CN203259153U - Apparatus for detecting biped walking inclination angle of walking robot - Google Patents
Apparatus for detecting biped walking inclination angle of walking robot Download PDFInfo
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- CN203259153U CN203259153U CN 201320280677 CN201320280677U CN203259153U CN 203259153 U CN203259153 U CN 203259153U CN 201320280677 CN201320280677 CN 201320280677 CN 201320280677 U CN201320280677 U CN 201320280677U CN 203259153 U CN203259153 U CN 203259153U
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- walking
- walking robot
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- control system
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Abstract
The utility model discloses an apparatus for detecting the biped walking inclination angle of a walking robot. Two feet of the walking robot comprise a first foot, a second foot, swing joints and revolution joints. The detection apparatus comprises a master control system, position sensors, a force/torque sensor and a data acquisition device, wherein the master control system is connected with the position sensors and the data acquisition device respectively, the data acquisition device is connected with the force/torque sensor, a plurality of position sensors are arranged on the swing joints and the revolution joints respectively, and the force/torque sensor is used for detecting whether the first foot and the second foot are completely in contact with the flat ground. The position sensors in the joint positions of the swing joints and the revolution joints are used for detecting the angles between the swing joints and the revolution joints, and further, the inclination angle of a slope is calculated according to the geometrical relationship of an enclosed polygon formed by the two feet of the walking robot, the flat ground and the slope. The apparatus disclosed by the utility model is simple in principle, easy to implement and high in precision, does not need extra detection equipment and can be used for detecting the inclination angle of the slope in a walking process in real time.
Description
Technical field
The utility model relates to the bio-robot field, relates in particular to a kind of double feet walking inclination detecting device of walking robot.
Background technology
Anthropomorphic robot is the highest and most advanced and sophisticated embodiment of current Robotics.The difficult point of the core technology of anthropomorphic robot and tool challenge is the realization of double feet walking.From the initial stage of robotics development, double feet walking just is considered to a challenge the most highly difficult.At present, the biped robot reaches its maturity in the walking technology of level ground, but motion in complex environment is the focus of research always, and this is detection especially basis and the gordian technique of biped robot's walking of environmental information wherein.Because robot self can't detect inclined-plane information in real time, slope walk is as biped robot's a kind of common manner of walking in complex environment, and the main mode that adopts the off-line gait planning has seriously restricted the development of anthropomorphic robot technology at present.
The robot field, machine vision or laser radar mode are generally adopted in the environmental information perception, the HRP-3 robot that develops such as the Japanese industries Technical Integration Studies and Pioneer3 robot of U.S. MobileRobots company etc.But there are many deficiencies in the method: 1) need to dispose in addition vision sensor or laser sensor to robot, so that robot system is more complicated, cost is higher; What 2) vision sensor and laser radar recorded contains much information, and efficient is low, and real-time is poor; 3) visual sensing and laser sensing information extraction algorithm complicated and easily affected by environment, antijamming capability weak, low precision.
Summary of the invention
The purpose of this utility model is to overcome the shortcoming and defect of above-mentioned prior art, and the double feet walking inclination detecting device of the walking robot of a kind of low cost, high reliability is provided.
The utility model is achieved through the following technical solutions:
A kind of double feet walking inclination detecting device of walking robot, the biped of described walking robot comprises pin one, pin two, swinging joint, revolute joint; Described pick-up unit comprises master control system, position transducer, power/torque sensor, data collector, and described master control system is link position sensor, data collector respectively, and described data collector connects power/torque sensor.
Described position transducer is a plurality of, is arranged at respectively on swinging joint and the revolute joint.
Described position transducer connects master control system by serial ports or CAN bus.
Described master control system adopts a kind of in DSP digital signal processor or the single-chip microcomputer.
The utility model has following advantage and effect with respect to prior art:
Take full advantage of the position transducer of walking robot, avoid using extra pick-up unit, effectively simplified the robot system design, reduced cost.
Detection method is simple, is easy to realize, precision is high, and is easy to utilize.
Description of drawings
Fig. 1 is the biped mechanism synoptic diagram of walking robot described in the utility model.
Fig. 2 a is that the biped of walking robot described in the utility model is from the level land to a kind of transient mode synoptic diagram of slope walk.
Fig. 2 b is that the biped of walking robot described in the utility model is from the level land to the another kind of transient mode synoptic diagram of slope walk.
Fig. 3 a is the biped of walking robot described in the utility model and the first contact condition synoptic diagram between the level land.
Fig. 3 b is the biped of walking robot described in the utility model and the second contact condition synoptic diagram between the level land.
Fig. 3 c is the biped of walking robot described in the utility model and the third contact condition synoptic diagram between the level land.
Fig. 3 d is the biped of walking robot described in the utility model and the 4th kind of contact condition synoptic diagram between the level land.
Fig. 4 is pick-up unit electrical diagram described in the utility model.
Embodiment
Below in conjunction with specific embodiment the utility model is done further concrete detailed description the in detail.
Embodiment
Such as Fig. 1, shown in Figure 4.The double feet walking inclination detecting device of the utility model walking robot, the biped of this walking robot comprises: pin one F
1, pin two F
2, swinging joint T
1, T
2, T
3, T
4, revolute joint I
1, I
2, swinging joint T wherein
1, T
2With swinging joint T
3, T
4Axis be parallel to each other revolute joint I
1, I
2Axis and swinging joint T
1, T
2, T
3, T
4Axis mutually vertical.
As shown in Figure 4.This pick-up unit comprises master control system, position transducer, power/torque sensor, data collector, and described master control system is link position sensor, data collector respectively, and described data collector connects power/torque sensor.
Described position transducer is a plurality of, is arranged at respectively swinging joint T
1, T
2, T
3, T
4With revolute joint I
1, I
2On.
