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CN114137992B - Method and related device for reducing shake of foot robot - Google Patents

Method and related device for reducing shake of foot robot Download PDF

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Publication number
CN114137992B
CN114137992B CN202111221238.3A CN202111221238A CN114137992B CN 114137992 B CN114137992 B CN 114137992B CN 202111221238 A CN202111221238 A CN 202111221238A CN 114137992 B CN114137992 B CN 114137992B
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foot end
leg
foot
robot
expected
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CN114137992A (en
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吴国雄
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Shenzhen Pengxing Intelligent Research Co Ltd
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Shenzhen Pengxing Intelligent Research Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles

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  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

The embodiment of the application discloses a method and a related device for reducing shake of a foot-type robot, which can effectively reduce damage to the internal mechanical structure of the foot-type robot caused by shake, thereby prolonging the service life of the foot-type robot. The application comprises the following steps: acquiring the moving speed and the moving direction of the robot; acquiring the expected foot drop position of the foot end of at least one leg according to the moving speed, the moving direction and the initial point position of the foot end of at least one leg; planning a foot end expected track of at least one leg according to a starting point position, an expected foot falling point position, a preset height for lifting the foot end and a preset curve of a vacation phase corresponding to the foot end of the at least one leg, wherein the foot end expected track of the at least one leg comprises an expected movement position and an expected speed corresponding to the expected movement position; and controlling the foot end of at least one leg to move along the foot end expected track according to the foot end expected track, the acquired foot end actual position and the foot end actual speed.

Description

Method and related device for reducing shake of foot robot
Technical Field
The embodiment of the application relates to the technical field of robots, in particular to a method for reducing shake of a foot-type robot and a related device.
Background
The power module of foot formula robot needs to provide energy through the shank to cooperate the shank accurate expected orbit of following the setting to remove, but in the removal process, can lead to foot formula robot orbit to follow inaccurately because of multiple reasons, there are external factor and internal factor, for example external factor: the ground is provided with a bulge, so that the foot end can be touched on the ground in advance; for example, due to internal factors, various errors caused by internal reasons of the robot, such as inaccurate matching among internal mechanical structures of the robot, mechanical clearance errors, insufficient response of a motion control system in the robot, motion control errors, zero calibration errors of motors due to machining deviation or installation deviation of motors in the robot, and the like, can be generated.
The above situation can cause the foot end to be unable to contact with the ground at a desired time, when the foot end contacts with the ground in advance, the foot end of the foot robot still moves continuously to complete its planned trajectory, for example: the moving gait of the foot robot is the trom gait, the planned track is that two legs of the foot robot are grounded, the two legs are emptied, and the two legs are grounded at the same time, but now one leg is grounded in advance due to various reasons, one leg is still in the air, and one leg which is grounded in advance still moves downwards after being contacted with the ground in order to finish the planned track, at the moment, the contact force between the foot end of one leg which is grounded in advance and the ground can be increased, one side of the body of the foot robot can be lifted, so that the foot robot shakes, and the damage to the mechanical structure inside the foot robot can be caused when the shake is performed for a plurality of times or continuously, so that the service life of the foot robot is reduced.
Disclosure of Invention
The embodiment of the application provides a method and a related device for reducing shake of a foot-type robot, which can effectively reduce damage to the internal mechanical structure of the foot-type robot caused by shake, thereby prolonging the service life of the foot-type robot.
The first aspect of the present application provides a method of reducing body shake of a foot robot, the method comprising:
Acquiring the moving speed and the moving direction of the robot;
Acquiring a desired foot drop position of the foot end of at least one leg according to the moving speed, the moving direction and the starting point position of the foot end of the at least one leg;
Planning a foot end expected track of the at least one leg according to a starting point position, an expected foot falling point position, a preset height for lifting the foot end and a preset curve of a vacation phase corresponding to the foot end of the at least one leg, wherein the foot end expected track of the at least one leg comprises an expected movement position and an expected speed corresponding to the expected movement position;
According to the expected foot end track, the acquired actual foot end position and the foot end actual speed, controlling the foot end of the at least one leg to move along the foot end expected track;
detecting whether the foot end of the at least one leg is grounded;
If the foot end of the at least one leg is grounded, updating the expected foot drop point position of the foot end of the at least one leg in the current vacation phase to the current grounded foot end position, and re-planning the track.
Optionally, the method further comprises: and detecting the rotation angle and the rotation speed of a power output unit of at least one power module corresponding to the at least one leg, and calculating and acquiring the actual position and the actual speed of the foot end corresponding to the at least one leg according to the rotation angle and the rotation speed.
Optionally, the controlling the foot end of the at least one leg to move along the foot end expected track according to the foot end expected track and the acquired foot end actual position and foot end actual speed includes:
Calculating joint moment of at least one power module of the at least one leg according to the expected foot end track, the actual foot end position and the actual foot end speed so as to control the foot end of the at least one leg to move according to the planned track;
the joint moment calculation formula of the at least one power module comprises the following formula:
Joint torque t=j [ K p(P_ref-P)+Kd (v_ref-V) ]+t_ff; wherein: j represents a Jacobian matrix;
k p represents a proportional parameter, P_ref represents a desired movement position of the foot end of each leg of the robot, and P represents an actual movement position of the foot end of each leg of the robot;
K d represents a differential parameter, V_ref represents the expected speed of the foot end of each leg of the robot, and V represents the actual speed of the foot end of each leg of the robot;
T_ff represents a gravity compensation torque for compensating the gravity of the leg of each leg of the robot and/or the friction of the foot end.
Optionally, the detecting whether the foot end of the at least one leg is grounded includes:
Detecting whether the foot end of the at least one leg is grounded or not through a bottoming detection algorithm;
Or alternatively, the first and second heat exchangers may be,
Detecting whether the foot end of the at least one leg is grounded by a foot end force sensor.
