公开(公告)号：US20220241992A1

公开(公告)日：2022-08-04

申请号：US17540168

申请日：2021-12-01

Applicant: DELU DYNAMICS TECHNOLOGY (CHENG DU) CO.,LTD.

Inventor： Xuesheng Li ,  Dichen Gong ,  Yage Shen

IPC: B25J19/02 ,  B25J9/00 ,  B25J9/16 ,  G06K9/62

Abstract: The disclosure relates to a method and system for detecting the foot-end touchdown of quadruped robot, including the following steps: S1. Calculating the foot-end height above ground of each leg, and calculating the foot-end height touchdown probability based on the foot-end height above ground of each leg; Calculating the knee torque touchdown probability based on the external torque of knee joint of each leg; S2. According to the foot-end touchdown probability calculated from the gait schedule, the foot-end height and the external torque of knee joint, using the Kalman Filter to obtain the final foot-end touchdown probability of four legs; Determining the foot-end touchdown state according to the foot-end touchdown probability of four legs. The disclosure may accurately estimate the touchdown state between the foot end and the ground based on the basic sensor and fusion algorithm of the quadruped robot without deploying excess sensors at the foot end, which can solve the problem of sensor wiring; the disclosure can still obtain reliable touchdown state even in rugged or step terrain.

公开(公告)号：US20240342932A1

公开(公告)日：2024-10-17

申请号：US18748334

申请日：2024-06-20

Applicant: DELU DYNAMICS TECHNOLOGY (CHENG DU) CO.,LTD.

Inventor： Xuesheng Li ,  Dichen Gong ,  Yage Shen

IPC: B25J19/02 ,  B25J9/00 ,  B25J9/16 ,  G06F18/2415 ,  G06F18/25

CPC classification number: B25J19/02 ,  B25J9/0006 ,  B25J9/1669 ,  G06F18/2415 ,  G06F18/25

Abstract: The disclosure relates to a method and system for detecting the foot-end touchdown of quadruped robot, including the following steps: S1. Calculating the foot-end height above ground of each leg, and calculating the foot-end height touchdown probability based on the foot-end height above ground of each leg; Calculating the knee torque touchdown probability based on the external torque of knee joint of each leg; S2. According to the foot-end touchdown probability calculated from the gait schedule, the foot-end height and the external torque of knee joint, using the Kalman Filter to obtain the final foot-end touchdown probability of four legs; Determining the foot-end touchdown state according to the foot-end touchdown probability of four legs. The disclosure may accurately estimate the touchdown state between the foot end and the ground based on the basic sensor and fusion algorithm of the quadruped robot without deploying excess sensors at the foot end, which can solve the problem of sensor wiring; the disclosure can still obtain reliable touchdown state even in rugged or step terrain.