Described position transducer connects master control system by serial ports or CAN bus, so that share same master control system.
Described master control system adopts the controller of DSP digital signal processor or the medium similar functions of single-chip microcomputer.
In the utility model, in order to measure inclination angle of inclined plane, need to measure swinging joint T
1, T
2, T
3And T
4The angle in four joints.Because the angle between each joint has positive and negative dividing, regulation for just, is negative along counterclockwise clockwise in utility model, hereinafter all adopts this regulation (this regulation just is convenient to calculate, and does not affect result of calculation).
Shown in Fig. 2 a and 2b.Fig. 2 a has comprised a pin bridge joint in the situation on level land and inclined-plane, and an other pin begins to be still on the level land, drop on the inclined-plane fully subsequently.Fig. 2 b the pin bridge joint then do not occur in the situation on level land and inclined-plane, and namely two pin all drop on the level land or on the inclined-plane fully.
Fig. 3 a～Fig. 3 d has only enumerated four kinds of transition states.
Wherein Fig. 3 a and Fig. 3 c are pin two F
2The situation that (swing) contacts with the inclined-plane for the first time.
Fig. 3 a is corresponding to the chamfered transition mode shown in Fig. 2 a, and state following closely is such as Fig. 3 b and Fig. 3 d; State shown in Fig. 3 c is corresponding to the transient mode among Fig. 2 b, back to back state such as Fig. 3 d.Therefore, order corresponding to chamfered transition mode is Fig. 3 a → Fig. 3 b → Fig. 3 c among Fig. 2 a, and order corresponding to Fig. 2 b chamfered transition mode is Fig. 3 c → Fig. 3 d.
The both legs of robot, both feet and level land consist of a heptagon when state such as Fig. 3 a and Fig. 3 c.Pin two F
2And the angle between the level land is θ, and then θ can be expressed as
θ＝π+q
2+q
3+q
4+q
5 （1）
In the formula (1), q
2, q
3, q
4And q
5Be respectively the swinging joint T of robot
1, T
2, T
3T
4Angle, its numerical value can be recorded by the position transducer on each swinging joint.During such as Fig. 3 b state, pin one F
1And the angle theta between the level land can be expressed as
θ＝α+β （2）
α is pin two F in the formula
2And the angle between the level land, its value provides in the computing formula of Fig. 3 a state, and β is pin one F
1With pin two F
2Between angle, its value is calculated on virtual inclined-plane by formula (1).Formula (1) can be regarded the special circumstances of formula (2) as, and namely α is zero.Therefore, formula (2) can be regarded calculating as: as pin one F
1Perhaps pin two F
2The general formula of angle during as the forward foot in a step and between the level land.
By top analysis and calculation, can draw the following conclusions: when the biped of walking robot during from the level land to chamfered transition, the angle between the forward foot in a step and the level land equals angle and the forward foot in a step and the rear foot angle sum between the rear foot and the level land.Therefore, calculate angle between for the first time forward foot in a step and the level land according to formula (1), the angle between follow-up per step forward foot in a step and the level land can be calculated by formula (2) by process of iteration.Calculate the angle between per step forward foot in a step and the level land, can calculate the inclination angle on inclined-plane.During such as Fig. 3 c state, the forward foot in a step equates with the inclination angle on inclined-plane with the angle on ground.But this moment, walking robot can't be differentiated the state that self is in Fig. 3 b or the state of Fig. 3 c.Therefore, robot must judge by the state of the next one shown in Fig. 3 d whether the angle β between the i.e. forward foot in a step and the rear foot is zero.Robot stands on the inclined-plane when being in state shown in Fig. 3 d fully, and the angle between forward foot in a step this moment and the level land is the inclination angle on inclined-plane.
As mentioned above, just can realize preferably the utility model.
Embodiment of the present utility model is not restricted to the described embodiments; other are any not to deviate from change, the modification done under Spirit Essence of the present utility model and the principle, substitute, combination, simplify; all should be the substitute mode of equivalence, be included within the protection domain of the present utility model.
Claims (4)
1. the double feet walking inclination detecting device of a walking robot is characterized in that, the biped of described walking robot comprises pin one, pin two, swinging joint, revolute joint; Described pick-up unit comprises master control system, position transducer, power/torque sensor, data collector, and described master control system is link position sensor, data collector respectively, and described data collector connects power/torque sensor.
2. the double feet walking inclination detecting device of walking robot according to claim 1 is characterized in that, described position transducer is a plurality of, is arranged at respectively on swinging joint and the revolute joint.
3. the double feet walking inclination detecting device of walking robot according to claim 1 is characterized in that, described position transducer connects master control system by serial ports or CAN bus.
4. the double feet walking inclination detecting device of walking robot according to claim 1 is characterized in that, described master control system adopts a kind of in DSP digital signal processor or the single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320280677 CN203259153U (en) | 2013-05-21 | 2013-05-21 | Apparatus for detecting biped walking inclination angle of walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320280677 CN203259153U (en) | 2013-05-21 | 2013-05-21 | Apparatus for detecting biped walking inclination angle of walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203259153U true CN203259153U (en) | 2013-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320280677 Expired - Fee Related CN203259153U (en) | 2013-05-21 | 2013-05-21 | Apparatus for detecting biped walking inclination angle of walking robot |
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| Country | Link |
|---|---|
| CN (1) | CN203259153U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103292786A (en) * | 2013-05-21 | 2013-09-11 | 华南理工大学 | Double-foot walking inclination angle detection device for walking robot |
-
2013
- 2013-05-21 CN CN 201320280677 patent/CN203259153U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103292786A (en) * | 2013-05-21 | 2013-09-11 | 华南理工大学 | Double-foot walking inclination angle detection device for walking robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131030 Termination date: 20160521 |