CN102121828B - 一种仿人机器人身体姿态角度实时估计方法 - Google Patents
一种仿人机器人身体姿态角度实时估计方法 Download PDFInfo
- Publication number
- CN102121828B CN102121828B CN 201010597601 CN201010597601A CN102121828B CN 102121828 B CN102121828 B CN 102121828B CN 201010597601 CN201010597601 CN 201010597601 CN 201010597601 A CN201010597601 A CN 201010597601A CN 102121828 B CN102121828 B CN 102121828B
- Authority
- CN
- China
- Prior art keywords
- robot
- axis
- posture
- attitude
- dimensional force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000001133 acceleration Effects 0.000 claims abstract description 25
- 238000001914 filtration Methods 0.000 claims abstract description 10
- 239000011159 matrix material Substances 0.000 claims description 18
- 239000013598 vector Substances 0.000 claims description 8
- 210000002683 foot Anatomy 0.000 claims description 7
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 5
- 230000036544 posture Effects 0.000 description 21
- 238000005096 rolling process Methods 0.000 description 8
- 210000001624 hip Anatomy 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 230000010354 integration Effects 0.000 description 5
- 230000003068 static effect Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009975 flexible effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
Description
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN 201010597601 CN102121828B (zh) | 2010-12-21 | 2010-12-21 | 一种仿人机器人身体姿态角度实时估计方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN 201010597601 CN102121828B (zh) | 2010-12-21 | 2010-12-21 | 一种仿人机器人身体姿态角度实时估计方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102121828A CN102121828A (zh) | 2011-07-13 |
CN102121828B true CN102121828B (zh) | 2012-12-19 |
Family
ID=44250435
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN 201010597601 Expired - Fee Related CN102121828B (zh) | 2010-12-21 | 2010-12-21 | 一种仿人机器人身体姿态角度实时估计方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN102121828B (zh) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102670217A (zh) * | 2012-05-04 | 2012-09-19 | 嘉兴市制衡精仪有限公司 | 下肢关节作用力和力矩的穿戴式传感器测量装置及方法 |
CN103808322A (zh) * | 2014-03-04 | 2014-05-21 | 韩涛 | 惯性测量led检测复合型六自由度输入方法及*** |
CN104570732B (zh) * | 2014-12-15 | 2017-02-08 | 浙江大学 | 一种仿人机器人步行模式的在线生成方法 |
CN105956617B (zh) * | 2016-04-27 | 2019-05-17 | 西北工业大学 | 一种针对类自行车运动的人车姿态联合估计方法 |
CN112617698B (zh) * | 2016-06-06 | 2023-03-14 | 北京小米移动软件有限公司 | 障碍物跨越方法及装置 |
CN106650591B (zh) * | 2016-10-08 | 2019-12-31 | 温胜洁 | 一种工间操评分*** |
CN106492439A (zh) * | 2016-10-08 | 2017-03-15 | 武汉新英赛健康科技有限公司 | 一种工间操评分方法 |
CN108345211A (zh) * | 2017-01-23 | 2018-07-31 | 深圳市祈飞科技有限公司 | 双足仿人机器人及其非线性步态规划方法以及控制方法 |
CN107883951A (zh) * | 2017-10-19 | 2018-04-06 | 福建海图智能科技有限公司 | 一种水下机器人三维姿态的计算方法及终端 |
CN107728635B (zh) * | 2017-11-13 | 2020-10-09 | 北京赛曙科技有限公司 | 一种摩托车型机器人的自动平衡装置及方法 |
CN109991989B (zh) * | 2017-12-29 | 2021-12-17 | 深圳市优必选科技有限公司 | 机器人空闲状态下的动态平衡方法、装置及存储介质 |
CN108646733B (zh) * | 2018-04-27 | 2021-08-10 | 杭州艾豆智能科技有限公司 | 一种自动矫正的移动机器人的矫正方法 |
CN108897220B (zh) * | 2018-07-12 | 2020-09-29 | 上海硅族智能科技有限公司 | 一种自适应稳定平衡控制方法和***以及双足仿人机器人 |
CN109645960B (zh) * | 2019-01-15 | 2023-05-23 | 浙江大学 | 仿人机器人的生理参数发生装置及其方法 |
CN111956449A (zh) * | 2020-08-10 | 2020-11-20 | 河海大学常州校区 | 针对肩肘骨关节损伤的外骨骼康复治疗装置及其控制*** |
CN112631277B (zh) * | 2020-12-08 | 2022-01-18 | 中山大学 | 一种四足机器人站姿转换的平衡控制方法及*** |
