METHOD AND DEVICE FOR HAPTIC ROBOT CONTROL ON UNEVEN GROUND AND UNCERTAIN ENVIRONMENT

摘要

The invention relates to a method and a device for haptic control intended for the motion and navigation of robots on uneven ground and in uncertain environment. According to the invention, the method consists in carrying out the following steps: generating the robot environment map, computing the position of the joint and of the tip of the robot's foot sole, determining the rigidity associated to the position of the robot's foot joint, computing the actual deviation of the robot's foot segments, switching the robot's walking diagram, ensuring the position control loop for walking on a plane surface, switching the control from the position control loop to the force control loop, generating the haptic map of the robot's environment and then generating haptic Cartesian positions. The device, as claimed by the invention, comprises: a digital camera module (CD1) mounted on the robot to receive 3-D images and digitally send them to an image processing module and an image control module, a telemetry module (TL) allowing the measurement of the distance to the foot sole segment, a second digital camera module (CD2) for distance computing, a 3D gravitational transducer module (TGR3D) measuring the gravity acceleration on the three Cartesian directions, a magnetic compass transducer module (TBM) measuring the deviation of the magnetic North point, an angular position transducer module (TP) measuring the angular position in the robot's joints, a direct position kinematics module (CDP) to determine the joint position, a robot's environment map module which sends the position of the foot sole joint to a communication module, to an unevenness measuring module and to an associative rigidity module, a force transducer module which measures the forces in the robot's joints, a robot's path generation module which receives the haptic Cartesian positions generated by the haptic device module, a module meant to act upon the actuators as well as a module meant for robot communications.