold value when dumping forward for anthropomorphic robot body posture, D3For anthropomorphic robot
Threshold value when body posture is toppled over backward.When the actual track ZMP of anthropomorphic robot is in the sole of robot, and with reference
The distance of the track ZMP is less than D1, it is believed that anthropomorphic robot is in equilibrium state, does not need the state of adjustment anthropomorphic robot.
As the disturbance that anthropomorphic robot is subject to increases, it will deviate the practical track ZMP with reference to the track ZMP, be moved to
The edge of sole, since the actual track ZMP is sole six-dimensional force/torque sensor measurement as a result, when anthropomorphic robot is opened
Begin to rotate along sole edge, the track of the ZMP of measurement will be equal to the position at anthropomorphic robot sole edge, no longer become
Change.When anthropomorphic robot is rotated along tiptoe, py=Lf, LfFor anthropomorphic robot tiptoe away from force snesor installation center away from
From, similarly at this time can by anthropomorphic robot actual body posture and with reference to body posture between difference determine
The stable state of anthropomorphic robot.When anthropomorphic robot is rotated around tiptoe, if the practical posture of body and desired posture
Difference be less than D2When, determine that anthropomorphic robot can restore balance by disturbance rejection control, when difference is greater than D2When, determine
Anthropomorphic robot will occur to fall down forward.When anthropomorphic robot is rotated around heel, situation is similar, the difference of body posture
Become D3.The primary condition that anthropomorphic robot is fallen down is provided according to state when determining that anthropomorphic robot is fallen down, that is, falls down direction
With the speed of trunk,
What anthropomorphic robot was disturbed of different sizes can generate different influences to the equilibrium state of anthropomorphic robot.Such as
Shown in Fig. 2, the equilibrium state of anthropomorphic robot can be divided into three classes after being disturbed: small sample perturbations, compared with microvariations, larger disturb
It is dynamic.For different disturbances, anthropomorphic robot needs to take different control strategies.
When anthropomorphic robot is by small disturbance, original equilibrium state can be kept by being not required to adjustment.
When anthropomorphic robot is by lesser disturbance, can maintain to balance by the stability controller of itself, such as pass through
The function of disturbance rejection is realized in the movement of ankle-joint, knee joint and waist.
When disturbance continues growing, anthropomorphic robot, which is difficult to control by disturbance rejection, maintains Equilibrium, and falling down will be one
Inevitable result.
Embodiment 1
The following are proposed by the invention to fall down example of practical application of the detection method on anthropomorphic robot, this method benefit
It is detected with motion state of the sensor being mounted on anthropomorphic robot to anthropomorphic robot, including uses and be fixed on apery
Angle of the attitude transducer detection anthropomorphic robot upper body of robot trunk under world coordinate system, Gu use is scheduled on apery machine
The track ZMP in the six-dimensional force of device people's both feet/torque sensor detection anthropomorphic robot motion process, using being mounted on apery machine
The actual angle in each joint of lower limb in the electronic code disc detection anthropomorphic robot motion process of device people's joint of lower extremity.Specific inspection
Survey process is as follows.
1, the ZMP desired trajectory in anthropomorphic robot motion process is calculated, measures ZMP actual path, and calculate the two
Between error.ZMP desired trajectory [the p of anthropomorphic robotxr pyr] the expectation joint of anthropomorphic robot motion process can be passed through
Track, and form the motion calculation of the various pieces of anthropomorphic robot.
The practical track the ZMP [p of anthropomorphic robotx py] can be by being mounted on six-dimensional force/moment sensing of double-legged ankle
Device obtains.
Wherein [pRx pRy] and [fRx fRx fRx] it is the six-dimensional force/torque sensor measurement position ZMP for being mounted on right crus of diaphragm
With the stress in three directions, [pLx pLy] and [fLx fLx fLx] it is the six-dimensional force/torque sensor measurement for being mounted on left foot
The stress of the position ZMP and three directions.
Error between the desired track ZMP of anthropomorphic robot and the actual track ZMP are as follows:
ΔxZMP=pxr-px
ΔyZMP=pyr-py
Wherein ΔxZMPAnd ΔyZMPRespectively anthropomorphic robot in left and right directions with the ZMP error of direction of advance.
2, desired body posture θ in anthropomorphic robot motion process is calculatedr, measure real in anthropomorphic robot motion process
The body posture θ on border, and calculate the error of the two.Desired body posture θ in anthropomorphic robot motion processrIt can be by right
Positive kinematics are asked to obtain in each joint:
θr=Forward_kine (q (q1,q2,...,qn))
Wherein qnThe joint angles read for robot joints electronic code disc.
