CN107346107A - Diversified motion control method and system and the robot with the system - Google Patents
Diversified motion control method and system and the robot with the system Download PDFInfo
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- CN107346107A CN107346107A CN201610291089.0A CN201610291089A CN107346107A CN 107346107 A CN107346107 A CN 107346107A CN 201610291089 A CN201610291089 A CN 201610291089A CN 107346107 A CN107346107 A CN 107346107A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
The invention provides a kind of diversified motion control method for robot, comprise the following steps：Invocation step：Call the basic motion unit in elemental motion set；Random error generation step：Random error of the generation suitable for the basic motion unit；Motion random step：The random error is superimposed on the basic motion unit with generate randomization to should basic motion unit actual motion unit；And Motor execution step：The robot is controlled according to actual motion unit to perform motion.Present invention also offers a kind of diversified kinetic control system for robot and with the system robot.Pass through the diversified motion control to robot, according to the original behavior aggregate of robot, different movement combinations is expanded out, robot is showed random and diversified motion, so that user feels that it is more diversified, intelligent with robot interactive, more interactive experiences are brought for user.
Description
Technical field
The present invention relates to robot bionic technology, more particularly to a kind of diversified motion control method and system
And the robot with the system.
Background technology
The most important amusement function of robot is can be with human interaction.Its intelligence of existing intelligent robot
Property and it is recreational often limited, it is impossible to bring good experience to user, such as pet robot is dynamic
Make single, single action can only be done when sprouting by being sold in the specific time, can not randomly choose action.With with
User's Long Term Contact, user can feel that its is interesting and recreational can be greatly reduced.
Therefore, this area needs a kind of diversity that can improve robot motion to improve recreational technology.
The content of the invention
The brief overview of one or more aspects given below is to provide to the basic comprehension in terms of these.This is general
The extensive overview of the not all aspect contemplated is stated, and is both not intended to identify the key of all aspects
Or the decisive key element also non-scope attempted to define in terms of any or all.Its unique purpose is will be with simplification
Some concepts that form provides one or more aspects think the sequence of more detailed description given later.
An object of the present invention is dullness or the mechanization for changing existing robot interaction formses, is this root
According to an aspect of of the present present invention, there is provided a kind of diversified motion control method for robot, including it is following
Step：
Invocation step：Call the basic motion unit in elemental motion set；
Random error generation step：Random error of the generation suitable for the basic motion unit；
Motion random step：The random error is superimposed on the basic motion unit to generate pair of randomization
Should basic motion unit actual motion unit；And
Motor execution step：The robot is controlled according to actual motion unit to perform motion.
In one example, the basic motion unit is M0(t|θ1,…,θN), wherein θiTo be transported substantially with this
Movable joint F in the associated N number of movable joint of moving celliWith time t movement function, this is random
Error is Me(t|η1*θ1..., ηN*θN), wherein, | ηi| ＜ αimax, ηiAnd αimaxRespectively move
Joint FiMovement function random error coefficient and limits of error coefficient, i=1 ... N.
In one example, movable joint FiMovement function random error coefficient ηiFor random factor ri
With limits of error factor alphaimaxProduct, random factor riIt is the random number that scope is -1~1.
In one example, the αimaxCalculated based on whole robot system, and it is corresponding different
Movable joint FiIt is arranged to different numerical value.
In one example, the ηiIt can change at random with the time.
In one example, the quantity of the basic motion unit called is one or more.
In one example, this method also includes：Motion sensing step：Sense the motion state of the robot；
And set-up procedure：Actual motion unit is adjusted according to the motion state sensed to ensure the steady of the robot
It is qualitative；Wherein, what the Motor execution step performed is adjusted actual motion unit.
In one example, also include after Motor execution step：After calling in the elemental motion set
Continuous basic motion unit, it is more that the follow-up basic motion unit is then back to the progress of random error generation step
Sample motion control, until meeting stop condition.
In one example, the follow-up basic motion unit be from the basic motion unit can jump to
Selected at random in a few basic motion unit.
In one example, the mapping relations in moving cell mapping set determine the basic exercise list
At least one basic motion unit that member can jump to.
In one example, the motion state of the sensing robot is：Using gravity accelerometer,
Gyroscope and/or the obliquity sensor in robot trunk sense the motion state of the robot.
According to another aspect of the present invention, there is provided a kind of diversified kinetic control system for robot,
Including：
Calling module, for calling the basic motion unit in elemental motion set；
Random error generation module, for generating the random error suitable for the basic motion unit；
Motion random module, it is randomized for being superimposed the random error on the basic motion unit with generating
To should basic motion unit actual motion unit；And
Motor execution module, motion is performed for controlling the robot according to actual motion unit.
