CN111546374A - Active traction protection system applied to walking test of foot type robot - Google Patents
Active traction protection system applied to walking test of foot type robot Download PDFInfo
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- CN111546374A CN111546374A CN202010215531.8A CN202010215531A CN111546374A CN 111546374 A CN111546374 A CN 111546374A CN 202010215531 A CN202010215531 A CN 202010215531A CN 111546374 A CN111546374 A CN 111546374A
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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
- B25J19/0095—Means or methods for testing manipulators
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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
Abstract
The application discloses be applied to initiative traction protection system of sufficient robot walking test includes: the robot connecting device is connected with the foot type robot through at least one soft rope; at least two traction protection devices connected to the robot connection device; the traction protection device comprises: at least one traction rope connected to the robot linkage; at least one set of pulley mechanisms for guiding the traction ropes; a servo motor for driving the release and extension of the traction rope; the active traction control board controls the servo motor to control the length of the traction rope, and judges whether the robot enters a protection state or not according to the position and posture information of the robot; and after entering the protection state, controlling a servo motor to pull a traction rope according to the position information of the robot and the rope length information of the protection state. The walking test system is composed of a modularized traction protection device and a robot connecting device, and active traction protection of a walking test of the foot type robot can be realized by matching a traction protection control algorithm.
Description
Technical Field
The invention belongs to the field of robot testing equipment, and particularly relates to an active traction protection system applied to walking test of a foot type robot.
Background
The foot robot interacts with the ground in a foot end discrete point mode, can better adapt to the working and living scenes of human beings compared with the traditional wheel robot, and is the ultimate form for assisting and replacing the work of the human beings by the mobile robot. In recent years, a large number of foot type robot prototypes are emerged internationally, and the research, development and application popularization of the foot type robot form a hot tide in the robot field.
The discrete point interaction mode of the foot robot and the ground brings environmental adaptability advantages to the foot robot, meanwhile, the instability of the system is increased to a certain degree, the difficulty is increased for the motion control of the robot, and the motion control of the foot robot is the key and difficult point in the field. Due to the unstable property of the foot type robot system, a protection system needs to be configured for the robot in the walking control development and test process, and the robot is prevented from falling down under the condition that a walking control algorithm is not mature, so that the mechanical structure, the electric drive and other hardware of the robot are prevented from being damaged.
The existing walking test protection system can be divided into two major categories of hard constraint and soft traction according to a connection mode, wherein the hard constraint mainly aims at a special test target and a test scene, a robot main body is connected to a fixed structural body, only the degree of freedom below 2 is reserved between the robot and the structural body, and the robot is limited in motion under the scheme of the test protection device and cannot realize complex and various motion modes; in addition, the other soft traction mode mainly aims at a test scene of three-dimensional omnidirectional robot motion, a robot main body is hung under a portal frame through a soft rope, the soft rope does not exert force when the robot normally runs, the soft rope is protected when the robot falls down, in order to adapt to the walking of the robot in a larger range, a sliding rail device is usually required to be configured on the portal frame, and therefore the soft rope can move along with the robot.
In the prior art, a patent application document with publication number CN108001552A provides a foot type robot walking protection device, which can realize walking protection in a large range, but the mechanical structure is bulky, and a specially-assigned person is required to perform follow-up operation on the protection device in the test process; in addition, the cross-gantry foot type robot testing platform provided by the patent application with the publication number of CN 110375733 a is mainly used for performing posture calibration and gait test on a foot type robot, and is not suitable for walking test.
Disclosure of Invention
Aiming at the defects existing in the soft traction scheme, the active traction protection system applied to the walking test of the foot type robot is provided, a modularized active traction mechanism and a matched traction control algorithm are designed, the traction protection scheme is provided for the walking test of the foot type robot under different test environments and test requirements, the size of the protection system is reduced, and the automation degree of the protection system is improved.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an active traction protection system applied to a walking test of a legged robot, comprising:
the robot connecting device is connected with the foot type robot through at least one soft rope;
at least two traction protection devices connected to the robot connecting device;
the traction protection device comprises:
at least one traction rope connected to the robot linkage;
at least one set of pulley mechanisms guiding said traction ropes;
a servo motor for driving the release and stretching of the traction rope;
the active traction control panel controls the servo motor to control the length of a traction rope, and judges whether the robot enters a protection state or not according to the posture information of the foot robot; and after entering the protection state, controlling a servo motor to pull the traction rope according to the position information of the foot type robot and the rope length information of the protection state.
