CN109571465B - Intelligent anthropomorphic robot Decision Control module and anthropomorphic robot motion control arithmetic - Google Patents
Intelligent anthropomorphic robot Decision Control module and anthropomorphic robot motion control arithmetic Download PDFInfo
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- CN109571465B CN109571465B CN201811373616.8A CN201811373616A CN109571465B CN 109571465 B CN109571465 B CN 109571465B CN 201811373616 A CN201811373616 A CN 201811373616A CN 109571465 B CN109571465 B CN 109571465B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 38
- 230000005021 gait Effects 0.000 claims description 25
- 230000009471 action Effects 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 9
- 210000001503 joint Anatomy 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 8
- 238000010606 normalization Methods 0.000 claims description 4
- 238000002474 experimental method Methods 0.000 claims description 3
- 238000012986 modification Methods 0.000 claims description 2
- 230000004048 modification Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 5
- 238000009434 installation Methods 0.000 abstract description 5
- 238000007726 management method Methods 0.000 description 12
- 210000002414 leg Anatomy 0.000 description 9
- 210000001624 hip Anatomy 0.000 description 8
- 230000008859 change Effects 0.000 description 5
- 210000000115 thoracic cavity Anatomy 0.000 description 4
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012886 linear function Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 210000000038 chest Anatomy 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The invention discloses a kind of Decision Control modules of intelligent anthropomorphic robot, it includes decision controller and the mounting box that anthropomorphic robot torso portion is arranged in, mounting box is equipped with several for fixing the connection fastening position of decision controller, decision controller includes shell and is arranged in the intracorporal control circuit board of shell, decision controller corresponds to several connection fastening positions and is fixed in mounting box, is equipped with multiple external electric interfaces for connecting with control circuit board in shell.The invention also discloses a kind of anthropomorphic robot motion control arithmetics of Decision Control module for being embedded in above-mentioned intelligent anthropomorphic robot.Structure of the invention design is rationally ingenious, decision controller corresponds to several connection fastening positions and is fixed in the mounting box of anthropomorphic robot torso portion, convenient for the installation and removal of decision controller, in addition it is embedded in anthropomorphic robot motion control arithmetic in the Decision Control module of intelligent anthropomorphic robot, is conducive to the standardization of Decision Control module.
Description
Technical field
The present invention relates to Decision Control modules, and in particular to a kind of intelligence anthropomorphic robot Decision Control module and apery machine
Device people's motion control arithmetic.
Background technique
Anthropomorphic robot has the shape similar with the mankind, is realized and is moved by double feet walking, can adapt to uneven road
Face, stair activity and climbing ladder.Currently, due to the particularity of anthropomorphic robot structure, controller is typically placed in chest
Intracavitary portion, and in order to enhance the walking stability of anthropomorphic robot, it is more sensitive to the weight in thoracic cavity and upper limb, therefore controlling
Loss of weight as far as possible, higher cost and the walking stabilization that still cannot guarantee robot well are needed while device modularized encapsulation processed
Property, when repairing or detecting decision controller, the component on robot for disassembling work including such as thoracic cavity cover board is needed, it is inconvenient；
In addition, existing Decision Control module needs to rely on other such as sole force snesors to realize to anthropomorphic robot
Decision Control module is moved to and does not assemble the anthropomorphic robot of sole force snesor and will be unable to just by disturbance rejection control when walking
Often work, therefore, existing Decision Control module versatility is low, can not accomplish modularization standardization.
Summary of the invention
To solve the above-mentioned problems, the invention discloses a kind of intelligent anthropomorphic robot Decision Control module and apery machines
People's motion control arithmetic.
Present invention technical solution used for the above purpose is: a kind of Decision Control mould of intelligence anthropomorphic robot
Block comprising decision controller and the mounting box that anthropomorphic robot torso portion is arranged in, the mounting box are equipped with several use
In the connection fastening position of the fixation decision controller, the decision controller includes shell and is arranged intracorporal in the shell
Control circuit board, the decision controller correspond to several connection fastening positions and are fixed in the mounting box, Yu Suoshu shell
Body is equipped with multiple external electric interfaces for connecting with the control circuit board.Decision controller corresponds to several connection fastenings
Position is fixed in the mounting box of anthropomorphic robot torso portion, imitative without removing convenient for the installation and removal of decision controller
Component including the upper such as thoracic cavity cover board of robot people, convenient for the maintenance and detection to decision controller.
