Humanoid robot foot grounding detection method

• Main Authors: YU ZHANGGUO, HAN LIANQIANG, ZHU XISHUO, CHEN XUECHAO, HUANG QIANG, MENG LIBO
• Format: Patent
• Language: Chinese; English
• Published: 23.06.2020
• Subjects: ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVEREDIN A SINGLE OTHER SUBCLASS; CALCULATING; COMPUTING; COUNTING; HANDLING RECORD CARRIERS; MEASURING; MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR; PHYSICS; PRESENTATION OF DATA; RECOGNITION OF DATA; RECORD CARRIERS; TARIFF METERING APPARATUS; TESTING

The invention provides a humanoid robot foot grounding detection method, which comprises the steps of extracting motion state points of all robots and contact states corresponding to the motion statepoints in a plurality of walking periods through walking simulation to form a training data set; training a support vector machine SVM by using the training data set to obtain a foot contact detector;actually-detected motion state point data are classified by using a foot contact detector, so that detection of foot contact with the ground of the humanoid robot is realized. Sensors do not need tobe arranged at the tail ends of feet of the humanoid robot, and redundant mechanical structures can be avoided; no extra processing process is needed, and detection of foot grounding is achieved according to knee joint movement. 本发明提供了一种仿人机器人脚触地检测方法，通过步行仿真提取多个步行周期内所有机器人的运动状态点及运动状态点对应的接触状态，形成训练数据集；利用训练数据集训练支持向量机SVM，得到脚接触检测器；将利用脚接触检测器对实际检测的运动状态点数据进行分类，实现对仿人机器人脚触地的检测。本发明无需在仿人机器人的脚末端设置传感器，可以避免多余的机械结构；无需额外处理过程，根据膝关节运动实现对脚触地的检测。