Optionally, the re-planning the trajectory includes:
determining the current grounded foot end position of the at least one leg as the starting point position of the next movement of the at least one leg foot end;
and re-planning the track corresponding to the foot end of the at least one leg according to the starting point position of the vacation phase corresponding to the foot end of the at least one leg, the expected foot drop point position, the preset height for lifting the foot end and the preset curve.
In a second aspect, the present application provides an apparatus for reducing shake of a foot robot, the apparatus comprising:
the first acquisition unit is used for acquiring the moving speed and the moving direction of the robot;
A second obtaining unit, configured to obtain a desired foot drop position of a foot end of at least one leg according to the movement speed, the movement direction, and a start point position of the foot end of the at least one leg;
A planning unit, configured to plan a foot end expected track of the at least one leg according to a starting point position of a vacation phase corresponding to the foot end of the at least one leg, an expected foot drop position, a preset height of lifting the foot end, and a preset curve, where the foot end expected track of the at least one leg includes an expected movement position and an expected speed corresponding to the expected movement position;
the control unit is used for controlling the foot end of the at least one leg to move along the foot end expected track according to the foot end expected track, the acquired foot end actual position and the acquired foot end actual speed;
a detection unit for detecting whether the foot end of the at least one leg is grounded;
And the updating unit is used for updating the expected foot drop point position of the foot end of the at least one leg in the current empty phase to the current grounded foot end position when the detecting unit determines that the foot end of the at least one leg is grounded, and re-planning the track.
Optionally, the apparatus further includes:
And the calculation unit is used for calculating and acquiring the actual position and the actual speed of the foot end corresponding to the at least one leg according to the rotation angle and the rotation speed of the power output unit of the at least one power module corresponding to the at least one leg.
Optionally, the control unit includes:
The calculation module is used for calculating the joint moment of the at least one power module of the at least one leg according to the expected foot end track, the actual foot end position and the actual foot end speed so as to control the foot end of the at least one leg to move according to the planned track;
the joint moment calculation formula of the at least one power module comprises the following formula:
Joint torque t=j [ K p(P_ref-P)+Kd (v_ref-V) ]+t_ff; wherein: j represents a Jacobian matrix;
K p represents a proportional parameter, P_ref represents the expected foot drop position of the foot end of each leg of the robot, and P represents the actual foot drop position of the foot end of each leg of the robot;
K d represents a differential parameter, V_ref represents the expected speed of the foot end of each leg of the robot, and V represents the actual speed of the foot end of each leg of the robot;
T_ff represents a gravity compensation torque for compensating the gravity of the leg of each leg of the robot and/or the friction of the foot end.
A third aspect of the present application provides an apparatus for reducing shake of a foot robot, the apparatus comprising:
A processor, a memory, and a bus;
the processor is connected with the memory and the bus;
The memory holds a program that the processor invokes to perform the method of any one of the first aspect and the first aspect.
A fourth aspect of the present application provides a computer readable storage medium having a program stored thereon, which when executed on a computer performs the method according to any of the first and second aspects.
From the above technical solutions, the embodiment of the present application has the following advantages:
In the method for reducing the shake of the foot-type robot, the moving speed and the moving direction of the robot are firstly obtained; acquiring the expected foot drop position of the foot end of at least one leg according to the moving speed, the moving direction and the initial point position of the foot end of at least one leg; then planning a foot end expected track of at least one leg according to a starting point position of a vacation phase corresponding to the foot end of the at least one leg, an expected foot falling point position, a preset height for lifting the foot end and a preset curve; thus, according to the foot end expected track, the acquired foot end actual position and the foot end actual speed, the foot end of the at least one leg is controlled to move along the foot end expected track; continuing to detect whether the foot end of at least one leg is grounded; if the foot end of at least one leg is determined to be grounded, updating the expected foot drop point position of the foot end of at least one leg in the current vacation phase to the current grounded foot end position, and re-planning the track; further, after the foot end of at least one leg of the robot touches the ground, the foot drop position of the vacation phase is updated to the foot end position of the current ground, so that the foot end stops moving, the situation that the foot end of the foot type robot shakes due to continuous downward movement after touching the ground in advance can be effectively avoided, the track of the foot end is planned again according to the current foot end position, the foot end of the foot type robot can move stably when moving next time, damage to the internal mechanical structure of the robot due to shaking is effectively reduced, and the service life of the foot type robot is prolonged.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic hardware configuration of a robot according to one embodiment of the present application;
FIG. 2 is a schematic view of a mechanical structure of a robot according to one embodiment of the present application;
FIG. 3 is a flow chart of a method for reducing body shake of a quadruped robot according to an embodiment of the present application;
FIG. 4 is a schematic view of a motion trajectory for lowering the foot end of a four-legged robot according to the present application;
FIG. 5 is a flow chart of another embodiment of a method for reducing body shake in a quadruped robot according to the present application;
FIG. 6 is a schematic structural view of an embodiment of the device for reducing body shake of a quadruped robot according to the present application;
fig. 7 is a schematic structural view of an embodiment of the apparatus for reducing body shake of a quadruped robot of the present application.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the following description, suffixes such as "module", "component", or "unit" for representing components are used only for facilitating the description of the present invention, and have no specific meaning in themselves. Thus, "module," "component," or "unit" may be used in combination.
Referring to fig. 1, fig. 1 is a schematic hardware structure of a multi-legged robot 100 according to one embodiment of the present invention. In the embodiment shown in fig. 1, the multi-legged robot 100 includes a mechanical unit 101, a communication unit 102, a sensing unit 103, an interface unit 104, a storage unit 105, a control module 110, and a power source 111. The various components of the multi-legged robot 100 can be connected in any manner, including wired or wireless connections, and the like. It will be appreciated by those skilled in the art that the specific structure of the multi-legged robot 100 shown in fig. 1 does not constitute a limitation of the multi-legged robot 100, the multi-legged robot 100 may include more or less components than illustrated, and that certain components do not necessarily constitute the multi-legged robot 100, may be omitted entirely or combined as necessary within a range that does not change the essence of the invention.