In one example, the system also includes：Motion sensing module, for sensing the motion of the robot
State；And adjusting module, for ensuring this according to the motion state adjustment actual motion unit sensed
The stability of robot；Wherein, what the Motor execution module performed is adjusted actual motion unit.
In one example, the calling module is additionally operable to, and fortune is performed according to actual motion unit in the robot
After dynamic, the follow-up basic motion unit in the elemental motion set is called, then by the follow-up basic exercise
Unit returns to the random error generation module and carries out diversified motion control, then by under calling module execution
One calls, until meeting stop condition.
In one example, mapping relations of the calling module in moving cell mapping set call this
Follow-up basic motion unit in elemental motion set, the follow-up basic motion unit are to be reflected according to moving cell
At least one basic exercise that the basic motion unit that the mapping relations penetrated in set determine can jump to
Unit.
According to another aspect of the present invention, there is provided a kind of robot of variation motion, including：
The system that diversified motion control is carried out to robot as discussed previously；And
Motion, the motion performed for implementing the Motor execution module according to actual motion unit.
In one example, the motion includes：Head movement mechanism, two upper limb motion mechanisms, two
Individual leg exercise mechanism, the motion of each motion is separate, and each motion is by two steering wheels
To realize motion.
By the diversified motion control to robot, according to the original behavior aggregate of robot, difference is expanded out
Movement combination, solve the problems, such as that robot motion is dull and mechanization, make robot show at random and
Diversified motion, so that user feels that it is more diversified, intelligent with robot interactive, it is user
Bring more interactive experiences.
Brief description of the drawings
After the detailed description of embodiment of the disclosure is read in conjunction with the following drawings, this better understood when
The features described above and advantage of invention.In the accompanying drawings, each component is not necessarily drawn to scale, and has class
As the component of correlation properties or feature may have same or like reference.
Fig. 1 is the block diagram for the robot for showing variation motion according to an aspect of the present invention；
Fig. 2 is to show the diversified kinetic control system for robot according to an aspect of the present invention
First embodiment block diagram；
Fig. 3 is to show the diversified motion control method for robot according to an aspect of the present invention
First embodiment flow chart；
Fig. 4 is to show the diversified kinetic control system for robot according to an aspect of the present invention
Second embodiment block diagram；
Fig. 5 is to show the diversified motion control method for robot according to an aspect of the present invention
Second embodiment flow chart；And
Fig. 6 a-6c are the schematic diagrames for showing a kind of penguin robot according to the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.Pay attention to, below in conjunction with accompanying drawing and
The aspects of specific embodiment description is only exemplary, and is understood not to protection scope of the present invention
Carry out any restrictions.
The invention provides a kind of control program for the random variation motion of robot, the control program can
According to the original behavior aggregate of robot, to expand out different movement combinations, be the random and various of robot
The motion of change provides support.Moreover, by robot, this body structure is not limited the control program, can basis
The demand of user and developer are modified.So that user feels that it is more diversified with robot interactive,
Intellectuality, more interactive experiences are brought for user.
In the present invention, term " robot " includes all automatic devices for performing work or task, is not limited to
The functionalization of its resemblance and its job specification is equipped automatically, such as robot, toy, self-navigation fortune
Capable unmanned plane, dolly and mobile platform etc..
Fig. 1 is the block diagram for the robot 100 for showing variation motion according to an aspect of the present invention.Such as
Shown in Fig. 1, robot 100 may include motion 110 and diversified kinetic control system 120.Fortune
Motivation structure 110 is the Motor execution person of robot, for example, can include head movement mechanism, leg exercise
Mechanism, hand exercise mechanism, upper limb motion mechanism etc..Motion 110 can complete robot 100
Some basic moving cells, basic motion unit are included for example, walking, jumping, waving etc..In addition, this
In term " basic motion unit " also broadly include reflection robot certain feature combination of actions,
Such as robot represents " happy " this feature by a series of specific action, then this is a series of specific dynamic
The combination of work is also contemplated as a basic motion unit.Basic motion unit can pass through Kinematic Model and combination
ZMP theory analysises design.
Typically, robot 100 can have an elemental motion set, including multiple basic motion units, by
The motion 110 of robot 100 is implemented.In addition, robot 100 is typically movable continuously, such as
After one or more basic motion units are performed, follow-up one or more basic exercises can be then performed
Unit.In other words, according to the design of robot 100, in elemental motion set each basic motion unit and its
There is association by one or more basic motion units in him, i.e., the basic motion unit may jump to next base
This moving cell, therefore, robot 100 also set up the moving cell of the mapping relations of elemental motion unit
Mapping set { F }.Assuming that each basic motion unit has a digital number, then for example basic motion unit is 1.