The active traction protection system applied to the walking test of the foot type robot is composed of a modularized traction protection device and a robot connecting device, and the active traction protection of the walking test of the foot type robot can be realized by matching a traction protection control algorithm.
In this application, the robot connecting device is connected through the soft rope between sufficient robot, avoids influencing the walking test of robot. The flexible cord may be one or more.
The traction protection device pulls the robot connecting device through the traction rope, and protection is provided for the robot when the robot topples. The active traction control board controls the servo motor to pull the traction rope according to the pose information change generated when the robot topples over, so that traction protection is provided for the robot.
In the traction protection device, a modular assembly is adopted, the traction rope can be one or more, and the corresponding pulley mechanism can also be one or more groups according to the arrangement of the traction rope.
Preferably, the robot connecting device is positioned directly above the legged robot and connected to the legged robot by a plurality of parallel flexible ropes.
In a more preferred embodiment, the robot connecting device is connected with the legged robot through a plurality of soft ropes, for example 2 or 4 ropes, so that the robot pose can be corrected more conveniently during traction protection.
Selecting a proper number of traction protection devices to be installed according to the test space; preferably, the number of the traction protection devices is 2-4, and the traction protection devices are arranged in different directions of the test space.
The robot connecting device is connected with 2-4 modularized traction protection devices according to the test requirement, and particularly connected with a traction rope of the traction protection device; the other end of the robot connecting device is connected with the foot type robot body by using a soft rope, so that the connection of a plurality of modularized traction protection devices and the foot type robot is realized.
In the application occasion of foot formula robot walking test, often need pull protection device hoist and mount in the robot top, provide ascending traction force when the robot falls or is about to fall, consequently above-mentioned fixed pulley should arrange at the top edge in experimental space according to actual demand. Therefore, the description of the modularized traction protection device is completed, in practical application, 2-4 modules are required to be selected according to test requirements to build a traction protection system, the modules correspond to different numbers of modules, and the required robot connecting device also needs to select a corresponding design scheme. The following illustrates the relationship between the test scenario and the number of modules and the robot linkage:
1) for the test occasion that only the foot type robot walks in the fixed direction, 2 modularized traction protection devices are needed to build a traction protection system. The fixed pulleys are arranged right above the spaces at two ends of a straight line where a robot walking route is located, two soft ropes penetrate through the respective fixed pulleys and are respectively connected to a robot connecting device, the robot connecting device is a light high-strength connecting rod, fixing devices are designed at two ends of the connecting rod and are connected with the two soft ropes, a rope fixing device is designed in the middle of the connecting rod, and the robot connecting device and a robot body are connected through the fixing devices by alternative light soft ropes;
2) for a test occasion where the legged robot needs to walk in all directions, taking a common rectangular room as an example, 4 modularized traction protection devices need to be arranged in a rectangular space to complete a traction protection system. In order to realize traction protection of the robot moving in all places of the space, fixed pulleys of 4 modules are respectively arranged at 4 vertexes above the cuboid space, 4 soft ropes pass through the respective fixed pulleys and are respectively connected to a robot connecting device, the robot connecting device is a light high-strength rectangular frame or a rectangular flat plate, and fixing devices are designed at four corners and are connected with the 4 soft ropes; and a light soft rope needs to be replaced to realize connection between the robot connecting device and the robot body.
In this application, modular traction protection device comprises devices such as traction rope, pulley mechanism, servo motor and controller, initiative traction control board, through by initiative traction control board control servo motor, and then realizes the length control to single traction rope.
Preferably, the active traction control panel comprises:
the power supply module is used for supplying power to the active traction control panel and the servo motor;
the communication module is used for communicating with the foot type robot to acquire the state information of the robot;
and the operation module calculates the length of the traction rope required by the corresponding traction protection device according to the robot state information provided by the communication module and sends the length to the servo motor.
The operation module obtains real-time state information of the robot by using a traction protection control algorithm, calculates the length of a traction rope required by each modular traction protection device, and particularly operates in an active traction control panel of the modular traction protection device.
In this application, initiative traction control board comprises power module, communication module and operation module, power module is used for supplying power for traction protection control board and servo control system (servo motor and controller), communication module is used for carrying out the communication with the control system of robot body, acquire the state information of robot and send to operation module, operation module is used for receiving the robot state information data that communication module provided, operation traction protection control algorithm, obtain the required traction rope length of each modularization traction protection device, and send to servo controller. The servo controller is connected with the power supply module to obtain power supply and connected with the operation module to obtain servo control information, and the servo controller controls the servo motor to rotate in a position control mode. The output shaft of the servo motor is coaxially provided with a roller, a soft rope with a certain length is wound on the roller according to the actual application requirement, and the soft rope penetrates through one or more fixed pulleys to adjust the direction and is finally connected to the robot connecting device.
