The invention provides a movement control method of a foot type robot and the foot type robot. The method comprises the steps that a visual image of the surrounding environment is obtained through a visual sensor; according to the current and/or historical landing point of the robot foot end, determining a touch map; determining a rigid body graph according to the visual graph and the tactile graph; obtaining a weight value of a current touch image and a weight value of a current rigid body image; determining a fusion image according to the tactile image, the rigid body image, the current tactile image weight value and the current rigid body image weight value; and planning a robot foot end track according to the fusion image. According to the method, along with the movement of the foot type robot, the fusion image can be adjusted in real time along with the change of the terrain, and the terrain information of the surrounding environment is accurately represented, so that the foot end track of the robot can be correctly planned according to the fusion image, the robot can normally move on various terrains, training data does not need to be pre-collected and trained, and the training efficiency is improved. The development cost is greatly reduced, and the method is also suitable for different types of foot type robots and is high in transportability.

    本申请提供一种足式机器人的移动控制方法及足式机器人,所述方法包括:通过视觉传感器获取周围环境的视觉图;根据机器人足端的当前和/或历史落足点,确定触觉图;根据视觉图和触觉图,确定刚体图;获取当前触觉图权重值和当前刚体图权重值;根据触觉图、所述刚体图、当前触觉图权重值以及当前刚体图权重值,确定融合图;根据融合图,规划机器人足端轨迹。通过上述方法随着足式机器人的移动,融合图会随着地形的改变实时调整,准确表征周围环境的地形信息,从而根据融合图能正确规划机器人足端轨迹,使机器人能在各类地形上正常移动,并且无需预先采集训练数据并进行训练,大大降低了开发成本,还适用于不同类型的足式机器人,可移植性强。


    Access

    Download


    Export, share and cite



    Title :

    Movement control method of foot-type robot and foot-type robot


    Additional title:

    足式机器人的移动控制方法及足式机器人


    Contributors:
    GUO DEJUN (author) / DA XINGYE (author) / FAN FUFEI (author) / LIU DUN (author) / CHEN DIANHAO (author) / ZHAO DAN (author)

    Publication date :

    2024-04-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



    Foot movement assembly and foot type robot

    AN ZHONGYU / WANG WEIXIANG | European Patent Office | 2023

    Free access

    Control method and device of foot type robot and foot type robot

    ZHUANG WEIJI | European Patent Office | 2022

    Free access

    Foot lifting gait planning method of foot type robot, controller and foot type robot

    MENG JIAN / DONG XU / XIAO PENG et al. | European Patent Office | 2022

    Free access

    Foot type robot grounding sensing mechanism and foot type robot

    TANG BIN / GAN QUAN / CHEN ZHENYU | European Patent Office | 2021

    Free access

    Steering engine for foot type robot and foot type robot

    GAN XINGMING | European Patent Office | 2021

    Free access