The next basic motion unit that can be redirected can be basic motion unit 3. with basic motion unit 4., then it is this
Mapping relations will be recorded in moving cell mapping set { F }.
According to an aspect of the present invention, robot 100 may also include diversified kinetic control system 120, should
Diversified kinetic control system 120 can realize motion 110 based on the elemental motion set of robot 100
Variation motion, such as diversified kinetic control system 120 can make whole robot according to original action
Collection carries out randomization campaign so that the variation of robot motion has further guarantee.Specifically,
Diversified kinetic control system 120 can be drawn and be directed to according to this body structure of robot and the behavior aggregate of setting
Disturb, be attached in overall movement function, eventually as machine in integrally-built random error and data
People motion input, more preferably can also aid in simultaneously with the feedback of robot sensor itself (anti-locking mechanism
Interference and unstable), finally give the diversified forms of motion of robot.
Fig. 2 is to show the diversified kinetic control system for robot according to an aspect of the present invention
The block diagram of 200 first embodiment.Here control system 200 can be Fig. 1 diversified motion control
The embodiment of system 120.
As shown in Fig. 2 control system 200 may include calling module 210, random error generation module 220,
Motion random module 230 and Motor execution module 240.
Calling module 210 can call the basic motion unit in the elemental motion set of robot.Here adjusted
The quantity of basic motion unit can be one or more.Call unit 210 may be in response to user to machine
The instruction works of device people.If for example, instruction of the user to robot one " dancing ", in elemental motion collection
In the case of directly " dancing " this elemental motion unit being present in conjunction, calling module 210 can directly invoke
" dancing " this elemental motion unit.If according to Robot Design, " dancing " is by a series of basic
Motor unit composition, then calling module 210 can call first base in this serial elemental motion unit
This motor unit.
After the basic motion unit is called, random error generation module 220 can generate basic suitable for this
The random error of moving cell.Elemental motion set can use { M } to represent, be called in the elemental motion set
Basic motion unit available functions M0(t|θ1,…,θN) represent, wherein θiFor with the basic motion unit
M0Movable joint F in associated N number of movable jointiWith time t movement function, i=1 ... N.
The implementation of each basic motion unit is all associated with several movable joints of robot.For example, " walking "
This basic motion unit is related to leg exercise mechanism and hand exercise mechanism, then the two fitness machines
The movable joint of structure is that this basic motion unit is associated with " walking ".In practice, movable joint
Action typically realized by steering wheel.
For the basic motion unit M called0, random error function M can be passed throughe(t|η1*
θ1,…,ηN*θN) introduce random error.ηiFor movable joint FiMovement function random error system
Number.For each movable joint Fi, all in the presence of a limits of error factor alphaimax, the introducing
Random error coefficient ηiAbsolute value need to be less than the αimax.Since in the error range, motion state
It is metastable.
Specifically, random error coefficient ηiCan be by corresponding random factor riIt is multiplied by corresponding maximum allowable mistake
Poor factor alphaimaxForm, random factor riFor [- 1,1] random number.
For different basic motion units, involved movable joint may be different, even if being related to phase
Same movable joint, the movement function θ of each movable jointiMay all be different.For a basic fortune
The limits of error factor alpha of the movement function in the associated motion joint of moving cellimax, can be by whole
Robot system is calculated, and provides corresponding standard, and user can also freely be configured,
Certainly, the value after changing should meet to be less than the maximum tolerance that system is calculated.Accordingly, for different
Basic motion unit, limits of error factor alphaimaxIt is and different.
Herein, the η of each movement functioniCan be as oneself advances in system daily, weekly, monthly
Row changes, and the frequency of the setting can voluntarily be set by user.
Once generating the random error, motion random module 230 can be to the basic fortune of the calling
Moving cell M0It is randomized, i.e., random error M is superimposed on the basic motion uniteWith generation with
Machine to should basic motion unit actual motion unit MC=M0+Me。
Then, Motor execution module 240 can control the motion of robot according to the actual motion list
First MCPerform motion.
