The invention provides a wheel-legged robot stress-type motion posture conversion method and system. By establishing an unstructured environment database of a wheel-legged robot, the robot is modeledto obtain a stress-type motion posture module and a control module for stably conversion of each motion posture, so as to establish an external stimuli degree evaluation function of the unstructured environment. The wheel-legged robot performs real-time detection of the stimuli of the external unstructured environment and tracks the own movement posture. The stimuli degree evaluation function is used for determining a corresponding response mode, and the motion conversion module is used for realizing the posture conversion, so that the wheel-legged robot can realize rapid stress-type motion decision according to the changes of the environment; and therefore, the flexibility and adaptability of the robot in a complex unstructured dynamic environment are improved.

    本发明提供了一种轮腿机器人应激式运动姿态转换方法及系统,通过建立轮腿机器人非结构环境的数据库,对机器人建模得到应激式运动姿态模块及各运动姿态相互稳定转换的控制模块,建立非结构环境的外界刺激程度评价函数。轮腿机器人对外界非结构环境的刺激进行实时检测,并跟踪自身运动姿态。利用刺激程度评价函数判断对应的反应模式,利用运动转换模块实现姿态转换,使轮腿机器人根据环境的变化实现快速应激式运动决策,从而增强机器人在复杂非结构动态环境下的灵活性与适应能力。


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    Title :

    Wheel-legged robot stress-type motion posture conversion method and system


    Additional title:

    一种轮腿机器人应激式运动姿态转换方法及系统


    Contributors:
    HUANG GAO (author) / HUANG QIANG (author) / MA XIAOSHUAI (author) / YU ZHANGGUO (author) / CHEN XUECHAO (author)

    Publication date :

    2020-06-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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