The various components of the multi-legged robot 100 are described in detail below in conjunction with fig. 1:
The mechanical unit 101 is hardware of the multi-legged robot 100. As shown in fig. 1, the mechanical unit 101 may include a drive plate 1011, a motor 1012, a mechanical structure 1013, as shown in fig. 2, the mechanical structure 1013 may include a body 1014, extendable legs 1015, feet 1016, and in other embodiments, the mechanical structure 1013 may further include an extendable mechanical arm, a rotatable head structure, a swingable tail structure, a carrying structure, a saddle structure, a camera structure, and the like. It should be noted that, the number of the component modules of the mechanical unit 101 may be one or more, and may be set according to the specific situation, for example, the number of the legs 1015 may be 4, each leg 1015 may be configured with 3 motors 1012, and the number of the corresponding motors 1012 is 12.
The communication unit 102 may be used for receiving and transmitting signals, or may be used for communicating with a network and other devices, for example, receiving command information sent by the remote controller or other multi-legged robot 100 to move in a specific direction at a specific speed value according to a specific gait, and then transmitting the command information to the control module 110 for processing. The communication unit 102 includes, for example, a WiFi module, a 4G module, a 5G module, a bluetooth module, an infrared module, and the like.
The sensing unit 103 is used for acquiring information data of the surrounding environment of the multi-legged robot 100 and monitoring parameter data of each component inside the multi-legged robot 100, and sending the information data to the control module 110. The sensing unit 103 includes various sensors such as a sensor that acquires surrounding environment information: lidar (for remote object detection, distance determination and/or velocity value determination), millimeter wave radar (for short range object detection, distance determination and/or velocity value determination), cameras, infrared cameras, global navigation satellite systems (GNSS, global Navigation SATELLITE SYSTEM), and the like. Such as sensors that monitor various components within the multi-legged robot 100: an inertial measurement unit (IMU, inertial Measurement Unit) (values for measuring velocity values, acceleration values and angular velocity values), plantar sensors (for monitoring plantar force point position, plantar posture, touchdown force magnitude and direction), temperature sensors (for detecting component temperature). As for other sensors such as load sensors, touch sensors, motor angle sensors, torque sensors, etc. that may be further configured for the multi-legged robot 100, the detailed description thereof will be omitted.
The interface unit 104 may be used to receive input (e.g., data information, power, etc.) from an external device and transmit the received input to one or more components within the multi-legged robot 100, or may be used to output (e.g., data information, power, etc.) to an external device. The interface unit 104 may include a power port, a data port (e.g., a USB port), a memory card port, a port for connecting devices having identification modules, an audio input/output (I/O) port, a video I/O port, and the like.
The storage unit 105 is used to store a software program and various data. The storage unit 105 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system program, a motion control program, an application program (such as a text editor), and the like; the data storage area may store data generated by the multi-legged robot 100 in use (such as various sensed data acquired by the sensing unit 103, log file data), and the like. In addition, the storage unit 105 may include high-speed random access memory, and may also include nonvolatile memory, such as disk memory, flash memory, or other volatile solid state memory.
The display unit 106 is used to display information input by a user or information provided to the user. The display unit 106 may include a display panel 1061, and the display panel 1061 may be configured in the form of a Liquid crystal display (Liquid CRYSTAL DISPLAY, LCD), an Organic Light-Emitting Diode (OLED), or the like.
The input unit 107 may be used to receive input numeric or character information. In particular, the input unit 107 may include a touch panel 1071 and other input devices 1072. The touch panel 1071, also referred to as a touch screen, may collect touch operations of a user (e.g., operations of the user on the touch panel 1071 or in the vicinity of the touch panel 1071 using a palm, a finger, or a suitable accessory), and drive the corresponding connection device according to a preset program. The touch panel 1071 may include two parts of a touch detection device 1073 and a touch controller 1074. The touch detection device 1073 detects the touch orientation of the user, detects a signal caused by the touch operation, and transmits the signal to the touch controller 1074; the touch controller 1074 receives touch information from the touch detecting device 1073, converts it into touch point coordinates, and sends the touch point coordinates to the control module 110, and can receive and execute commands sent from the control module 110. The input unit 107 may include other input devices 1072 in addition to the touch panel 1071. In particular, other input devices 1072 may include, but are not limited to, one or more of a remote control handle or the like, as is not limited herein.
Further, the touch panel 1071 may cover the display panel 1061, and when the touch panel 1071 detects a touch operation thereon or thereabout, the touch operation is transmitted to the control module 110 to determine the type of touch event, and then the control module 110 provides a corresponding visual output on the display panel 1061 according to the type of touch event. Although in fig. 1, the touch panel 1071 and the display panel 1061 are two independent components to implement the input and output functions, in some embodiments, the touch panel 1071 may be integrated with the display panel 1061 to implement the input and output functions, which is not limited herein.
The control module 110 is a control center of the multi-legged robot 100, connects the respective components of the entire multi-legged robot 100 using various interfaces and lines, and performs overall control of the multi-legged robot 100 by running or executing a software program stored in the storage unit 105, and calling data stored in the storage unit 105.
The power supply 111 is used to supply power to the various components, and the power supply 111 may include a battery and a power control board for controlling functions such as battery charging, discharging, and power consumption management. In the embodiment shown in fig. 1, the power source 111 is electrically connected to the control module 110, and in other embodiments, the power source 111 may be further electrically connected to the sensing unit 103 (such as a camera, a radar, a speaker, etc.), and the motor 1012, respectively. It should be noted that each component may be connected to a different power source 111, or may be powered by the same power source 111.