Perform randomization to should basic motion unit actual motion unit MCAfterwards, calling module
210 it is executable call next time, i.e., call follow-up basic motion unit from the elemental motion set.Such as
Previously described, according to moving cell mapping set { F }, the basic motion unit that had previously called may can be with
Other more than one basic motion units are jumped to, therefore, calling module 210 can be single according to motion
At least one basic motion unit that first mapping set { F } determines previous basic motion unit and can jumped to is made
For follow-up basic motion unit, or using random number method further from this at least one basic exercise list
Follow-up basic motion unit is chosen in member, starts new motion.Then, the basic exercise list new to this
Member repeats the previously operation performed by each module, untill stop condition, such as receives stopping for user
Only instruction etc..
Fig. 3 is to show the diversified motion control method for robot according to an aspect of the present invention
The flow chart of 300 first embodiment.As shown in figure 3, control method 300 may include following steps：
Invocation step 301：Call the basic motion unit in the elemental motion set of robot.As it was previously stated,
Here the basic motion unit called can be one, or can also be multiple.The calling may be in response to
Instruction of the user to robot.For example, if instruction of the user to robot one " dancing ", is being moved substantially
In the case that work directly has " dancing " this elemental motion unit in gathering, it can directly invoke " dancing "
This elemental motion unit.If according to Robot Design, " dancing " is by a series of elemental motion unit
Composition, then it can call first elemental motion unit in this serial elemental motion unit.
Random error generation step 302：After the basic motion unit is called, it can generate suitable for the base
The random error of this moving cell.Elemental motion set can use { M } to represent, be adjusted in the elemental motion set
Basic motion unit available functions M0(t|θ1,…,θN) represent, wherein θiFor with the basic exercise list
First M0Movable joint F in associated N number of movable jointiWith time t movement function, i=1 ... N.
The implementation of each basic motion unit is all associated with several movable joints of robot.For example, " walking "
This basic motion unit is related to leg exercise mechanism and hand exercise mechanism, then the two fitness machines
The movable joint of structure is that this basic motion unit is associated with " walking ".In practice, movable joint
Action typically realized by steering wheel.
For the basic motion unit M called0, random error function M can be passed throughe(t|η1*
θ1,…,ηN*θN) introduce random error.ηiFor movable joint FiMovement function random error system
Number.For each movable joint Fi, all in the presence of a limits of error factor alphaimax, the introducing
Random error coefficient ηiAbsolute value need to be less than the αimax.Since in the error range, motion state
It is metastable.
Specifically, random error coefficient ηiCan be by corresponding random factor riIt is multiplied by corresponding maximum allowable mistake
Poor factor alphaimaxForm, random factor riFor the random number of [- 1,1].
For different basic motion units, involved movable joint may be different, even if being related to phase
Same movable joint, the movement function θ of each movable jointiMay all be different.For a basic fortune
The limits of error factor alpha of the movement function in the associated motion joint of moving cellimax, can be by whole
Robot system is calculated, and provides corresponding standard, and user can also freely be configured,
Certainly, the value after changing should meet to be less than the maximum tolerance that system is calculated.Accordingly, for different
Basic motion unit, limits of error factor alphaimaxIt is and different.
Herein, the η of each movement functioniCan be as oneself advances in system daily, weekly, monthly
Row changes, and the frequency of the setting can voluntarily be set by user.
Motion random step 303：Once generate the random error, you can to the basic of the calling
Moving cell M0It is randomized, i.e., random error M is superimposed on the basic motion uniteWith generation
Randomization to should basic motion unit actual motion unit MC=M0+Me。
Motor execution step 304：Controllable robot is according to actual motion unit MCTo perform motion.
Step 305：Whether stop condition is met, if meeting stop condition, stop motion, otherwise
Into the invocation step 301 of next round.
Pay attention to, although step 305 is to be shown after the step 304 here, however, in fact,
Random time during method 300 is performed, as long as meeting stop condition, then motion stops.
Fig. 4 is to show the diversified kinetic control system for robot according to an aspect of the present invention
The block diagram of 400 second embodiment.Here control system 400 can be Fig. 1 diversified motion control
The embodiment of system 120.
As shown in figure 4, control system 400 may include calling module 410, random error generation module 420,
Motion random module 430, motion sensing module 440, adjusting module 450, Motor execution module 460.
Calling module 410 can call the basic motion unit in the elemental motion set of robot.As it was previously stated,
Here the basic motion unit called can be one, or can also be multiple.Call unit 410 can
In response to instruction works of the user to robot.If for example, instruction of the user to robot one " dancing ",
In the case of directly " dancing " this elemental motion unit being present in elemental motion set, calling module 410
" dancing " this elemental motion unit can be directly invoked.If according to Robot Design, " dancing " is by one
The elemental motion unit composition of series, then calling module 410 can be called in this serial elemental motion unit
First elemental motion unit.
