The invention discloses a state estimation method and system for multi-modal perception of a foot robot. The method comprises the steps that the acceleration and angular velocity of the foot robot aremeasured based on an IMU sensor, and the state mean value and covariance of the foot robot are predicted; the angular positions of all joints in the foot robot are acquired based on a joint encoder,and the metering value and the prediction value corresponding to the foot point position of each foot in the foot robot are calculated; the measurement residual error of the foot robot is calculated based on the metering value and the prediction value; and the state mean value and covariance are corrected based on the measurement residual error and the measurement Jacobian, and the final state ofthe foot robot is acquired. According to the method, the accuracy and stability of state estimation of the foot robot can be improved.
本发明公开了一种足式机器人多模态感知的状态估计方法及系统,所述方法包括:基于IMU传感器测量足式机器人的加速度和角速度,并预测所述足式机器人的状态均值和协方差;基于关节编码器获取所述足式机器人中所有关节的角度位置,并计算所述足式机器人中每一只脚的脚点位置所对应的计量值与预测值;基于所述计量值与所述预测值,计算所述足式机器人的测量残差;基于所述测量残差和测量雅可比,对所述状态均值和所述协方差进行校正,获取所述足式机器人的最终状态。所述方法将提高足式机器人状态估计的精确度和稳定性。
State estimation method and system for multi-modal perception of foot robot
一种足式机器人多模态感知的状态估计方法及系统
2020-05-01
Patent
Electronic Resource
Chinese
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