Preferably, the robot is initialized in the upright state of the legged robot, the traction ropes in the traction protection devices are kept tensioned to the straight state of the soft ropes according to the position information, so that the robot connecting device is kept horizontal, and the length data of the traction ropes are recorded.
Preferably, the operation module calculates and acquires rope length information in a protection state and a non-protection state according to the position information of the foot robot, and the specific operation method is as follows:
the calculation formula of the distance between two points A (x1, y1, z1) and B (x2, y2, z2) in the space is given as f (A, B) ═ sqrt [ (x1-x2) ^2+ (y1-y2) ^2+ (z1-z2) ^2 ];
for the unprotected state, when the legged robot moves to (x, y), the coordinate positions of four connection points of the robot connecting device are respectively Q1(x-m/2, y + m/2, h + S1), Q2(x-m/2, y-m/2, h + S1), Q3(x + m/2, y-m/2, h + S1) and Q4(x + m/2, y + m/2, h + S1), and the solved rope lengths are respectively l1 ═ f (Q1, P ═ 1), l2 ═ f (Q2, P2), l3 ═ f (Q3, P3), l4 ═ f (Q4, P4);
for the protection state, when the legged robot moves to (x, y), the robot connecting device moves upwards to the height of (h + S0), the coordinate positions of the four connecting points are Q1 '(x-m/2, y + m/2, h + S0), Q2' (x-m/2, y-m/2, h + S0), Q3 '(x + m/2, y-m/2, h + S0) and Q4' (x + m/2, y + m/2, h + S0), and the solving rope lengths are l1 ═ f (Q1 ', P1), l2 ═ f (Q2', P2), l3 ═ f (Q3 ', P3), l4 ═ f (Q4', P4).
Preferably, the computing module calculates the rope lengths l1, l2, l3 and l4 in the unprotected state according to the current position information of the legged robot, and obtains the rope length pulled by the traction rope at the power-on time by subtracting the calculated rope length from the initialized rope length information.
Preferably, in the testing process of the legged robot, the computing module updates the rope length information l1, l2, l3, l4, l1 ', l 2', l3 'and l 4' according to the robot position information (x, y) acquired in real time, and controls the release and stretching of the traction rope, so that the robot connecting device moves along with the robot.
Preferably, the active traction control board judges whether the robot is in a stable walking state according to the pose information of the foot type robot;
when the pose information exceeds a threshold value for stable walking, the robot is judged to fall down, the traction protection system enters a protection state, and the lengths of the traction ropes are adjusted to l1 ', l 2', l3 'and l 4', so that the foot type robot is protected.
Compared with the prior walking test protection device, the technical scheme of the invention has the following beneficial effects:
1) the active traction protection system is composed of the modularized traction protection devices, and a corresponding number of modules can be selected and matched according to the needs of an experimental scene by depending on the split design of the active traction protection system, so that the active traction protection system is high in flexibility, small in size and convenient and quick to install;
2) the active traction protection system can realize the follow-up of the protection device and the robot, can realize the dumping protection according to the state of the robot, does not need manual operation, and can save the labor cost of experiments;
3) the active traction protection system is suitable for robots of different types and sizes, can be adapted to different robots only by adjusting system parameters according to information such as the size of the robot, protection requirements and the like, and is high in universality.
Drawings
FIG. 1 is a schematic diagram of an active traction protection system;
FIG. 2 is a schematic view of a modular draft protection device;
FIG. 3 is a schematic diagram of functional module relationships of an active traction control panel;
FIG. 4 is a schematic top left view of the layout of a walking test active traction system of a biped robot in a rectangular space;
FIG. 5 is a schematic front view of the layout of the walking test active traction system of the biped robot in a rectangular space;
FIG. 6 is a schematic right side view of the layout of the walking test active traction system of the biped robot in the rectangular space.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments disclosed below. The terms "upper", "lower", "left" and "right" as used herein are set forth with reference to the accompanying drawings, and it is understood that the presence of the terms does not limit the scope of the present invention.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in the attached drawing 1, which is a schematic structural diagram of an active traction protection system, a robot connecting device 1-1 is connected with 2-4 modular traction protection devices 1-2 through traction ropes 1-3 according to test requirements; the other end of the robot connecting device is connected with the foot type robot body 1-5 by using a soft rope 1-4, so that the connection of a plurality of modularized traction protection devices and the foot type robot is realized.