After the basic motion unit is called, random error generation module 420 can generate basic suitable for this
The random error of moving cell.Elemental motion set can use { M } to represent, be called in the elemental motion set
Basic motion unit available functions M0(t|θ1,…,θN) represent, wherein θiFor with the basic motion unit
M0Movable joint F in associated N number of movable jointiWith time t movement function, i=1 ... N.
The implementation of each basic motion unit is all associated with several movable joints of robot.For example, " walking "
This basic motion unit is related to leg exercise mechanism and hand exercise mechanism, then the two fitness machines
The movable joint of structure is that this basic motion unit is associated with " walking ".In practice, movable joint
Action typically realized by steering wheel.
For the basic motion unit M called0, random error function M can be passed throughe(t|η1*
θ1,…,ηN*θN) introduce random error.ηiFor movable joint FiMovement function random error system
Number.For each movable joint Fi, all in the presence of a limits of error factor alphaimax, the introducing
Random error coefficient | ηi| the α need to be less thanimax.Because in the error range, motion state is relatively steady
Fixed.
Specifically, random error coefficient ηiCan be by corresponding random factor riIt is multiplied by corresponding maximum allowable mistake
Poor factor alphaimaxForm, random factor riFor [- 1,1] interior random number.
For different basic motion units, involved movable joint may be different, even if being related to phase
Same movable joint, the movement function θ of each movable jointiMay all be different.For a basic fortune
The limits of error factor alpha of the movement function in the associated motion joint of moving cellimax, can be by whole
Robot system is calculated, and provides corresponding standard, and user can also freely be configured,
Certainly, the value after changing should meet to be less than the maximum tolerance that system is calculated.Accordingly, for different
Basic motion unit, limits of error factor alphaimaxIt is and different.
Herein, the η of each movement functioniCan be as oneself advances in system daily, weekly, monthly
Row changes, and the frequency of the setting can voluntarily be set by user.
Once generating the random error, motion random module 430 can be to the basic fortune of the calling
Moving cell M0It is randomized, i.e., random error M is superimposed on the basic motion uniteWith generation with
Machine to should basic motion unit actual motion unit MC=M0+Me。
Because motion is the synthesis of multivariable, the motion after synthesis under the maximum tolerance in each joint differs
Surely it is stable.Correspondingly, motion sensing module 440 can sense the motion state of robot, such as
The kinematic parameters such as the acceleration by the use of gravity accelerometer sensing robot are as feedback, or utilize
Gyroscope or the obliquity sensor in robot trunk sense the motion such as motion state of the robot
Parameter is as feedback.Adjusting module 450 can adjust this by the use of the motion state sensed as feedback
Actual motion unit, to be adjusted in real time to motion, so that it is guaranteed that the stability of robot.
Then, Motor execution module 460 can control robot according to adjusted actual motion unit MC
To perform motion.
Perform the adjusted actual motion unit MCAfterwards, calling module 410 is executable calls next time,
Follow-up basic motion unit is called from the elemental motion set.As it was earlier mentioned, according to mapping ensemblen
Close { F }, the basic motion unit previously called may can jump to other more than one basic exercises
Unit, therefore, calling module 410 can be adjusted according to the mapping relations in moving cell mapping set { F }
It is first with follow-up basic motion unit, such as the mapping relations determination in moving cell mapping set { F }
At least one basic motion unit that preceding basic motion unit can jump to is to be used as follow-up basic exercise
Unit, or further chosen according to the mode of random number from this at least one basic motion unit
Go out follow-up basic motion unit, so as to start new motion.Then, the basic motion unit new to this
The operation previously performed by each module is repeated, untill stop condition, such as receives the stopping of user
Instruction etc..
Fig. 5 is to show the diversified motion control method for robot according to an aspect of the present invention
The flow chart of 500 second embodiment.As shown in figure 5, control method 500 may include following steps：
Invocation step 501：Call a basic motion unit in the elemental motion set of robot.As before
Described, the basic motion unit called here can be one, or can also be multiple.The calling can
In response to instruction of the user to robot.If for example, instruction of the user to robot one " dancing ",
In the case of directly " dancing " this elemental motion unit being present in elemental motion set, it can directly invoke and " jump
This elemental motion unit of dance ".If according to Robot Design, " dancing " is by a series of elemental motion
Unit composition, then it can call first elemental motion unit in this serial elemental motion unit.
Random error generation step 502：After the basic motion unit is called, it can generate suitable for the base
The random error of this moving cell.Elemental motion set can use { M } to represent, be adjusted in the elemental motion set
Basic motion unit available functions M0(t|θ1,…,θN) represent, wherein θiFor with the basic exercise list
First M0Movable joint F in associated N number of movable jointiWith time t movement function, i=1 ... N.
