US 2023/0191606 A1 · COLLISION DETECTION METHOD, COMPUTER-READABLE STORAGE MEDIUM, AND ROBOT

Abstract

A collision detection method, a storage medium, and a robot are provided. The method includes: calculating an external torque of a first joint of the robot based on a preset generalized momentum-based disturbance observer; calculating an external torque of a second joint of the robot based on a preset long short-term memory network; calculating an external torque of a third joint of the robot based on the external torque of the first joint and the external torque of the second joint; and determining whether the robot has collided with an external environment or not based on the external torque of the third joint and a preset collision threshold. In the present disclosure, the component of the model error in the joint external torque calculated by the disturbance observer is eliminated to obtain the accurate contact torque, thereby improving the accuracy of the collision detection.

Claims20

Dependent claims

A computer-implemented collision detection method for a robot, comprising:

calculating an external torque of a first joint of the robot based on a preset generalized momentum-based disturbance observer;
calculating an external torque of a second joint of the robot based on a preset long short-term memory network;
calculating an external torque of a third joint of the robot based on the external torque of the first joint and the external torque of the second joint;
and
determining whether the robot has collided with an external environment or not based on the external torque of the third joint and a preset collision threshold.

2 more elements

A non-transitory computer-readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:

instructions for calculating an external torque of a first joint of a robot based on a preset generalized momentum-based disturbance observer,
instructions for calculating an external torque of a second joint of the robot based on a preset long short-term memory network;
instructions for calculating an external torque of a third joint of the robot based on the external torque of the first joint and the external torque of the second joint;
and
instructions for determining whether the robot has collided with an external environment or not based on the external torque of the third joint and a preset collision threshold.

2 more elements

A robot, comprising:

a processor;
a memory coupled to the processor, and
one or more computer programs stored in the memory and executable on the processor;
wherein, the one or more computer programs comprise:
instructions for calculating an external torque of a first joint of the robot based on a preset generalized momentum-based disturbance observer;
instructions for calculating an external torque of a second joint of the robot based on a preset long short-term memory network;
instructions for calculating an external torque of a third joint of the robot based on the external torque of the first joint and the external torque of the second joint;
and
instructions for determining whether the robot has collided with an external environment or not based on the external torque of the third joint and a preset collision threshold.

6 more elements

Dependencies are inferred from the claim text.

Collision detection method, computer-readable storage medium, and robot

Life of this patent

Collision detection method, computer-readable storage medium, and robot

Life of this patent

Abstract

Claims20