公开(公告)号：US11511431B2

公开(公告)日：2022-11-29

申请号：US16914836

申请日：2020-06-29

Applicant: BEIJING INSTITUTE OF TECHNOLOGY

Inventor： Qiang Huang ,  Xuechao Chen ,  Zhangguo Yu ,  Tong Wu ,  Mingyue Qin ,  Qingqing Li ,  Libo Meng

IPC: B25J9/16 ,  B25J13/08

Abstract: The present invention provides a method for monitoring a balanced state of a humanoid robot, comprising: acquiring state data of the robot falling in different directions and being stable, forming a support vector machine (SVM) training data set and obtaining, by training, an initial SVM classifier; inputting the state data of the robot to the trained SVM classifier, so that the SVM classifier outputs a classification result; taking statistics on a proportion of cycles judged to have an impending fall in the total number of control cycles within a judgment buffer time after the SVM classifier outputs the classification result, and finally determining a monitoring result of the balanced state of the robot according to the proportion and finally extracting state data of misjudged cycles within the buffer time, adding the state data to the current training data set and updating the SVM classifier, eventually enabling the classifier to achieve the effects of matching motion capabilities of the robot and monitoring the balanced state.