The implementation of each basic motion unit is all associated with several movable joints of robot.For example, " walking "
This basic motion unit is related to leg exercise mechanism and hand exercise mechanism, then the two fitness machines
The movable joint of structure is that this basic motion unit is associated with " walking ".In practice, movable joint
Action typically realized by steering wheel.
For the basic motion unit M called0, random error function M can be passed throughe(t|η1*
θ1,…,ηN*θN) introduce random error.ηiFor movable joint FiMovement function random error system
Number.For each movable joint Fi, all in the presence of a limits of error factor alphaimax, the introducing
Random error coefficient | ηi| the α need to be less thanimax.Because in the error range, motion state is relatively steady
Fixed.
Specifically, random error coefficient ηiCan be by corresponding random factor riIt is multiplied by corresponding maximum allowable mistake
Poor factor alphaimaxForm, random factor riFor the random number of scope [- 1,1].
For different basic motion units, involved movable joint may be different, even if being related to phase
Same movable joint, the movement function θ of each movable jointiMay all be different.For a basic fortune
The limits of error factor alpha of the movement function in the associated motion joint of moving cellimax, can be by whole
Robot system is calculated, and provides corresponding standard, and user can also freely be configured,
Certainly, the value after changing should meet to be less than the maximum tolerance that system is calculated.Accordingly, for different
Basic motion unit, limits of error factor alphaimaxIt is and different.
Herein, the η of each movement functioniCan be as oneself advances in system daily, weekly, monthly
Row changes, and the frequency of the setting can voluntarily be set by user.
Motion random step 503：Once generate the random error, you can to the basic of the calling
Moving cell M0It is randomized, i.e., random error M is superimposed on the basic motion uniteWith generation
Randomization to should basic motion unit actual motion unit MC=M0+Me。
Motion sensing step 504：The motion state of robot is sensed, such as is passed using acceleration of gravity
The kinematic parameters such as the acceleration of sensor sensing robot are used as feedback, or using gyroscope or installed in machine
Obliquity sensor on people's trunk senses the kinematic parameters such as the motion state of the robot as feedback.
Set-up procedure 505：The actual motion list is adjusted by the use of the motion state sensed as feedback
Member, to be adjusted in real time to motion, so that it is guaranteed that the stability of robot.
Motor execution step 506：Control machine people is to perform adjusted actual motion unit MC。
Step 507：Whether stop condition is met, if meeting stop condition, stop motion, otherwise
Into the invocation step 501 of next round.
Pay attention to, although step 507 is displayed on after step 507 here, however, in fact,
Random time during method 500 is performed, as long as meeting stop condition, then motion stops.
Although the above method is illustrated and is described as a series of actions to simplify explanation, it should be understood that simultaneously
Understand, the order that these methods are not acted is limited, because according to one or more embodiments, some actions
Can occur in different order and/or with from it is depicted and described herein or herein it is not shown and description but
Other actions that art personnel are appreciated that concomitantly occur.
Fig. 6 a-6c are the schematic diagrames for showing a kind of penguin robot 600 according to the present invention.
Fig. 6 a show the schematic diagram of the motion structure of penguin robot 600, and penguin robot 600 can wrap
Include 601, two upper limb motion mechanisms 602 of head movement mechanism and Liang Ge leg exercises mechanism 603.When
So, penguin robot 600 also includes diversified kinetic control system, but is not explicitly illustrated in figure.Penguin
Head movement mechanism 601, each upper limb motion mechanism 602 and each leg exercise mechanism of robot
603 can realize motion by two steering wheels respectively.
Below with " happy " of penguin robot 600 this basic motion unit come illustrate it is above-mentioned variation transport
Dynamic control principle.
" happy " this basic motion unit is related to two upper limb motion mechanisms 602 and two leg exercises
Mechanism 603, in particular it relates to the steering wheel 3 of upper limb motion mechanism 602, steering wheel 4, steering wheel 5, steering wheel 6,
And steering wheel 7, the steering wheel 8 of leg exercise mechanism.Fig. 6 b, Fig. 6 c respectively illustrate relative motion mechanism
Steering wheel.
More specifically, " happy " this basic motion unit can be broken down into：
A, steering wheel 3 and steering wheel 5 rotate to 30 °, -30 ° respectively, steering wheel 4 and 6 go to respectively 10 °,
-10°；Wherein provide in terms of motor-shaft extending end, motor is rotated clockwise as positive-angle, is rotated counterclockwise
For negative angle, penguin attention stance when, the position of motor shaft for motor initial position (i.e.