Multiple external electric interfaces include that USB interface, Ethernet interface, display output interface, the first power supply connect
Mouth and joint driver interface, the USB interface, Ethernet interface, display output interface, the first power interface and pass
Driver interface is saved to be electrically connected with control circuit board.USB interface, Ethernet interface, display output interface, the first power supply
The setting of interface and joint driver interface is connected convenient for control circuit board with the outer power supply circuit of equipment or device, convenient imitative
The assembling of robot people.
The control circuit board is equipped with wireless communication module, posture and direction sensor, decision computer system, control
Computer system and power management module, the posture and direction sensor, wireless communication module are calculated with the control respectively
Machine system, decision computer system conducting, the control computer system, decision computer system with the power management mould
Block conducting, the USB interface, Ethernet interface, display output interface and the decision computer system are electrically connected, described
Joint driver interface, the first power interface are electrically connected with the power management module respectively.
It is additionally provided with the voltage for adjusting the joint driver interface output voltage in the control circuit board and adjusts mould
Block, the voltage regulator module and the power management module are electrically connected, and the shell of the decision controller, which is equipped with, to be used for
Control the voltage adjusting knob of the voltage regulator module.The setting of voltage adjusting knob is adjusted by voltage regulator module item
The input voltage of power management module increases decision control in the present invention to adjust the output voltage of joint driver interface
The applicability of device processed can cope with different voltage inputs.
The joint driver interface includes several control interfaces, second source interface, several control interfaces and institute
It states control computer system to be electrically connected, several second source interfaces and the power management module are electrically connected.Control
The design of interface and second source interface, equipment extrinsic articulation driver can directly connect with joint driver interface and can realize certainly
Plan controller connects power supply without additional to the power supply of joint driver and the transmission of control signal, joint driver,
Make simplifying the structure for anthropomorphic robot.
A kind of anthropomorphic robot motion control arithmetic for the Decision Control module being embedded in above-mentioned intelligent anthropomorphic robot,
Including all direction walking control algolithm, special action control algolithm and walking stability contorting algorithm, all direction walking control
Algorithm processed realizes the walking of anthropomorphic robot, the full side using the method for formulating anthropomorphic robot hip and foot movement track
The target of position gait stability control algorithm is to follow the motion steps instruction of any direction, arbitrary size, and the motion steps instruct shape
Formula is (Xc, Yc, θc)T, i.e. the advance stride X of single stepc, sidesway stride YcAnd rotation step θc；
The special action control algolithm is to save a series of joint key frames, and run in walking by debugging offline
Cubic spline curve of the period between line computation key frame, each group of peculiar gait all have an ID to distinguish other steps
The number of state, gait ID and execution constitutes peculiar gait control instruction；
The walking stability contorting algorithm effectively, will lose during anthropomorphic robot all direction walking in anthropomorphic robot
When walking being gone to stablize, modify the instruction of original stride so that anthropomorphic robot in next step or under several steps restore walking stabilities.
It is embedded in anthropomorphic robot motion control arithmetic in the Decision Control module of intelligent anthropomorphic robot, is controlled by all direction walking
Algorithm, special action control algolithm and walking stability contorting algorithm, realize the control to anthropomorphic robot walking, special action
System and the gait amendment in anthropomorphic robot unstability.
The all direction walking control algolithm is described using the linear combination of normalization modeling curve and multiplied by gains
Anthropomorphic robot swings foot and the method for hip motion rule generates joint trajectories, specifically describes are as follows:
In formula, aiFor range coefficient, i=1,12, stride instructs C=(Xc,Yc,Θc)TIf the single walking period time is
T, leg joint control period are Δ t, then control frame number n=T/ the Δ t, s of single walking periodjIt is normalizing for 1 × n sequence
Change curve, sj∈[-1,1]n, j=1,18, (s1,s2,,s18)TFor 18 × n matrix.
It is (0,0,0) that general gait instruction (x, y, θ), which is arranged, in the Special controlling algorithm automatically first, to control apery
Robot terminates omnidirectional gait movement, until apery robot stabilized standing recalls peculiar gait.
The walking stability contorting algorithm comprising following steps:
Step 1, the angle of the sole and horizontal plane that define anthropomorphic robot are Rf(φf,θf), pass through functional relation:
Find out the sole of anthropomorphic robot and the angle (φ of planef,θf), R in formulatorsoAnd RfIt is anthropomorphic robot respectively
Spin matrix under world coordinate system of trunk and support leg, RsupIt is the corresponding rotation of anthropomorphic robot leg joint rotation
Torque battle array；
Step 2 measures trunk attitude angle by the posture and direction sensorAnd trunk rotational angular velocity
ωrAnd ωp, walking will be lost in anthropomorphic robot and stablized, i.e. ωrAnd ωpIt significantly increases and in advance in Rf(φf,θf) change
When change, modify the instruction of original stride so that anthropomorphic robot in next step or under several steps restore walking stabilities.