As shown in fig. 2, which is a schematic view of a modular traction protection device, the modular traction protection device is composed of a traction rope 1-3, a pulley mechanism 2-2, a servo motor and controller 2-3, an active traction control panel 2-4 and the like, and the servo motor 2-3 is controlled by the active traction control panel 2-4, so that the length of a single traction rope 1-3 is controlled.
More specifically, a schematic diagram of a functional module relationship of the active traction control panel is shown in fig. 3, the active traction control panel is composed of a power module, a communication module and an operation module, a thick solid line in the diagram is a power line, a thin solid line is a signal line, a dotted line is wireless communication, and an arrow direction indicates an information flow direction. The power module is used for supplying power for the traction control panel and a servo control system (a servo motor and a controller), the communication module is used for communicating with the control system of the robot body, state information of the robot is obtained and sent to the operation module, the operation module is used for receiving robot state information data provided by the communication module, a traction protection control algorithm is operated, the length of a traction rope required by each modularized traction protection device is obtained, and the traction rope is sent to the servo controller in a position pulse mode. The servo controller is connected with the power supply module to obtain power supply and connected with the operation module to obtain servo control information, and the servo controller controls the servo motor to rotate in a position control mode. An output shaft of the servo motor is connected with the idler wheel through a transmission device, a soft rope with a certain length is wound on the idler wheel according to actual application requirements, and the soft rope penetrates through one or more fixed pulleys to adjust the direction and is finally connected to the robot connecting device.
As shown in fig. 4, for a test occasion where a legged robot needs to walk in all directions, a common rectangular room and a biped robot are taken as examples for explanation, 4 modularized traction protection devices complete traction protection systems arranged at four corners of a rectangular space, 4 fixed pulleys 2-2 of modules are respectively arranged at 4 vertexes above the rectangular space, 4 traction ropes 1-3 pass through the respective fixed pulleys and are respectively connected to a robot connecting device 1-1, the robot connecting device is a light high-strength rectangular frame or a rectangular flat plate, and fixing devices are designed at four corners and are connected with the 4 traction ropes; the robot connecting device and the robot body are connected by using light soft ropes 1-4.
The description of the modular traction protection device and the robot connecting device is completed, and the traction protection control algorithm and the specific implementation flow are described below by taking the walking test active traction requirement of the legged robot in the rectangular space as an example.
First, it is stated that the active traction protection system described in this application relies on communication with the robot body, and the motion control system of the robot body can output real-time position information of the robot and IMU information located at the trunk. In the test process, the communication module of the active traction control board of each module keeps communication with the robot body motion control system, obtains real-time position information and IMU information of the robot body, and sends the information to the operation module of the active traction control board; the operation module receives the information, and combines the set length, width and height information of the test space, the height information of the robot and the length information of the rope between the robot and the robot connecting device to carry out space geometry calculation to obtain the length control information of the traction rope under the following two states:
1) and (4) non-protection state: the robot connecting device is kept horizontal above the robot body, and a rope between the robot connecting device and the robot is in a loose state;
2) and (4) protection state: the robot connecting device is kept horizontal above the robot body, and the rope between the robot connecting device and the robot is tensioned to exert force, so that the foot end of the robot is slightly lifted off the ground.
In the test process, the 4 modularized traction protection devices resolve the two states in real time, judge the state of the robot body according to the IMU information, and when the IMU information of the robot shows that the robot has a tendency of falling down, the 4 modularized traction protection devices are switched to a protection state at the same time, the height of the robot connecting device is increased, the robot connecting device is protected and kept static, and a user is waited to manually remove the protection state; when the IMU information of the robot does not show that the robot has a falling tendency, the 4 modularized traction protection devices maintain a non-protection state, and the robot connecting device is controlled to move along with the robot.
