摘要
针对理想机器人步态未考虑随机环境变量的影响,致使机器人步态失稳的现象,采用角度传感器、视觉传感器和力/力矩传感器进行步态信息采集,通过角度传感器实时反馈机器人关节旋转角度,经参数调整减小执行误差;基于双目立体视觉标定原理处理视觉信息,以反馈机器人周边环境信息;通过力/力矩传感器反馈机器人受力信息,并推导实际ZMP点坐标;经实验验证,通过步态信息采集及处理,达到了提高机器人步态稳定性的效果。
Aiming at the fact that ideal gait planning algorithm has not considered the effect of random environment variables to the algo rithm execution, which makes the humanoid robot walk unsteadily, the gait information was acquired by angle transducers, vision sensors and force/torque sensors. Realtime rotation angle was got through angle transducers so as to reduce execution error by adjusting parame ters. Vision information was dealt with stereo binocular vision calibration theory so as to get the information of surroundings. Real ZMP co ordination was got according to the information of force/torque sensors. The experiment results show that the gait stability is improved by gait information Acquisition and processing.
出处
《计算机测量与控制》
北大核心
2013年第6期1662-1665,共4页
Computer Measurement &Control
关键词
多传感器
机器人步态
双目视觉
伺服控制
multi-sensor information system
gait planning
binocular vision
servo control
