CN109634100A - 仿人机器人行走加速度补偿方法、装置及仿人机器人 - Google Patents
仿人机器人行走加速度补偿方法、装置及仿人机器人 Download PDFInfo
- Publication number
- CN109634100A CN109634100A CN201811648996.1A CN201811648996A CN109634100A CN 109634100 A CN109634100 A CN 109634100A CN 201811648996 A CN201811648996 A CN 201811648996A CN 109634100 A CN109634100 A CN 109634100A
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- Prior art keywords
- joint
- acceleration
- anthropomorphic robot
- joint angular
- connecting rod
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- 230000001133 acceleration Effects 0.000 title claims abstract description 133
- 238000000034 method Methods 0.000 title claims abstract description 43
- 239000011159 matrix material Substances 0.000 claims abstract description 28
- 239000013598 vector Substances 0.000 claims description 35
- 230000005021 gait Effects 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 9
- 238000010030 laminating Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 5
- 230000006870 function Effects 0.000 description 10
- 238000004422 calculation algorithm Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 210000001699 lower leg Anatomy 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
Description
计时(s) | 仿人机器人状态 |
1~30 | 单脚支撑期 |
31~35 | 双脚支撑期 |
…… | …… |
力矩 | 前馈电流值 |
τ<sup>1</sup><sub>A</sub> | Q<sub>1</sub> |
τ<sup>2</sup><sub>A</sub> | Q<sub>2</sub> |
…… | …… |
τ<sup>i</sup><sub>A</sub> | Q<sub>i</sub> |
Claims (10)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811648996.1A CN109634100B (zh) | 2018-12-30 | 2018-12-30 | 仿人机器人行走加速度补偿方法、装置及仿人机器人 |
US16/669,551 US11179855B2 (en) | 2018-12-30 | 2019-10-31 | Acceleration compensation method for humanoid robot and apparatus and humanoid robot using the same |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811648996.1A CN109634100B (zh) | 2018-12-30 | 2018-12-30 | 仿人机器人行走加速度补偿方法、装置及仿人机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109634100A true CN109634100A (zh) | 2019-04-16 |
CN109634100B CN109634100B (zh) | 2021-11-02 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201811648996.1A Active CN109634100B (zh) | 2018-12-30 | 2018-12-30 | 仿人机器人行走加速度补偿方法、装置及仿人机器人 |
Country Status (2)
Country | Link |
---|---|
US (1) | US11179855B2 (zh) |
CN (1) | CN109634100B (zh) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110039544A (zh) * | 2019-04-28 | 2019-07-23 | 南京邮电大学 | 基于三次样条插值的仿人足球机器人步态规划 |
CN110328689A (zh) * | 2019-07-09 | 2019-10-15 | 达闼科技(北京)有限公司 | 机器人平衡检测方法、装置、设备及机器人 |
CN110758589A (zh) * | 2019-10-29 | 2020-02-07 | 北京理工大学 | 一种基于磁流变液脚底板的双足机器人稳定行走控制方法 |
CN111558941A (zh) * | 2020-07-14 | 2020-08-21 | 深圳市优必选科技股份有限公司 | 浮动基动力学前馈控制方法、装置和多足机器人 |
CN113050409A (zh) * | 2019-12-28 | 2021-06-29 | 深圳市优必选科技股份有限公司 | 仿人机器人及其控制方法以及计算机可读存储介质 |
CN113103229A (zh) * | 2021-03-30 | 2021-07-13 | 鲁东大学 | 机器人连杆上力对轴之矩的实现方法 |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111880544B (zh) * | 2020-08-07 | 2024-03-22 | 深圳市优必选科技股份有限公司 | 仿人机器人步态规划方法、装置和仿人机器人 |
CN112199827B (zh) * | 2020-09-24 | 2024-02-27 | 慧灵科技(深圳)有限公司 | 机械臂的动力学仿真方法、装置、电子设备及存储介质 |
CN112140111B (zh) * | 2020-09-24 | 2022-08-19 | 珠海格力智能装备有限公司 | 机器人的末端负载质心的确定方法 |
CN112790951B (zh) * | 2020-12-30 | 2023-03-10 | 上海傅利叶智能科技有限公司 | 识别重心的方法、辅助训练的方法及其系统、智能拐杖 |
CN113283116B (zh) * | 2021-06-16 | 2022-08-05 | 北京理工大学 | 多信息融合的人体运动分析方法和装置 |
CN114326769B (zh) * | 2021-12-28 | 2024-03-29 | 深圳市优必选科技股份有限公司 | 机器人运动矫正方法及装置、机器人控制设备和存储介质 |
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110039544A (zh) * | 2019-04-28 | 2019-07-23 | 南京邮电大学 | 基于三次样条插值的仿人足球机器人步态规划 |
CN110328689A (zh) * | 2019-07-09 | 2019-10-15 | 达闼科技(北京)有限公司 | 机器人平衡检测方法、装置、设备及机器人 |
CN110758589A (zh) * | 2019-10-29 | 2020-02-07 | 北京理工大学 | 一种基于磁流变液脚底板的双足机器人稳定行走控制方法 |
CN113050409A (zh) * | 2019-12-28 | 2021-06-29 | 深圳市优必选科技股份有限公司 | 仿人机器人及其控制方法以及计算机可读存储介质 |
CN113050409B (zh) * | 2019-12-28 | 2023-12-01 | 深圳市优必选科技股份有限公司 | 仿人机器人及其控制方法以及计算机可读存储介质 |
CN111558941A (zh) * | 2020-07-14 | 2020-08-21 | 深圳市优必选科技股份有限公司 | 浮动基动力学前馈控制方法、装置和多足机器人 |
CN111558941B (zh) * | 2020-07-14 | 2020-09-29 | 深圳市优必选科技股份有限公司 | 浮动基动力学前馈控制方法、装置和多足机器人 |
CN113103229A (zh) * | 2021-03-30 | 2021-07-13 | 鲁东大学 | 机器人连杆上力对轴之矩的实现方法 |
Also Published As
Publication number | Publication date |
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US11179855B2 (en) | 2021-11-23 |
US20200206944A1 (en) | 2020-07-02 |
CN109634100B (zh) | 2021-11-02 |
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