The actual body posture θ of anthropomorphic robot motion process dress can be by being mounted on the IMU sensor measurement of upper body.
3, D is set1For anthropomorphic robot ZMP trajectory error threshold value, D2When dumping forward for anthropomorphic robot body posture
Threshold value, D3Threshold value when toppling over backward for anthropomorphic robot body posture.According to the actual parameter given threshold of anthropomorphic robot
Size are as follows: D1=2cm, D2=6 °, D3=8 °.Sentenced by the threshold value model of the setting stable state current to anthropomorphic robot
It is fixed.
1) when the actual track ZMP of anthropomorphic robot is in the sole of anthropomorphic robot, and with the track reference ZMP away from
From less than D1, it is believed that anthropomorphic robot is in equilibrium state, does not need the state of adjustment anthropomorphic robot.
2) as the disturbance that anthropomorphic robot is subject to increases, it will deviate the practical track ZMP with reference to the track ZMP, it is mobile
To the edge of sole, since the actual track ZMP is sole six-dimensional force/torque sensor measurement as a result, working as anthropomorphic robot
Start to rotate along sole edge, the track of the ZMP of measurement will be equal to the position on robot foot bottom edge edge, no longer become
Change.When anthropomorphic robot is rotated along tiptoe, py=Lf, LfFor anthropomorphic robot tiptoe away from force snesor installation center away from
From, at this time can by anthropomorphic robot actual body posture and with reference to body posture between difference determine apery machine
The stable state of device people.If the difference of the practical posture of body and desired posture is less than D2When, determine that robot can pass through
Disturbance rejection controls to restore balance, when difference is greater than D2When, determine that anthropomorphic robot will occur to fall down forward.
3) when anthropomorphic robot is rotated around heel, py=Lr, wherein LrFor in the installation of robot foot heel distance force snesor
The distance of the heart.The error threshold of anthropomorphic robot body posture becomes D3.If the difference of the practical posture of body and desired posture
Value is less than D3When, determine that anthropomorphic robot can restore balance by disturbance rejection control, when difference is greater than D3When, determine apery
Robot will occur to fall down backward.
4, what anthropomorphic robot was disturbed of different sizes can generate different influences to the equilibrium state of anthropomorphic robot.
As shown in Fig. 2, the equilibrium state of anthropomorphic robot can be divided into three classes after being disturbed: small sample perturbations, compared with microvariations, larger
Disturbance.For different disturbances, anthropomorphic robot needs to take different control strategies.When anthropomorphic robot is disturbed by small
Dynamic, original equilibrium state can be kept by being not required to adjustment.It, can be by itself stabilization when anthropomorphic robot is by lesser disturbance
Controller maintains balance, such as the function of disturbance rejection is realized by the movement of ankle-joint, knee joint and waist.When disturbance after
Continuous to increase, anthropomorphic robot, which is difficult to control by disturbance rejection, maintains Equilibrium, and falling down will be an inevitable result.
The invention is not limited to above embodiment, and those skilled in the art are smart without prejudice to the present invention
Equivalent deformation or replacement can be also made under the premise of mind, these equivalent variation or replacement are all contained in the claim of this application institute
In the range of restriction.
Claims (10)
1. a kind of anthropomorphic robot falls down detection and stable control method, comprising:
Step 1, the ZMP desired trajectory in anthropomorphic robot motion process is calculated, measures ZMP actual path, and calculate the two
Between error；
Step 2, desired body posture in anthropomorphic robot motion process is calculated, is measured practical in anthropomorphic robot motion process
Body posture, and the error both calculated；
Step 3, anthropomorphic robot ZMP trajectory error threshold value D is set1, threshold value when anthropomorphic robot body posture dumps forward
D2And threshold value D of anthropomorphic robot body posture when toppling over backward3；Pass through the threshold value model of the setting stabilization current to robot
State is determined.
2. a kind of anthropomorphic robot according to claim 1 falls down detection and stable control method, which is characterized in that described
Optimal ZMP track [p in anthropomorphic robot motion process in step 1xr pyr] by desired oint motion trajectory, and
The kinetic parameter of all constituent element of whole body calculates, and formula is as follows:
Wherein [xi yi zi] be i-th of connecting rod of anthropomorphic robot centroid position, pzFor the height on ground, when anthropomorphic robot exists
When on ground, pz=0.
