miuav 人形机器人感知技能
用于配置和开发人形机器人的感知系统
何时使用
当需要以下帮助时使用此技能：
- 配置双目视觉
- 实现深度感知
- 触觉反馈系统
- 平衡感知融合
快速参考
感知配置
humanoid_perception:
# 双目相机
stereo_camera:
type: realsense_d435i / zed2 / duo3d
topics: [/stereo/left/image, /stereo/right/image]
# IMU (平衡感知)
imu:
type: BMI160 / BMI088
topics: [/imu/data, /imu/filtered]
# 力矩传感器
ft_sensor:
topics: [/force_torque/left_foot, /force_torque/right_foot]
双目视觉
深度感知
class HumanoidDepthPerception:
def __init__(self):
self.stereo = StereoCamera("/stereo")
self.depth_filter = KalmanFilter()
def get_depth(self, point_left, point_right):
# 三角测量获取深度
baseline = 0.12 # m
focal_length = 800 # pixels
disparity = abs(point_left.x - point_right.x)
depth = focal_length * baseline / disparity
return self.depth_filter.update(depth)
平衡感知
ZMP 检测
class BalancePerception:
def __init__(self):
self.ft_sensors = ForceTorqueSensor(['left_foot', 'right_foot'])
self.imu = IMUSensor()
def compute_zmp(self):
"""计算零力矩点"""
forces = self.ft_sensors.get_forces()
torques = self.ft_sensors.get_torques()
# ZMP 公式
F_total = sum(forces)
x_zmp = sum(torques_y) / F_total.z
y_zmp = -sum(torques_x) / F_total.z
return np.array([x_zmp, y_zmp])
def check_stability(self):
"""稳定性检测"""
zmp = self.compute_zmp()
support_polygon = self.compute_support_polygon()
return self.point_in_polygon(zmp, support_polygon)
相关文档
./humanoid/localization/SKILL.md- 定位系统./humanoid/navigation/SKILL.md- 导航系统./humanoid/skill-planning/SKILL.md- 技能规划