The invention discloses a foot-ground contact force estimation and terrain classification method of an ostrich-imitating robot. The method comprises the steps that a foot-ground contact force mapping matrix of the ostrich-imitating robot is constructed, force-position hybrid control is carried out, foot-ground contact force is obtained according to the matrix and input torque of a plate spring to a passive joint, and terrain classification information is obtained after the ground contact state is judged; establishing a terrain classification fusion model based on a weighted voting mechanism, and training the model according to terrain classification information; and performing terrain classification according to the terrain classification information and the trained model. The foot-ground contact force is estimated through the joint corner information of the robot, no extra sensor needs to be installed, real-time and accurate foot-ground contact force estimation and contact state obtaining are achieved, the problem that the performance of an ostrich-imitating robot system is reduced or fails due to the fact that a force sensor is prone to being damaged is effectively solved, system configuration is simplified, and the system reliability is improved. Foot-ground contact force estimation and accurate terrain classification of the ostrich-imitating robot can be completed without depending on an external sensor.

    本发明公开了一种仿鸵鸟机器人的足地接触力估计与地形分类方法。方法包括:构建仿鸵鸟机器人的足地接触力映射矩阵,进行力位混合控制,根据矩阵及板簧对被动关节的输入力矩获得足地接触力,判断触地状态后获得地形分类信息;建立基于加权投票机制的地形分类融合模型,根据地形分类信息对模型进行训练;根据地形分类信息及训练完成的模型进行地形分类。本发明利用机器人的关节转角信息实现对足地接触力的估计,无需额外安装传感器,实现了实时准确的足地接触力估计与接触状态获取,有效解决了力传感器易损导致的仿鸵鸟机器人系统性能下降或失效问题,简化了系统配置,能够不依赖于外部传感器完成仿鸵鸟机器人的足地接触力估计与准确的地形分类。


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    Title :

    Foot-ground contact force estimation and terrain classification method of ostrich-imitating robot


    Additional title:

    一种仿鸵鸟机器人的足地接触力估计与地形分类方法


    Contributors:
    CHEN ZHENG (author) / DU PENGKUN (author) / CHEN YANG (author) / HAO YUNGANG (author)

    Publication date :

    2025-03-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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