As shown in fig. 5 and fig. 6, which are the front view and the right view of fig. 4, respectively, for convenience of explaining the algorithm, variables required for operation are labeled in fig. 4, 5, and 6, and labeled physical quantity information is:
l, W and H are respectively the length, the width and the height of a rectangular space, a rectangular coordinate system is established by taking the vertex of the cuboid at the lower left corner of the figure as a coordinate origin, the right direction along the length direction is the positive direction of an x axis, the inward direction along the width direction is the positive direction of a y axis, and the upward direction along the height direction is the positive direction of a z axis;
m and n are respectively the length and the width of the rectangular robot connecting device;
l1, l2, l3, l4 are the lengths of the ropes from the fixed pulleys to the robot linkage, respectively;
h is the vertical height of the robot rope mounting point in the robot standing state;
s0 is the vertical distance between the robot connecting device and the robot rope mounting point when the system is in a tensioning protection state, and S1 is the vertical distance between the robot connecting device and the robot rope mounting point when the system is in a non-protection state;
the projection position of the robot on the xy plane is (x, y);
the four vertexes above the cuboid are respectively marked as P1, P2, P3 and P4; the four mounting points of the robot connecting device are respectively marked as Q1, Q2, Q3 and Q4;
for convenience of explanation, positional deviations between the fixed pulley mounting positions and the four apex angles of the cube are ignored in the following calculations, i.e., the coordinates of the four fixed pulleys are P1(0, W, H), P2(0,0, H), P3(L,0, H), and P4(L, W, H), respectively.
The working process of the active traction protection system in this embodiment is described in detail by combining with an active traction protection control algorithm:
1) after the system layout is completed in the brand new space, the system initialization is first performed. The robot keeps the upright state of a normal walking posture, the position where the robot is located is marked as (x0, y0), motors of all modules are manually controlled, ropes are controlled in a stepping mode to be tensioned, the robot connecting device is lifted to the height of (S0+ h) and kept horizontal, data of a servo motor coding device at the moment are recorded as an initial state, and the length data of four ropes are l10, l20, l30 and l 40;
2) for the real-time position (x, y) of the robot, performing space geometry calculation to respectively obtain the rope length information of a protection state and a non-protection state, wherein the specific operation method comprises the following steps:
giving a calculation formula of the distance between two points A (x1, y1, z1) and B (x2, y2, z2) in the space as f (A, B) ═ sqrt [ (x1-x2) ^2+ (y1-y2) ^2+ (z1-z2) ^2 ];
for the non-protection state, when the robot moves to (x, y), the coordinate positions of four connection points of the robot connecting device are respectively Q1(x-m/2, y + m/2, h + S1), Q2(x-m/2, y-m/2, h + S1), Q3(x + m/2, y-m/2, h + S1) and Q4(x + m/2, y + m/2, h + S1), and the solved rope lengths are respectively l1 ═ f (Q1, P1), l2 ═ f (Q2, P2), l3 ═ f (Q3, P3), l4 ═ f (Q4, P4);
for the protection state, when the robot moves to (x, y), the robot connecting device moves upwards to (h + S0) height, the coordinate positions of the four connecting points are Q1 '(x-m/2, y + m/2, h + S0), Q2' (x-m/2, y-m/2, h + S0), Q3 '(x + m/2, y-m/2, h + S0) and Q4' (x + m/2, y + m/2, h + S0), the solving rope lengths are l1 '═ f (Q1', P1), l2 '═ f (Q2', P2), l3 '═ f (Q3', P3), l4 '═ f (Q4', P4), respectively;
3) when the robot is powered on and used, the system calculates the rope lengths l1, l2, l3 and l4 in the unprotected state according to the current robot position information, and makes a difference with the initialized rope length information l10, l20, l30 and l40, dl1 is l1-l10, dl2 is l2-l20, dl3 is l3-l30, and dl4 is l4-l40, difference information is sent to a servo driver, the servo driver calculates needed rotation position information at the power-on time according to the encoding device data and the difference value recorded during initialization, and the rope is pulled to achieve the needed rope lengths l1, l2, l3 and l 4;
4) in the test process, according to the robot position information (x, y) obtained in real time, rope length information l1, l2, l3, l4, l1 ', l 2', l3 'and l 4' are updated, and the robot connecting device moves along with the robot;
5) in the testing process, the pose information of the robot is constantly acquired, specifically including but not limited to IMU information (three-axis acceleration information and three-axis angular velocity information) of the trunk of the robot, and a corresponding threshold value can be set according to the pose information of the robot to judge whether the robot is in a stable walking state. When the pose information of the robot exceeds the stable walking threshold value and is judged to fall down, the traction protection system is switched to a protection state, the traction ropes of the modules are in the lengths of l1 ', l 2', l3 'and l 4', the protection of the robot is realized, after the protection state is switched, the protection state is manually released after the robot is adjusted by a user, and the traction ropes of the modules are restored to the lengths of l1, l2, l3 and l 4.