On the basis of the above embodiments, specifically, in some embodiments, the terminal device may be in communication connection with the multi-legged robot 100, when the terminal device communicates with the multi-legged robot 100, instruction information may be sent to the multi-legged robot 100 through the terminal device, the multi-legged robot 100 may receive the instruction information through the communication unit 102, and the instruction information may be transmitted to the control module 110 in case of receiving the instruction information, so that the control module 110 may process to obtain the target speed value according to the instruction information. Terminal devices include, but are not limited to: a mobile phone, a tablet personal computer, a server, a personal computer, a wearable intelligent device and other electrical equipment with an image shooting function.
The instruction information may be determined according to preset conditions. In one embodiment, the multi-legged robot 100 may include a sensing unit 103, and the sensing unit 103 may generate instruction information according to the current environment in which the multi-legged robot 100 is located. The control module 110 may determine whether the current speed value of the multi-legged robot 100 satisfies the corresponding preset condition according to the instruction information. If so, the current speed value and current gait movement of the multi-legged robot 100 are maintained; if not, the target speed value and the corresponding target gait are determined according to the corresponding preset conditions, so that the multi-legged robot 100 can be controlled to move at the target speed value and the corresponding target gait. The environmental sensor may include a temperature sensor, a barometric pressure sensor, a visual sensor, an acoustic sensor. The instruction information may include temperature information, air pressure information, image information, sound information. The communication mode between the environment sensor and the control module 110 may be wired communication or wireless communication. Means of wireless communication include, but are not limited to: wireless networks, mobile communication networks (3G, 4G, 5G, etc.), bluetooth, infrared.
The application provides a method and a related device for reducing shake of a foot-type robot, which can effectively reduce damage to the internal mechanical structure of the foot-type robot caused by shake, thereby prolonging the service life of the foot-type robot.
The method for reducing shake of the legged robot is mainly applied to the field of quadruped robots, and in the following embodiments, the quadruped robot is taken as an example for explanation. Referring to fig. 3, fig. 3 is a flowchart of a method for reducing shake of a foot robot according to an embodiment of the present application, where the method for reducing shake of a foot robot includes:
101. acquiring the moving speed and the moving direction of the robot;
In practical application, in order to effectively control the movement of the quadruped robot, a centroid reference track needs to be set for the quadruped robot, wherein the centroid reference track refers to a movement track of the quadruped robot from an initial place to a destination. The centroid reference track comprises a state parameter set and a control input quantity of each control period in the running process of the quadruped robot. The control period is a motion control period of the four-foot robot, the four-foot robot realizes the motion of each step according to a preset control logic in the motion process, and the motion of a plurality of control periods forms the movement track of the robot. For calculation of the centroid reference trajectory, more specifically, firstly, the moving speed of the four-foot robot and the moving direction of the robot are obtained, wherein the moving speed of the four-foot robot is the moving speed of the leg of the four-foot robot, and the moving direction of the four-foot robot is the moving direction of the leg of the four-foot robot. The four legs of the quadruped robot are provided with power components for providing power for the movement of the quadruped robot, wherein the movement direction is the direction from the starting point to the end point of the quadruped robot, more specifically, for example: the four-legged robot starts from the point A to the point B, the point A is the starting point, the point B is the end point, and the point B is at the left side of the point A, so that the moving direction of the four-legged robot is at the left side. After the four-legged robot movement speed and movement direction are acquired, step 102 is performed.
102. Acquiring a desired foot drop position of the foot end of at least one leg according to the moving speed, the moving direction and the starting point position of the foot end of the at least one leg;
After the moving speed, the moving direction and the starting point position of the foot end of at least one leg of the four-foot robot are obtained, the expected foot drop position of the foot end of at least one leg of the four-foot robot is obtained through calculation. The desired foot drop position is calculated in an ideal state for the movement speed, movement direction, and starting point position of the foot end of at least one leg of the four-legged robot, more specifically, for example: the leg moving speed of the four-legged robot is 0.5m/s, the moving direction is the left side, the starting point position of the foot end of at least one leg is at the origin, namely the position corresponding to the foot end is at 0m, and the expected foot falling point position of the foot end of at least one leg of the four-legged robot is at 0.5m through calculation of the information. The four-legged robot is provided with four legs in total, so that the expected foot drop position of the foot end of each leg needs to be calculated.
103. Planning a foot end expected track of the at least one leg according to a starting point position, an expected foot falling point position, a preset height for lifting the foot end and a preset curve of a vacation phase corresponding to the foot end of the at least one leg, wherein the foot end expected track of the at least one leg comprises an expected movement position and an expected speed corresponding to the expected movement position;
specifically, the position of the foot end corresponding to the starting point of the vacation phase is also the position of the foot falling point of the last vacation phase. When the foot end of at least one leg of the four-foot robot moves from the starting point position to the expected foot drop position corresponding to the foot end, planning a foot end expected track of at least one leg is needed, wherein the foot end expected track is planned by the starting point position of the vacation phase corresponding to the foot end of at least one leg of the four-foot robot, the expected foot drop position, the preset height lifted by the foot end and a preset curve. The expected moving positions of the foot end expected track correspond to the discrete points, and in the foot end moving process, if the foot end can accurately move to the discrete points, the foot end of the leg of the four-foot robot moves along the foot end expected track. It should be noted that, each discrete point on the desired track corresponds to a desired speed corresponding to the desired movement position, and the desired movement positions corresponding to different discrete points are different from the desired speeds corresponding to the desired movement positions.
