A method (300) of footstep contact detection includes receiving joint dynamics (134JD) of a swing leg (120SW) of a robot (100), where the swing leg performs a swing phase of a robot gait. The method also includes receiving an estimated odometer (192) defining the robot pose and determining whether an unexpected torque on the swing leg corresponds to an impact on the swing leg (202). When the unexpected torque corresponds to an impact, the method further includes determining whether the impact indicates that the swing leg touches the ground on the ground (12) based on the odometer and joint dynamics. When the impact does not indicate that the swing leg touches the ground, the method includes classifying a cause of the impact based on an odometer of the robot and joint dynamics of the swing leg.
一种脚步接触检测的方法(300),包括:接收机器人(100)的摆动腿(120SW)的关节动力学(134JD),其中摆动腿执行机器人步态的摆动阶段。该方法还包括接收定义机器人姿态的估计的里程计(192),并确定摆动腿上的意外扭矩是否对应于摆动腿上的冲击(202)。当意外扭矩对应于冲击时,该方法还包括基于里程计和关节动力学确定冲击是否指示摆动腿在地面(12)上触地。当冲击不指示摆动腿触地时,该方法包括基于机器人的里程计和摆动腿的关节动力学对冲击的原因进行分类。
Footstep contact detection
脚步接触检测
2022-04-26
Patent
Electronic Resource
Chinese