The above description is only exemplary of the preferred embodiments of the present invention, and is not intended to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An active traction protection system applied to walking test of a legged robot, comprising:
the robot connecting device is connected with the foot type robot through at least one soft rope;
at least two traction protection devices connected to the robot connecting device;
the traction protection device comprises:
at least one traction rope connected to the robot linkage;
at least one set of pulley mechanisms guiding said traction ropes;
a servo motor for driving the release and stretching of the traction rope;
the active traction control panel controls the servo motor to control the length of a traction rope, and judges whether the robot enters a protection state or not according to the posture information of the foot robot; and after entering the protection state, controlling a servo motor to pull the traction rope according to the position information of the foot type robot and the rope length information of the protection state.
2. The active traction protection system as claimed in claim 1, wherein the robot connecting device is located directly above the legged robot and connected to the legged robot via a plurality of parallel flexible ropes.
3. The active traction protection system applied to the walking test of the legged robot as claimed in claim 1, wherein said traction protection device is 2-4 and is installed at different positions of the test space.
4. The active traction protection system for foot robot walking test as claimed in claim 1, wherein said active traction control board comprises:
the power supply module is used for supplying power to the active traction control panel and the servo motor;
the communication module is used for communicating with the foot type robot to acquire the state information of the robot;
and the operation module calculates the length of the traction rope required by the corresponding traction protection device according to the robot state information provided by the communication module and sends the length to the servo motor.
5. The active traction protection system applied to the walking test of the legged robot as claimed in claim 4, wherein the initialization is performed in the upright state of the legged robot, the traction ropes in each traction protection device are kept tensioned to the rope tension of the soft rope according to the position information, so that the robot connecting device is kept horizontal, and the length data of each traction rope is recorded.
6. The active traction protection system applied to the walking test of the legged robot as claimed in claim 5, wherein the computing module calculates and obtains the rope length information of the protected state and the unprotected state according to the position information of the legged robot, and the specific computing method is as follows:
the calculation formula of the distance between two points A (x1, y1, z1) and B (x2, y2, z2) in the space is given as f (A, B) ═ sqrt [ (x1-x2) ^2+ (y1-y2) ^2+ (z1-z2) ^2 ];
for the unprotected state, when the legged robot moves to (x, y), the coordinate positions of four connection points of the robot connecting device are respectively Q1(x-m/2, y + m/2, h + S1), Q2(x-m/2, y-m/2, h + S1), Q3(x + m/2, y-m/2, h + S1) and Q4(x + m/2, y + m/2, h + S1), and the solved rope lengths are respectively l1 ═ f (Q1, P ═ 1), l2 ═ f (Q2, P2), l3 ═ f (Q3, P3), l4 ═ f (Q4, P4);
for the protection state, when the legged robot moves to (x, y), the robot connecting device moves upwards to the height of (h + S0), the coordinate positions of the four connecting points are Q1 '(x-m/2, y + m/2, h + S0), Q2' (x-m/2, y-m/2, h + S0), Q3 '(x + m/2, y-m/2, h + S0) and Q4' (x + m/2, y + m/2, h + S0), and the solving rope lengths are l1 ═ f (Q1 ', P1), l2 ═ f (Q2', P2), l3 ═ f (Q3 ', P3), l4 ═ f (Q4', P4).
7. The active traction protection system applied to the walking test of the legged robot as claimed in claim 6, wherein said computing module calculates the rope lengths l1, l2, l3 and l4 under the unprotected state according to the current position information of the legged robot, and gets the rope length pulled by the traction rope at the time of power-on by making a difference with the initialized rope length information.
8. The active traction protection system applied to the walking test of the legged robot as claimed in claim 7, wherein during the testing process of the legged robot, the computing module updates the rope length information l1, l2, l3, l4, l1 ', l 2', l3 ', and l 4' to control the release and stretching of the traction rope according to the robot position information (x, y) obtained in real time, so that the robot connecting device moves along with the robot.
9. The active traction protection system applied to the walking test of the legged robot as claimed in claim 1, wherein the active traction control board judges whether the robot is in a stable walking state according to the pose information of the legged robot;
when the pose information exceeds a threshold value for stable walking, the robot is judged to fall down, the traction protection system enters a protection state, and the lengths of the traction ropes are adjusted to l1 ', l 2', l3 'and l 4', so that the foot type robot is protected.
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