In the present application, the expected foot-end trajectory of at least one leg of the four-legged robot is described by taking a bezier curve as an example, and the expected foot-end trajectory of the leg of the four-legged robot may be set to other curves in addition to the bezier curve, and the other curves are not described here by way of example. The bezier curve is similar to an arc in shape and is bilaterally symmetrical, and the start point and the end point of the curve may or may not be on the same horizontal line, for example: when the centroid reference track of the four-foot robot is in the flat ground, the starting point and the ending point of the Bezier curve of the leg foot end of the four-foot robot are on the same horizontal plane; when there is an upward slope in the centroid reference trajectory of the four-legged robot, the start and end points of the bezier curve for the leg and foot ends of the four-legged robot are not on the same horizontal line (fig. 4 is expected).
The normal movement of the quadruped robot depends on the cooperation of a data receiver, a foot end track device and a controller in the quadruped robot, and the data receiver receives data in a wireless mode, for example: in the present application, the data receiving mode of the data receiver is not specifically limited, and the data receiver receives a control instruction from an external controller, for example: and sending a control instruction of the destination ground plane coordinate or a control instruction for controlling the leg moving speed of the four-legged robot, and the like, and sending the control instruction to a controller, wherein the controller controls the foot end planner to determine the expected trajectory of the leg foot end of the four-legged robot according to the control instruction. The moving gait of the quadruped robot is a stro gait, the moving track is that two legs of the quadruped robot are grounded, the two legs are emptied, each leg of the quadruped robot has two phases, one is stance phases (representing grounding), the other is a swing phase (representing emptying), and after the legs of the quadruped robot complete the two phases, one gait cycle of the legs is completed. Because the four-foot robot is grounded by two legs in the moving process, the two legs are emptied, and when each leg of the four-foot robot completes the corresponding leg gait cycle, one gait cycle of the four-foot robot is calculated to be completed.
The starting position of the vacation phase at the foot end of the leg of the quadruped robot corresponds to the starting point of the bezier curve, and the foot drop point corresponds to the ending point of the bezier curve.
104. According to the expected foot end track, the acquired actual foot end position and the foot end actual speed, controlling the foot end of the at least one leg to move along the foot end expected track;
The foot end of the four-foot robot moves from the initial position to the expected foot drop point position along the Bezier curve, in the moving process, a controller in the four-foot robot can update the expected foot end track corresponding to the foot end of each leg of the four-foot robot in real time according to a control period, the control period is the interval time of planning the expected foot end track of each leg of the robot, the interval time is short, and when the movement of the foot end of the leg of the four-foot robot deviates from the expected foot end track, the four-foot robot can be adjusted in a short time. The actual speed of the foot end of the four-foot robot is the actual rotation speed of the motors of the legs of the four-foot robot, and it is required to be noted that three motors are arranged on each leg of the four-foot robot, and twelve motors are arranged on the four-foot robot. The four-foot robot controls the foot end of each leg to move along the Bezier curve according to the actual position and the actual speed of the foot end.
105. Detecting whether the foot end of the at least one leg is grounded;
In practical application, the internal controller of the four-legged robot detects whether the leg foot end of the four-legged robot is grounded according to the pressure fed back by the foot end pressure sensor, the pressure born by the foot end of the leg of the four-legged robot in the process of grounding and emptying is different, and the internal controller of the four-legged robot can detect whether the leg foot end is grounded according to the pressure difference born by the foot end. The method comprises the steps of detecting whether the leg end of the four-legged robot lands or not through a pressure sensor, calculating the bottom pressure of the leg end according to the current change of a motor of the leg of the four-legged robot, and if the bottom pressure of the leg end is rapidly increased, judging that the leg end is in contact with the terrain at the moment, and sending a grounding detection signal to a controller through the motor at the frequency of 100 Hz. If it is determined that the foot end of at least one leg of the four-legged robot has landed, step 106 is performed.
106. If the foot end of the at least one leg is grounded, updating the expected foot drop point position of the foot end of the at least one leg in the current vacation phase to the current grounded foot end position, and re-planning the track.
In practical application, if the foot end of at least one leg of the quadruped robot is determined to be grounded, updating the expected foot drop point position of the current foot end vacation phase to the current grounded foot end position, at this time, stopping planning the foot end track by the foot end planner, and stopping movement of the foot end of the leg of the quadruped robot at the current foot end speed of zero, so that the body balance of the quadruped robot can be kept stable. In order to enable the four-legged robot to stably advance next time, the controller sends the current position of the leg foot end of the four-legged robot to the foot end planner, the foot end planner sets the current position as the starting position of the leg foot end of the four-legged robot for next movement, and the controller reprograms the leg foot end track of the four-legged robot according to the starting position.
In the method for reducing the shake of the foot-type robot, the moving speed and the moving direction of the robot are firstly obtained; acquiring the expected foot drop position of the foot end of at least one leg according to the moving speed, the moving direction and the initial point position of the foot end of at least one leg; then planning a foot end expected track of at least one leg according to a starting point position of a vacation phase corresponding to the foot end of the at least one leg, an expected foot falling point position, a preset height for lifting the foot end and a preset curve; thus, according to the foot end expected track, the acquired foot end actual position and the foot end actual speed, the foot end of the at least one leg is controlled to move along the foot end expected track; continuing to detect whether the foot end of at least one leg is grounded; if the foot end of at least one leg is determined to be grounded, updating the expected foot drop point position of the foot end of at least one leg in the current vacation phase to the current grounded foot end position, and re-planning the track; further, after the foot end of at least one leg of the robot touches the ground, the foot drop position of the vacation phase is updated to the foot end position of the current ground, so that the foot end stops moving, the situation that the foot end of the foot type robot shakes due to continuous downward movement after touching the ground in advance can be effectively avoided, the track of the foot end is planned again according to the current foot end position, the foot end of the foot type robot can move stably when moving next time, damage to the internal mechanical structure of the robot due to shaking is effectively reduced, and the service life of the foot type robot is prolonged.
