The invention discloses a humanoid stair climbing robot and a control method thereof, and relates to a robot and a control method thereof. The robot comprises a humanoid robot body, a control system and a power supply system; the control system involves binocular cameras, a central processing unit and a driving unit; and the binocular cameras are arranged in two eyes of a robot head system, and the output ends of the binocular cameras are connected with the input end of the central processing unit. The method is characterized in that the height of a staircase is recognized through the binocular cameras, then the gravity center moves leftwards, a right leg is lifted to be placed on an upper step, then the gravity center moves rightwards, a left leg is lifted to be placed on the same step, then the gravity center moves rightwards, the left leg is lifted to be placed on an upper step, and then the gravity center moves leftwards, and the right leg is lifted to be placed on the same step, so that circulation is formed, and a stair climbing function is achieved by simulating the human stair climbing gait. According to the robot and the method, the automatic stair climbing function of a humanoid robot can be achieved, the flexibility is good, the intelligent degree is high, the structure is simple, the cost is low and the usage and popularization are easy.
一种仿人爬楼梯机器人及其控制方法,涉及一种机器人及其控制方法,机器人包括人型机器人本体、控制系统、电源系统;控制系统包括双目摄像头、中央处理器、驱动单元;双目摄像头安置在机器人头部系统的双眼内,双目摄像头的输出端分别与中央处理器的输入端连接。方法是通过双目摄像头识别楼梯高度,然后重心左移并抬起右腿放置到上一个台阶,再把重心右移并抬起左腿放置在同一个台阶上,进而重心右移并抬起左腿放置到再上一个台阶,再把重心左移并抬起右腿放置在同一个台阶上,如此循环,通过仿人上楼梯步态来实现爬楼梯功能。本发明可实现人形机器人的自动爬楼梯功能,具有灵活性好、智能化程度高、结构简单、成本低等特点,易于推广使用。
Humanoid stair climbing robot and control method thereof
一种仿人爬楼梯机器人及其控制方法
2020-05-08
Patent
Electronic Resource
Chinese