The invention provides a standing pose adjusting method and system for a foot type inspection robot. The standing pose adjusting method comprises the steps that pose information and geometric information of the foot type inspection robot after standing stably are obtained; obtaining an initial coordinate of the foot end in a shoulder joint coordinate system according to the obtained attitude information and geometric information; new coordinates of the foot ends in a shoulder joint coordinate system are obtained by combining the initial coordinates, the body posture adjustment amount and the distance between the left foot and the right foot, and posture adjustment is conducted according to the new coordinates; the position precision and the angle precision of final standing are improved through in-situ trunk translation and in-situ trunk torsion after standing is stable.
本公开提供了一种足式巡检机器人站立位姿调整方法及系统,获取足式巡检机器人站立平稳后的姿态信息和几何信息;根据获取的姿态信息和几何信息,得到足端在肩关节坐标系中的初始坐标;结合初始坐标、躯干姿态调整量和左右脚分开的距离,得到足端在肩关节坐标系中新坐标,根据新坐标进行位姿调整;本公开通过在站立平稳后的原地躯干平移和原地躯干扭转提升了最终站立的位置精度和角度精度。
Standing pose adjusting method and system for foot type inspection robot
一种足式巡检机器人站立位姿调整方法及系统
2022-07-01
Patent
Elektronische Ressource
Chinesisch
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