For a clearer explanation of a method for reducing body shake of a foot robot, an application scenario of the method is described below by way of example:
Assuming that a foot end expected track route of the four-foot robot advances from a point A to a point B, wherein the point A is a starting point, the point B is an end point, the point B is also called an expected foot falling point position, a controller in the four-foot robot can control the foot end of each leg to move along a Bezier curve according to the actual position and the actual speed of the foot end, and the pressure of the foot end bottom of the four-foot robot is calculated through a pressure sensor of the foot end of the leg of the four-foot robot or the current change of a joint of the leg of the four-foot robot to judge whether the foot end of the leg of the four-foot robot is landed or not. If the foot end is determined to be grounded, a controller in the four-foot robot sends the current position of the four-foot robot in the touchdown to a foot end planner, the foot end planner updates the current position to the expected foot drop position, namely updates the previous expected foot drop point B to the current position, so that the controller controls the four-foot robot to stop advancing continuously, and stops at the current position, thereby keeping the body balance of the four-foot robot and avoiding shaking.
Referring to fig. 5, fig. 5 is a flowchart of another embodiment of a method for reducing shake of a foot robot according to the present application, where the method for reducing shake of a foot robot includes:
201. Acquiring the moving speed and the moving direction of the robot;
202. Acquiring a desired foot drop position of the foot end of at least one leg according to the moving speed, the moving direction and the starting point position of the foot end of the at least one leg;
203. Planning a foot end expected track of the at least one leg according to a starting point position, an expected foot falling point position, a preset height for lifting the foot end and a preset curve of a vacation phase corresponding to the foot end of the at least one leg, wherein the foot end expected track of the at least one leg comprises an expected movement position and an expected speed corresponding to the expected movement position;
In the embodiment of the present application, steps 201 to 203 are similar to steps 101 to 103 described above, and are not repeated here.
204. Detecting the rotation angle and the rotation speed of a power output unit of at least one power module corresponding to at least one leg, and calculating and obtaining the actual position and the actual speed of the foot end corresponding to at least one leg according to the rotation angle and the rotation speed;
Specifically, three power motors are installed on each leg of the four-legged robot, the rotating angle and the rotating speed of the three power motors corresponding to at least one leg are detected, the actual foot end position and the actual foot end speed corresponding to at least one leg are calculated according to the rotating angle and the rotating speed, more specifically, three power motors are installed on each leg of the four-legged robot, the power motors are input through rotors of the power motors, and after the speed is reduced through a speed reducer, energy is output outwards through a flange plate, and power is provided for the legs of the four-legged robot to move.
205. According to the expected foot end track, the acquired actual foot end position and the foot end actual speed, controlling the foot end of the at least one leg to move along the foot end expected track;
After joint moments of three power modules of at least one leg are calculated through a foot end expected track, a foot end actual position and a foot end actual speed, the foot end of at least one leg is controlled to move according to the planned track; wherein, joint moment calculation formula of three power module:
Joint torque t=j [ K p(P_ref-P)+Kd (v_ref-V) ]+t_ff; wherein: j represents a Jacobian matrix;
k p represents a proportional parameter, P_ref represents a desired movement position of the foot end of each leg of the robot, and P represents an actual movement position of the foot end of each leg of the robot;
K d represents a differential parameter, V_ref represents the expected speed of the foot end of each leg of the robot, and V represents the actual speed of the foot end of each leg of the robot;
T_ff represents a gravity compensation torque for compensating the gravity of the leg of each leg of the robot and/or the friction of the foot end.
In practical application, the expected foot drop point position of the foot end of each leg of the robot is the end position of the Bezier curve planned by each leg of the four-legged robot. The desired speed of the foot end of each leg is the speed at which the foot end of each leg of the four-legged robot falls on a discrete point. The joint moment of the leg of the four-foot robot represents the moment of the three power modules.
The calculation of the joint moment is explained:
Firstly, determining a calculation formula of a speed parameter as K d (V_ref-V); wherein K d represents a differential parameter, v_ref represents a preset speed of the foot end of the robot, V represents a current speed of the foot end of the robot, a speed difference is obtained by calculating according to the preset speed and the current speed, and the speed difference is multiplied by the differential parameter to obtain a corresponding speed parameter, wherein it should be noted that, the differential parameter K d is set by a formula, and in the present application, this is not particularly limited, more specifically, for example: the determined preset speed is 20m/s, the obtained current speed is 15m/s, the current speed corresponds to the parameters in the formula, namely V_ref=20 and V=15, the current speed and the parameters are subtracted (V_ref-V) = (20-15) = 5, a speed difference value is 5m/s, and the speed difference value is multiplied by a differential parameter K d, so that the corresponding speed parameter=5K d can be obtained.
Next, determining a mileage parameter=k p (p_ref-P), where K p represents a proportion parameter, p_ref represents a foot drop position of the foot end of the robot, P represents a current position of the foot end of the robot, calculating according to the foot drop position and the current position to obtain a mileage difference value, and multiplying the mileage difference value by the proportion parameter to obtain a corresponding mileage parameter, where it should be noted that, in the present application, the proportion parameter K p is set by a formula itself, which is not specifically limited, more specifically, for example: determining the position of the foot drop point to be 1m, obtaining the current position to be 0.8m, wherein the current position corresponds to parameters in a formula, namely P_ref=1 and P=0.8, subtracting (P_ref-P) =1-0.8=0.2 to obtain a mileage difference value to be 0.2m, and multiplying the mileage difference value by a proportion parameter K p to obtain a corresponding mileage parameter=0.2K p.
