A vision imaging compensation algorithm for quadruped robot based on walking jitter

Abstract

To solve the problem that the walking jitter of quadruped robots leads to the degradation of clarity of visual imaging, a quadruped robot visual imaging jitter compensation algorithm based on the theory of walking jitter is proposed. The D-H coordinate transformation method is used to establish the coordinate system of each joint of the leg. The kinetic equations of the leg are derived from the relationship between the rotational velocity and the moment of the leg joint, and the kinetic equilibrium equations of the quadruped robot body are established based on the spatial moment equilibrium theorem; the spring-mass model of the leg of the quadruped robot is used to construct the kinetic equations of the leg jittering, and the kinetic equations of the body jittering are derived using the moment equilibrium condition of the body center of gravity position and under the effect of the leg and body jitter to obtain the visual imaging device jitter quantity; finally, the tremor quantity is combined with the jitter quantity and rotation matrix to derive the walking jitter mathematical model of the quadruped robot visual imager, and the jitter compensation algorithm of quadruped robot visual imager is verified. The experimental results show that compared with the traditional Wiener filter algorithm for jitter compensation and the BP neural network jitter compensation algorithm, this algorithm improves the visual imaging by 10.8% and 3.3% in the two evaluation indexes of peak signal-to-noise ratio and structural similarity, respectively, and the de-jittering effect is better.