基于环境感知与重建的外骨骼爬楼梯步态研究  

Research on Gait of Exoskeleton Climbing Stairs Based on Environment Perception and Reconstruction

作　　者：龚茜茹[1] 赵建超[1] GONG Qian-ru;ZHAO Jian-chao(School of Electronic Information Engineering,Henan Polytechnic Institute,Nanyang 473000,China)

机构地区：[1]河南工业职业技术学院电子信息工程学院,河南南阳473000

出　　处：《控制工程》2022年第8期1497-1504,共8页Control Engineering of China

基　　金：河南省高等学校青年骨干教师培养计划项目(2016GGJS-236);河南省科技攻关计划项目(142102210556)。

摘　　要：重点讨论下肢外骨骼对楼梯环境的感知与重建,以及相应步态模式的规划算法。通过外骨骼前端的深度相机获取楼梯的点云信息,基于K近邻法寻找相似点,基于奇异值分解来估计每个输入点的法向量。采用区域生长算法并根据点的空间位置和法向量将点云分割成不同的区域,采用L-0范数最小化算法去除分割点云中的噪声。该方法通过对点云进行处理,从而获得楼梯的几何信息,将其用于步态规划算法,通过三维点云生成外骨骼步态。实验结果表明,该方法能准确测量楼梯的几何尺寸。This study focuses on the perception and reconstruction of the stair environment by the lower limb exoskeleton,as well as the planning algorithm for the corresponding gait pattern.The point cloud information of stairs is obtained by the depth camera at the front of the exoskeleton,and the similarity points are found by the K-nearest neighbor method.The normal vector of each input point is estimated based on singular value decomposition.The region growing algorithm is used to divide the point cloud into different regions according to the spatial positions and normal vectors of the points.The algorithm of L-0 norm minimization is used to remove the noise in the segmented point clouds.In this method,the geometric information of stairs is obtained by processing the point cloud and applied to the gait planning algorithm,so the gait of exoskeleton is generated by three-dimensional point cloud.The experimental results show that the method can accurately measure the geometric dimensions of stairs.

关 键 词：下肢外骨骼 区域生长算法 L-0范数最小化 步态规划 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]