After the speed parameter and the mileage parameter are obtained, substituting the speed parameter and the mileage parameter into a joint moment formula to calculate and obtain a joint moment, wherein the joint moment is calculated by the joint moment and is the moment of three motors, and the joint moment is calculated according to the formula T=J [ K p(P_ref-P)+Kd (V_ref-V) ]+T_ff; wherein: j represents a jacobian matrix and t_ff represents a feed forward torque that compensates for the weight of the robot leg and the friction of the foot end, more specifically, as illustrated in the above example, for example: the velocity parameter is 5K d, the mileage parameter=0.2k p, and the obtained joint moment t=j (5K d+0.2Kp) +t_ff.
206. Detecting whether the foot end of the at least one leg is grounded;
207. if the foot end of the at least one leg is grounded, updating the expected foot drop point position of the foot end of the at least one leg in the current vacation phase to the current grounded foot end position, and re-planning the track.
In practical applications, except for detecting whether the foot end of the at least one leg is grounded by a bottoming detection algorithm or whether the foot end of the at least one leg is grounded by a foot end force sensor. The joint moment of the foot end of the four-foot robot can be detected, more specifically, when the joint moment of a certain foot end of the four-foot robot is unequal to a preset moment, namely when T is unequal to T_ff, one of the speed parameter and the mileage parameter is unequal to 0 or is unequal to 0, if the speed parameter is unequal to 0, (V_ref-V) is unequal to 0, the current speed of the foot end of the four-foot robot when the foot end of the four-foot robot lands is unequal to the expected speed of the foot end. If the mileage parameter is not equal to 0 and K p (P_ref-P) is not equal to 0, the current position of the foot end of the four-foot robot is not at the foot drop position. In the above situation, it is explained that the foot end of the quadruped robot does not reach the desired foot drop point position yet, and the foot end is likely to fall to the ground in advance due to the fact that the protruding block is touched, when the controller determines that the joint moment is not equal to the feedforward moment, the desired foot drop point position of the foot end of the quadruped robot is updated to the current position, so that the foot end planner stops planning the foot end track continuously, and the speed of the current foot end is adjusted to 0, so that the quadruped robot can keep body balance after touching the ground in advance, and shake does not occur.
When the current grounded leg foot end position of the four-foot robot is determined to be the next moving position of the leg foot end of the four-foot robot, a controller and a foot end planner in the four-foot robot can re-plan the track corresponding to the progenitor foot end according to the current grounded position, the foot drop position and the preset height and the preset curve of lifting of the foot end of the vacation phase corresponding to the leg foot end of the four-foot robot. In the embodiment of the application, the specific position of the landing position of the quadruped robot is not limited, wherein, the foot end track of the quadruped robot which is planned again is also a Bezier curve.
In the application, the relation between the joint moment and the feedforward moment can be determined by the preset formula T=J [ K p(P_ref-P)+Kd (V_ref-V) ]+T_ff of the joint moment, and when the foot end of the quadruped robot is determined to land, the expected foot falling position in the track is updated to the current landing position, so that the foot end of the quadruped robot stops moving continuously, and the body shake of the quadruped robot caused by the fact that the downward impact force is larger than the gravity of the leg and the friction force generated by the foot end is effectively avoided.
The above embodiments describe the method for reducing shake of the quadruped robot in detail, and the system, the device, the apparatus and the computer storage medium provided in the present application will be described in detail with reference to the accompanying drawings.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of a shake reducing apparatus for a foot robot according to the present application, where the embodiment includes:
A first acquiring unit 301 configured to acquire a movement speed and a movement direction of the robot;
a second acquiring unit 302, configured to acquire a desired foot drop position of the foot end of the at least one leg according to the movement speed, the movement direction, and a start point position of the foot end of the at least one leg;
a planning unit 303, configured to plan a foot end expected trajectory of the at least one leg according to a starting point position of a vacation phase corresponding to the foot end of the at least one leg, an expected foot drop position, a preset height of lifting the foot end, and a preset curve, where the foot end expected trajectory of the at least one leg includes an expected movement position and an expected speed corresponding to the expected movement position;
A control unit 304, configured to control the foot end of the at least one leg to move along the foot end desired trajectory according to the foot end desired trajectory and the acquired foot end actual position and foot end actual speed;
a detecting unit 305 for detecting whether the foot end of the at least one leg is grounded;
and the updating unit 306 is configured to update the expected foot drop position of the foot end of the at least one leg in the current vacation phase to the current grounded foot end position when the detecting unit determines that the foot end of the at least one leg is grounded, and re-plan the trajectory.
Optionally, the apparatus further includes:
and the calculating unit 307 is configured to obtain the actual position and the actual speed of the foot end corresponding to the at least one leg by detecting a rotation angle and a rotation speed of the power output unit of the at least one power module corresponding to the at least one leg, and calculating according to the rotation angle and the rotation speed.
Optionally, the control unit 304 includes:
The calculation module 3041 is configured to calculate a joint moment of at least one power module of the at least one leg according to the expected trajectory of the foot end, the actual position of the foot end and the actual speed of the foot end, so as to control the foot end of the at least one leg to move according to the planned trajectory;
the joint moment calculation formula of the at least one power module comprises the following formula:
Joint torque t=j [ K p(P_ref-P)+Kd (v_ref-V) ]+t_ff; wherein: j represents a Jacobian matrix;
K p represents a proportional parameter, P_ref represents the expected foot drop position of the foot end of each leg of the robot, and P represents the actual foot drop position of the foot end of each leg of the robot;
K d represents a differential parameter, V_ref represents the expected speed of the foot end of each leg of the robot, and V represents the actual speed of the foot end of each leg of the robot;
T_ff represents a gravity compensation torque for compensating the gravity of the leg of each leg of the robot and/or the friction of the foot end.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an embodiment of a shake apparatus for a foot robot according to the present application, where the embodiment includes:
A processor 401, a memory 402, and a bus 403;
The processor 401 is connected to the memory 402 and the bus 403;
the memory 402 stores a program that the processor 402 invokes to perform the method of reducing foot robot shake described above.
