The invention discloses a safety protection method of a foot type robot. The safety protection method comprises the following steps: detecting whether an abnormal indication signal is received or not; when the abnormal indication signal is received, starting to continuously calculate a reverse torque value of at least one power module; sending a corresponding reverse torque value signal to a driving unit corresponding to the at least one power module in each control period or at least one control period, and adopting the driving unit corresponding to the at least one power module to control the corresponding at least one power module to output the corresponding reverse torque according to the received reverse torque value signal; and controlling a machine body of the foot type robot to move until the descending speed of the machine body is zero, and performing safety protection on the foot type robot in the abnormal state. The invention further provides the foot type robot.
一种足式机器人的安全保护方法,该安全保护方法包括:检测是否接收到异常指示信号;在接收到异常指示信号,则开始持续计算至少一个动力模组的反向力矩值;在每个控制周期或者间隔至少一个控制周期向至少一个动力模组对应的驱动单元发送对应的反向力矩值信号,至少一个动力模组对应的驱动单元根据接收到的反向力矩值信号控制对应的至少一个动力模组输出对应的反向力矩,以控制足式机器人的机身移动,直到机身的下降速度为0,对异常状态的足式机器人进行安全保护。本发明还提供一种足式机器人。
Safety protection method and foot type robot
安全保护方法以及足式机器人
14.12.2021
Patent
Elektronische Ressource
Chinesisch
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