Foot-type robot landing control method and system capable of automatically switching gaits

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Foot-type robot landing control method and system capable of automatically switching gaits

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XIAO PENG / MENG JIAN / DONG XU / WANG XINGZHAO / YANG SHANGWEI / ZHAO SHAN / LU SHIBIN / LIU JIZHI / ZHAO YULIANG / CAO LEI / ... [more]

Abstract

The invention provides an automatic gait switching foot type robot landing control method and system, and the method comprises the steps: classifying the environment in front of a robot according to the front image data, and obtaining different road condition regions; obtaining point cloud data corresponding to each road condition area based on a pre-calibrated corresponding relationship between image data and point cloud data, and extracting a point cloud normal vector of each area; clustering the point clouds of which the normal vectors are consistent or different in a set range in each road condition area, calculating elevation information of a clustering area, and storing point cloud data with the elevation information into a point cloud feature data queue; in the advancing process of the robot, iteratively matching and merging the point cloud data in the point cloud feature queue to obtain a local environment feature map around the foot end of the robot; extracting a plane region in the local environment feature map, and performing iterative calculation on normal lines of different regions in the local map to obtain a landing point; according to the invention, self-adaptive switching and correction of the gait and the landing point based on the preset rule are realized.

本发明提供了一种步态自动切换的足式机器人落足控制方法及系统，根据前方图像数据，对机器人前方环境进行分类，得到不同的路况区域；基于预先标定的图像数据与点云数据的对应关系，得到各路况区域对应的点云数据，提取各区域的点云法向量；将各路况区域内法向量一致或者差异在设定范围内的点云进行聚类，并计算聚类区域的高程信息，将带有高程信息的点云数据存入点云特征数据队列；在机器人行进过程中，将点云特征队列中的点云数据进行迭代匹配合并，得到机器人足端周边局部环境特征地图；提取局部环境特征地图中的平面区域，通过对局部地图中不同区域法线进行迭代计算，得到落足点；本发明实现了基于预设规则的步态及落足点自适应切换和修正。

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Document information

Title :

Foot-type robot landing control method and system capable of automatically switching gaits

Additional title:

步态自动切换的足式机器人落足控制方法及系统

Contributors:

XIAO PENG (author) / MENG JIAN (author) / DONG XU (author) / WANG XINGZHAO (author) / YANG SHANGWEI (author) / ZHAO SHAN (author) / LU SHIBIN (author) / LIU JIZHI (author) / ZHAO YULIANG (author) / CAO LEI (author)

Publication date :

2023-02-28

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge / G06V