The present application provides a computer readable storage medium having a program stored thereon, which when executed on a computer performs the above-described method of reducing body shake of a foot robot.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may be expected to correspond to those in the foregoing method embodiments, and will not be described in detail herein.
In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a random-access memory (RAM, random access memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Claims (9)

1. A method of reducing foot robot shake, the method comprising:
Acquiring the moving speed and the moving direction of the robot;
Acquiring a desired foot drop position of the foot end of at least one leg according to the moving speed, the moving direction and the starting point position of the foot end of the at least one leg;
Planning a foot end expected track of the at least one leg according to a starting point position, an expected foot falling point position, a preset height for lifting the foot end and a preset curve of a vacation phase corresponding to the foot end of the at least one leg, wherein the foot end expected track of the at least one leg comprises an expected movement position and an expected speed corresponding to the expected movement position;
According to the expected foot end track, the acquired actual foot end position and the foot end actual speed, controlling the foot end of the at least one leg to move along the foot end expected track;
detecting whether the foot end of the at least one leg is grounded or not through a bottoming detection algorithm or a foot end force sensor;
If the foot end of the at least one leg is grounded, updating the expected foot drop point position of the foot end of the at least one leg in the current vacation phase to the current grounded foot end position, and re-planning the track.
2. The method of reducing foot robot shake of claim 1, further comprising: and detecting the rotation angle and the rotation speed of a power output unit of at least one power module corresponding to the at least one leg, and calculating and acquiring the actual position and the actual speed of the foot end corresponding to the at least one leg according to the rotation angle and the rotation speed.
3. The method of reducing foot robot shake according to claim 2, wherein the controlling the foot end of the at least one leg to follow the foot end desired trajectory according to the foot end desired trajectory and the obtained foot end actual position and foot end actual speed comprises:
Calculating joint moment of at least one power module of the at least one leg according to the expected foot end track, the actual foot end position and the actual foot end speed so as to control the foot end of the at least one leg to move according to the planned track;
the joint moment calculation formula of the at least one power module comprises the following formula:
Joint torque t=j [ K p(P_ref-P)+Kd (v_ref-V) ]+t_ff; wherein: j represents a Jacobian matrix;
k p represents a proportional parameter, P_ref represents a desired movement position of the foot end of each leg of the robot, and P represents an actual movement position of the foot end of each leg of the robot;
K d represents a differential parameter, V_ref represents the expected speed of the foot end of each leg of the robot, and V represents the actual speed of the foot end of each leg of the robot;
T_ff represents a gravity compensation torque for compensating the gravity of the leg of each leg of the robot and/or the friction of the foot end.
4. The method of reducing foot robot shake according to claim 1, wherein the re-planning the trajectory comprises:
determining the current grounded foot end position of the at least one leg as the starting point position of the next movement of the at least one leg foot end;
and re-planning the track corresponding to the foot end of the at least one leg according to the starting point position of the vacation phase corresponding to the foot end of the at least one leg, the expected foot drop point position, the preset height for lifting the foot end and the preset curve.
5. An apparatus for reducing shake of a foot robot, the apparatus comprising:
the first acquisition unit is used for acquiring the moving speed and the moving direction of the robot;
A second obtaining unit, configured to obtain a desired foot drop position of a foot end of at least one leg according to the movement speed, the movement direction, and a start point position of the foot end of the at least one leg;
A planning unit, configured to plan a foot end expected track of the at least one leg according to a starting point position of a vacation phase corresponding to the foot end of the at least one leg, an expected foot drop position, a preset height of lifting the foot end, and a preset curve, where the foot end expected track of the at least one leg includes an expected movement position and an expected speed corresponding to the expected movement position;
the control unit is used for controlling the foot end of the at least one leg to move along the foot end expected track according to the foot end expected track, the acquired foot end actual position and the acquired foot end actual speed;
a detection unit for detecting whether the foot end of the at least one leg is grounded;
And the updating unit is used for updating the expected foot drop point position of the foot end of the at least one leg in the current empty phase to the current grounded foot end position when the detecting unit determines that the foot end of the at least one leg is grounded, and re-planning the track.
6. The apparatus for reducing foot robot shake of claim 5, further comprising:
And the calculation unit is used for calculating and acquiring the actual position and the actual speed of the foot end corresponding to the at least one leg according to the rotation angle and the rotation speed of the power output unit of the at least one power module corresponding to the at least one leg.
7. The apparatus for reducing shake of a foot robot according to claim 6, wherein the control unit includes:
The calculation module is used for calculating the joint moment of the at least one power module of the at least one leg according to the expected foot end track, the actual foot end position and the actual foot end speed so as to control the foot end of the at least one leg to move according to the planned track;
the joint moment calculation formula of the at least one power module comprises the following formula:
Joint torque t=j [ K p(P_ref-P)+Kd (v_ref-V) ]+t_ff; wherein: j represents a Jacobian matrix;
K p represents a proportional parameter, P_ref represents the expected foot drop position of the foot end of each leg of the robot, and P represents the actual foot drop position of the foot end of each leg of the robot;
K d represents a differential parameter, V_ref represents the expected speed of the foot end of each leg of the robot, and V represents the actual speed of the foot end of each leg of the robot;
T_ff represents a gravity compensation torque for compensating the gravity of the leg of each leg of the robot and/or the friction of the foot end.
8. An apparatus for reducing shake of a foot robot, the apparatus comprising:
A processor, a memory, and a bus;
the processor is connected with the memory and the bus;
The memory holds a program which the processor invokes to perform the method of any one of claims 1 to 4.
9. A computer readable storage medium having a program stored thereon, which when executed on a computer performs the method of any of claims 1 to 4.
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