Zero degree position)；
B, steering wheel 3 and steering wheel 5 are come between 30 °~60 °, -30 °~-60 ° with 1 second/60 ° speed
Back rotation 3 times, steering wheel 3 and steering wheel 5 are between 15 °~30 °, -15 °~-30 ° with 1 second/30 ° speed
Degree carrys out back rotation 3 times, while steering wheel 7 goes to 5 ° from initial position, and steering wheel 8 rotates 15 from initial position
°, then initial position is gone back to simultaneously, steering wheel 7 goes to -5 ° from initial position, and steering wheel 8 turns from initial position
It is dynamic -15 °, then initial position is gone back to simultaneously, go back to initial bit from initial position twice in steering wheel 7, steering wheel 8
Speed is respectively set as into 1 second/10 ° and 1 second/7.5 ° during putting to be repeated 3 times；
C, steering wheel 3 and steering wheel 5 go back to initial position from current location.
For the motion elementary cell, the function of angle and time corresponding to each steering wheel is f3(t)=θ3,
f4(t)=θ4, f5(t)=θ5, f6(t)=θ6, f7(t)=θ7, f8(t)=θ8.To the basic exercise list
First M0(t|f3,f4,f5,f6,f7,f8) introduce random error function Me(t|η3*f3,η4*f4,η5*f5,η6*
f6,η7*f7,η8*f8)。
It is such as known：
α3max=0.8, α4max=0.7, α5max=1, α6max=0.9, α7max=0.1,
α8max=0.2, if correspondingly random factor is set to：
r3=0.5, r4=0.4, r5=0.7, r6=0.7, r7=0.8, r8=0.1, then correspondingly
η3=0.4, η4=0.28, η5=0.7, η6=0.63, η7=0.08, η8=0.02.Thus, with
The actual motion unit of machine is MC(t|1.4f3,1.28f4,1.7f5,1.63f6,1.08f7,1.02f8).So,
By simply setting one group of ηi, just obtained a kind of random set of actions of " happy " This move.
Those skilled in the art will further appreciate that, be described with reference to the embodiments described herein
Various illustrative logic plate, module, circuit and algorithm steps can be realized as electronic hardware, calculated
Machine software or combination of the two.Clearly to explain this interchangeability of hardware and software, respectively
Kind illustrative components, frame, module, circuit and step are to make one in the form of its is functional above
As change description.Such feature is implemented as hardware or software depends on concrete application and application
In the design constraint of total system.Technical staff can be with different modes come real for every kind of application-specific
Existing described feature, but such realize that decision-making should not be interpreted to cause departing from the present invention's
Scope.
Software should be broadly interpreted to mean instruction, instruction set, code, code segment, program
Code, program, subprogram, software module, application, software application, software kit, routine, sub- example
Journey, object, executable item, the thread performed, code, function etc., no matter it is with software, admittedly
Part, middleware, microcode, hardware description language or other terms are all such to address.
Various illustrative logic plate, module and the circuits described with reference to presently disclosed embodiment
General processor, digital signal processor (DSP), application specific integrated circuit (ASIC), existing can be used
Field programmable gate array (FPGA) or other PLDs, discrete door or transistor logic,
Discrete nextport hardware component NextPort or its be designed to carry out any combinations of function described herein to realize or hold
OK.General processor can be microprocessor, but in alternative, the processor can be any
Conventional processor, controller, microcontroller or state machine.Processor is also implemented as counting
Calculate the combination of equipment, such as combination, multi-microprocessor and the DSP core of DSP and microprocessor
The one or more microprocessors of cooperation or any other such configuration.
The method that is described with reference to embodiment disclosed herein or the step of algorithm can directly within hardware,
Embodied in the software module by computing device or in combination of the two.Software module can stay
Stay in RAM memory, flash memory, ROM memory, eprom memory, EEPROM storages
Device, register, hard disk, removable disk, CD-ROM or any other shape known in the art
In the storage medium of formula.Exemplary storage medium be coupled to processor with enable the processor from/to this
Storage medium is read and write-in information.In alternative, storage medium can be integrated into processor.
Offer is for so that any person skilled in the art all can make or make to being previously described for the disclosure
Use the disclosure.Various modifications to the disclosure all will be apparent for a person skilled in the art, and
The generic principles defined herein can be applied to spirit or model of other variants without departing from the disclosure
Enclose.Thus, the disclosure is not intended to be limited to example and design described herein, but should be awarded
Give the widest scope consistent with principle disclosed herein and novel features.