3. a kind of anthropomorphic robot according to claim 1 falls down detection and stable control method, which is characterized in that described
The practical position ZMP [p in step 1 in anthropomorphic robot operational processx py] by being fixed on six-dimensional force/moment sensing of biped
Device obtains, and calculation formula is as follows:
Wherein [pRx pRy] and [fRx fRx fRx] it is the six-dimensional force/torque sensor measurement position ZMP and three for being mounted on right crus of diaphragm
The stress in a direction, [pLx pLy] and [fLx fLx fLx] it is the six-dimensional force/torque sensor measurement position ZMP for being mounted on left foot
Set the stress with three directions.
4. a kind of anthropomorphic robot according to claim 1 falls down detection and stable control method, which is characterized in that described
The desired body posture of anthropomorphic robot is obtained according to the current joint angles of anthropomorphic robot and positive kinematics calculating in step 2
:
θr=Forward_k ine (q (q1,q2,...,qn))
Wherein qnThe joint angles read for robot joints electronic code disc.
5. a kind of anthropomorphic robot according to claim 1 falls down detection and stable control method, which is characterized in that described
In step 2 in anthropomorphic robot motion process actual body posture by being mounted on the IMU sensor in anthropomorphic robot thoracic cavity
Real-time monitoring trunk is obtained about the absolute pose θ of world coordinate system.
6. a kind of anthropomorphic robot according to claim 1 falls down detection and stable control method, which is characterized in that described
In step 3, when the actual track ZMP of anthropomorphic robot is in the sole of anthropomorphic robot, and at a distance from the track reference ZMP
Less than D1, it is believed that anthropomorphic robot is in equilibrium state, does not need the state of adjustment anthropomorphic robot.
7. a kind of anthropomorphic robot according to claim 1 falls down detection and stable control method, which is characterized in that described
In step 3, when anthropomorphic robot is rotated around tiptoe, if the difference of the practical posture of body and desired posture is less than D2
When, determine that robot can restore balance by disturbance rejection control, when difference is greater than D2When, determine robot will occur to
Before fall down.
8. a kind of anthropomorphic robot according to claim 1 falls down detection and stable control method, which is characterized in that described
In step 3, when anthropomorphic robot is rotated around heel, if the difference of the practical posture of body and desired posture is less than D3
When, determine that robot can restore balance by disturbance rejection control, when difference is greater than D3When, determine robot will occur to
After fall down.
9. a kind of anthropomorphic robot according to claim 7 or 8 falls down detection and stable control method, which is characterized in that
It is described to be restored balance by disturbance rejection control including realizing disturbance rejection by the movement of ankle-joint, knee joint and waist
Function.
10. a kind of anthropomorphic robot, including sensing system and controller, it is characterised in that:
The sensing system includes:
It is mounted on the attitude transducer of robot trunk, for measuring the angle of trunk,
It is mounted on power/torque sensor of sole, for measuring the track ZMP,
It is mounted on the electronic code disc in each joint of lower limb, for measuring the actual motion angle in leg joint；
The controller can method according to claim 1 to 9 the anthropomorphic robot is carried out to fall down inspection
Survey and stability contorting.
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| CN109941371A (en) * | 2019-04-22 | 2019-06-28 | 青岛黄海学院 | A biped robot and its walking control method |
| CN110209183A (en) * | 2019-06-04 | 2019-09-06 | 吉林大学 | A kind of hexapod robot unstability adjusting algorithm based on dual-threshold voltage ZMP |
| CN110405769A (en) * | 2019-08-05 | 2019-11-05 | 北京理工大学 | A heuristic humanoid robot fall protection method |
| CN111113379A (en) * | 2019-12-13 | 2020-05-08 | 桂林凯歌信息科技有限公司 | Robot based on three-axis acceleration anti-falling protection and control method thereof |
| CN111291831A (en) * | 2020-03-06 | 2020-06-16 | 北京理工大学 | Humanoid robot tumbling prediction method |
| CN111409073A (en) * | 2020-04-02 | 2020-07-14 | 深圳国信泰富科技有限公司 | Tumbling self-recovery method and system for high-intelligence robot |
| CN112405568A (en) * | 2020-10-20 | 2021-02-26 | 同济大学 | Humanoid robot falling prediction method |
| CN112720447A (en) * | 2019-10-14 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Zero moment point jitter processing method and device, robot and storage medium |
| CN112757299A (en) * | 2020-12-30 | 2021-05-07 | 乐聚(深圳)机器人技术有限公司 | Method and device for acquiring centroid trajectory, robot and storage medium |
| CN112859904A (en) * | 2021-01-25 | 2021-05-28 | 乐聚(深圳)机器人技术有限公司 | Method, device and equipment for recovering standing posture of robot and storage medium |
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