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。
Foot-type robot landing control method and system capable of automatically switching gaits
步态自动切换的足式机器人落足控制方法及系统
2023-02-28
Patent
Elektronische Ressource
Chinesisch
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