The invention discloses a safety protection method and system for a foot-type robot, and the method comprises the steps: obtaining the expected input of the state control of a robot body, and estimating the state information of the robot body; according to the current posture of the robot, the estimated state information of the robot body and the current environment information, a corresponding protection rule is called according to the priority, and an output instruction for robot body state control is corrected; calculating learning reward information based on the weight of the called protection rule; and based on expected input for state control of the robot body, state information and learning reward information of the robot body are estimated, a trained reinforcement learning neural network is utilized to predict the falling risk of the current robot, and the expected input is corrected based on a prediction result. Based on a feedback control strategy combining environmental perception protection control and reinforcement learning, prediction and protection control of the falling risk of the robot are realized.
本发明公开了一种足式机器人安全防护方法及系统,包括:获取对机器人本体状态控制的期望输入,估计得到机器人本体的状态信息;依据机器人当前姿态、估计得到的机器人本体的状态信息以及当前环境信息,按照优先级调用相应的防护规则,对机器人本体状态控制的输出指令进行修正;同时基于调用的防护规则的权重计算学习奖励信息;基于对机器人本体状态控制的期望输入、估计得到机器人本体的状态信息以及学习奖励信息,利用训练好的强化学习神经网络,预测当前机器人的摔倒风险,并基于预测结果对期望输入进行修正。本发明基于环境感知防护控制与强化学习相结合的反馈控制策略,实现了机器人摔倒风险的预测和防护控制。
Foot type robot safety protection method and system
一种足式机器人安全防护方法及系统
12.05.2023
Patent
Elektronische Ressource
Chinesisch
Foot type robot and control method of foot type robot
Europäisches Patentamt | 2024
|Foot type robot and motion control method of foot type robot
Europäisches Patentamt | 2024
|Foot lifting gait planning method of foot type robot, controller and foot type robot
Europäisches Patentamt | 2022
|Foot type robot grounding sensing mechanism and foot type robot
Europäisches Patentamt | 2021
|