Claims (17)
1. a kind of diversified motion control method for robot, it is characterised in that comprise the following steps：
Invocation step：Call the basic motion unit in elemental motion set；
Random error generation step：Random error of the generation suitable for the basic motion unit；
Motion random step：The random error is superimposed on the basic motion unit to generate randomization
To should basic motion unit actual motion unit；And
Motor execution step：The robot is controlled according to actual motion unit to perform motion.
2. diversified motion control method as claimed in claim 1, it is characterised in that the basic fortune
Moving cell is M0(t|θ1,…,θN), wherein θiFor the N number of fortune associated with the basic motion unit
Movable joint F in movable jointiWith time t movement function, the random error is Me(t|η1*
θ1,…,ηN*θN), wherein, | ηi| ＜ αimax, ηiAnd αimaxRespectively movable joint FiMovement function
Random error coefficient and limits of error coefficient, i=1 ... N.
3. diversified motion control method as claimed in claim 2, it is characterised in that the motion is closed
Save FiMovement function random error coefficient ηiFor random factor riWith limits of error factor alphaimax
Product, the random factor riIt is the random number that scope is -1~1.
4. diversified motion control method as claimed in claim 2, it is characterised in that the αimaxIt is right
Answer different movable joint FiIt is arranged to different numerical value.
5. diversified motion control method as claimed in claim 2, it is characterised in that the ηiCan be with
Time and change at random.
6. diversified motion control method as claimed in claim 1, it is characterised in that the base called
The quantity of this moving cell is one or more.
7. diversified motion control method as claimed in claim 1, it is characterised in that also include：
Motion sensing step：Sense the motion state of the robot；And
Set-up procedure：Actual motion unit is adjusted according to the motion state sensed to ensure the robot
Stability；
Wherein, what the Motor execution step performed is adjusted actual motion unit.
8. the diversified motion control method as described in claim 1 or 7, it is characterised in that moving
Perform step also includes afterwards：The follow-up basic motion unit in the elemental motion set is called, then will
The follow-up basic motion unit is back to random error generation step and carries out diversified motion control, until full
Sufficient stop condition.
9. diversified motion control method as claimed in claim 8, it is characterised in that the follow-up base
This moving cell be at least one basic motion unit that can be jumped to from the basic motion unit with
What machine was selected.
10. diversified motion control method as claimed in claim 9, it is characterised in that single according to motion
Mapping relations in first mapping set come determine that the basic motion unit can jump to described at least one
Individual basic motion unit.
11. diversified motion control method as claimed in claim 7, it is characterised in that the sensing institute
The motion state for stating robot is：Using gravity accelerometer, gyroscope and/or installed in robot body
Obliquity sensor on dry senses the motion state of the robot.
A kind of 12. diversified kinetic control system for robot, it is characterised in that including：
Calling module, for calling the basic motion unit in elemental motion set；
Random error generation module, for generating the random error suitable for the basic motion unit；
Motion random module, for the random error is superimposed on the basic motion unit with generate with
Machine to should basic motion unit actual motion unit；And
Motor execution module, motion is performed for controlling the robot according to actual motion unit.
13. diversified kinetic control system as claimed in claim 12, it is characterised in that also include：
Motion sensing module, for sensing the motion state of the robot；And
Adjusting module, for ensuring the machine according to the motion state adjustment actual motion unit sensed
The stability of people；
Wherein, what the Motor execution module performed is adjusted actual motion unit.
14. the diversified kinetic control system as described in claim 12 or 13, it is characterised in that described
Calling module is additionally operable to, and after the robot performs motion according to actual motion unit, calls the base
Follow-up basic motion unit in this set of actions, then the follow-up basic motion unit is returned to described
Random error generation module carries out diversified motion control, until meeting stop condition.
15. diversified kinetic control system as claimed in claim 14, it is characterised in that the calling
Mapping relations of the module in moving cell mapping set are follow-up in the elemental motion set to call
Basic motion unit, the follow-up basic motion unit is the mapping relations in moving cell mapping set
At least one basic motion unit that the basic motion unit determined can jump to.
A kind of 16. robot of variation motion, it is characterised in that including：
The system that diversified motion control is carried out to robot as any one of claim 12-15；
And
Motion, the motion performed for implementing the Motor execution module according to actual motion unit.
17. robot as claimed in claim 16, it is characterised in that the motion includes：
Head movement mechanism, two upper limb motion mechanisms, Liang Ge leg exercises mechanism, each motion
Motion is separate, and each motion realizes motion by two steering wheels.
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