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。 This paper presents a method of using a drive motor load torque feedback to indicate that one leg is in place. Through the real-time sampling of the load torque signal, and then using the least square method of six polynomial fitting, and then calculate the maximum slope of the sampling point, and it is placed in place with the indication of rigid deformation of the slope compared to achieve accurate in place Sensitive to judge. The experimental results show that this method has the capability of filtering anti-jamming, significantly improving the sensitivity of single-leg in-place control and enhancing the safety and reliability of creep adsorption, which has great value in engineering application.