本文提出了一种利用驱动电机负载转矩反馈指示单腿放置到位的方法.通过对负载转矩信号进行实时采样,再利用最小二乘法进行六次多项式拟合,然后求取采样点的最大斜率,并将其与指示放置到位的刚性形变的特性斜率相比较,实现到位准确灵敏判断.试验结果表明,该方法具有滤波抗干扰能力,显著提高了单腿到位控制的灵敏度,增强了爬行吸附的安全性和可靠性,具有巨大的工程应用价值.%A method using motor load torque feedback as an indicator of single foot in place was presented. The actual torque values were sampled. and fitting a six-time polynomial curve was fitted by using least squares method. The biggest value of its gradient was found. Comparing with particular deformation value which demonstrates aluminum block is deformed, the goal of accurate and sensitive control was archived. The result shows that this method has capacity for filtering and interference rejection to improve the control sensibility and enhancing the reliability and safety of crawling. It is valuable in engineering application.
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