According to the ground contact detection method for the hydraulic quadruped robot based on the evidence theory, after three different data sources are adopted to obtain the joint torque characteristic values of the joints, the evidence theory is adopted to fuse the three joint torque characteristic values, and compared with independent use of a force sensor and independent use of a displacement sensor, the method has the advantages that the reliability is high; according to the method, data information of the force sensor and the displacement sensor is fused, the grounding detection accuracy is higher, the real-time performance is better, the robustness of grounding detection judgment can be greatly improved, and a good foundation is laid for gait planning and control of the hydraulic quadruped robot.
本发明提供一种基于证据理论的液压四足机器人触地检测方法,采用三种不同数据源获得关节的关节力矩特征值后,再采用证据理论融合三种关节力矩特征值,相比于单独使用力传感器和单独使用位移传感器,本发明融合了力传感器和位移传感器的数据信息,触地检测准确度更高,实时性更好,还能大大提高触地检测判断的鲁棒性,为液压四足机器人步态规划和控制奠定良好基础。
Hydraulic quadruped robot grounding detection method based on evidence theory
一种基于证据理论的液压四足机器人触地检测方法
2023-08-18
Patent
Elektronische Ressource
Chinesisch