CN112617811A (zh) * | 2021-01-04 | 2021-04-09 | 杭州风行医疗器械有限公司 | 一种关节生物力学测量评估装置及其方法 |
CN113031639B (zh) * | 2021-03-22 | 2024-03-12 | 深圳市优必选科技股份有限公司 | 机器人步长处理方法、装置、机器人控制设备及存储介质 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101100059A (zh) * | 2007-07-27 | 2008-01-09 | 北京工业大学 | 柔性两轮自平衡机器人的姿态检测方法 |
CN101403619A (zh) * | 2008-10-21 | 2009-04-08 | 北京理工大学 | 仿人机器人足部姿态实时检测***和方法 |
CN101672650A (zh) * | 2009-09-29 | 2010-03-17 | 北京航空航天大学 | 一种电磁干扰环境下的定向定位导航*** |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09273938A (ja) * | 1996-04-04 | 1997-10-21 | Takao Yamaguchi | ハイブリッド慣性航法装置 |
JPH11118499A (ja) * | 1997-10-20 | 1999-04-30 | Churyo Eng Kk | 移動局の位置測定方法 |
-
2010
- 2010-12-21 CN CN 201010597601 patent/CN102121828B/zh not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101100059A (zh) * | 2007-07-27 | 2008-01-09 | 北京工业大学 | 柔性两轮自平衡机器人的姿态检测方法 |
CN101403619A (zh) * | 2008-10-21 | 2009-04-08 | 北京理工大学 | 仿人机器人足部姿态实时检测***和方法 |
CN101672650A (zh) * | 2009-09-29 | 2010-03-17 | 北京航空航天大学 | 一种电磁干扰环境下的定向定位导航*** |
Non-Patent Citations (1)
Title |
---|
JP特开平9-273938A 1997.10.21 |
Also Published As
Publication number | Publication date |
---|---|
CN102121828A (zh) | 2011-07-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN102121828B (zh) | 一种仿人机器人身体姿态角度实时估计方法 | |
US8504208B2 (en) | Mobile object controller and floor surface estimator | |
US7145305B2 (en) | System for estimating attitude of leg type moving robot itself | |
CN108621161B (zh) | 基于多传感器信息融合的足式机器人本体状态估计方法 | |
US8873831B2 (en) | Walking robot and simultaneous localization and mapping method thereof | |
JP6483014B2 (ja) | 移動ロボットの制御装置 | |
JP6498597B2 (ja) | 移動ロボットの制御装置 | |
US20060106495A1 (en) | Control device of legged mobile robot | |
US7561941B2 (en) | Ambulatory robot and method for controlling the same | |
CN108563220A (zh) | 仿人足球机器人的运动规划 | |
JP6228097B2 (ja) | 移動ロボット | |
EP3117967A1 (en) | Transparency control method for robotic devices and a control device therefor | |
JP6240590B2 (ja) | 移動ロボットの制御装置 | |
Masuya et al. | Com motion estimation of a humanoid robot based on a fusion of dynamics and kinematics information | |
JP5616290B2 (ja) | 移動体の制御装置 | |
KR100953431B1 (ko) | 지엠피의 상태추정을 통한 2족보행로봇의 균형제어기법 | |
JP2014087922A (ja) | ロボット制御装置及び方法 | |
JP2011255500A (ja) | 脚式移動ロボットの制御装置 | |
CN113358121A (zh) | 一种电驱动昆虫构型足式机器人足地滑移估计方法 | |
Rodriguez-Angeles et al. | An online inertial sensor-guided motion control for tracking human arm movements by robots | |
Kaewlek et al. | Inclined plane walking compensation for a humanoid robot | |
Park et al. | Balance control of a biped robot using camera image of reference object | |
Minor et al. | Instrumentation and algorithms for posture estimation in compliant framed modular mobile robots | |
Rodríguez-Angeles et al. | User wearable interface based on inertial sensors for unilateral master-slave robot teleoperation | |
CN111590572B (zh) | 一种机器人姿态更新方法及*** |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20110713 Assignee: ZHEJIANG GUOZI ROBOT TECHNOLOGY Co.,Ltd. Assignor: Zhejiang University Contract record no.: 2013330000081 Denomination of invention: Method for estimating body posture angle of humanoid robot in real time Granted publication date: 20121219 License type: Exclusive License Record date: 20130422 |
|
LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121219 Termination date: 20211221 |