In the step 2, the controlling increment of the stride of original stride instruction is modified are as follows:
Wherein Δ x and Δ y is the incremental steps of front-rear direction and sidesway direction, K respectivelypx, Kpy, px, pyIt is to need to adjust
Constant, by practical anthropomorphic robot walking stablize experiment obtain,WithIt is (φ respectivelyf,θf) and target value between
Difference.The walking stability contorting algorithm relies only on posture of the present invention and direction sensor and its joint connected turns
Angle feedback, the stabilization of stride can be realized by being not required to rely on other complicated sole force snesors, can effectively be compatible with different heights
With the anthropomorphic robot of leg structure, applicability is stronger, and is conducive to the standardization of Decision Control module.
The invention has the benefit that structure of the invention design is rationally ingenious, decision controller corresponds to several connection fastenings
Position is fixed in the mounting box of anthropomorphic robot torso portion, convenient for the installation and removal of decision controller, in addition in intelligence
The Decision Control module of anthropomorphic robot is embedded in anthropomorphic robot motion control arithmetic, by all direction walking control algolithm,
Special action control algolithm and walking stability contorting algorithm, realize control to anthropomorphic robot walking, special action and
Gait amendment in anthropomorphic robot unstability, and be conducive to the standardization of Decision Control module.
With reference to the accompanying drawing with specific embodiment, the present invention is further described.
Detailed description of the invention
Fig. 1 is perspective view of the invention；
Fig. 2 is the structural schematic diagram of decision controller in the present invention；
Fig. 3 is the perspective view a of decision controller in the present invention；
Fig. 4 is the perspective view b of decision controller in the present invention；
Fig. 5 is the normalized curve of the linear function of set Σ and trigonometric function description in the present invention.
Specific embodiment
Embodiment, referring to Fig. 1, Fig. 2, a kind of Decision Control module of intelligent anthropomorphic robot provided in this embodiment,
Including decision controller 1 and the mounting box 2 that anthropomorphic robot torso portion is arranged in, the mounting box 2 is equipped with several be used for
The connection fastening position 21 of the fixed decision controller 1, the decision controller 1 include shell 11 and are arranged in the shell
Control circuit board 12 in 11, the corresponding several connection fastening positions 21 of the decision controller 1 are fixed on the mounting box 2
Interior, Yu Suoshu shell 11 is equipped with multiple external electric interfaces 13 for the control circuit board 12 connection.Decision Control
The corresponding several connection fastening positions 21 of device 1 are fixed in the mounting box 2 of anthropomorphic robot torso portion, are convenient for decision controller 1
Installation and removal, without removing the component on anthropomorphic robot including such as thoracic cavity cover board, convenient for the dimension to decision controller 1
It repairs and detects.
Referring to Fig. 3, Fig. 4, multiple external electric interfaces 13 include usb 1 31, Ethernet interface 132, display
Output interface 133, the first power interface 134 and joint driver interface 135, the usb 1 31, Ethernet interface
132, display output interface 133, the first power interface 134 and joint driver interface 135 are electric with control circuit board 12
Property connection.Usb 1 31, Ethernet interface 132, display output interface 133, the first power interface 134 and joint drive
The setting of device interface 135 is connected with the outer power supply circuit of equipment or device convenient for control circuit board 12, facilitates the group of anthropomorphic robot
Dress.
The control circuit board 12 is equipped with wireless communication module, posture and direction sensor, decision computer system, control
Computer system processed and power management module, the posture and direction sensor, wireless communication module are counted with the control respectively
Calculation machine system, decision computer system conducting, the control computer system, decision computer system with the power management
Module conducting, the usb 1 31, Ethernet interface 132, display output interface 133 and decision computer system electricity
Property connection, the joint driver interface 135, the first power interface 134 respectively with the power management module be electrically connected.
The wireless communication module is made of wifi wireless network module and bluetooth wireless module, can connect WLAN
WLAN and wireless interconnected and external control is implemented to robot by bluetooth equipment；The posture and direction sensor
Be capable of dynamic detection machine people trunk posture in three-dimensional space and rotational angular velocity and anthropomorphic robot faces direction,
Posture and direction sensor constitute AHRS (attitude heading reference system) sensor by MEMS (MEMS) device, and it is anti-to integrate three axis
Shake gyroscope, three axis accelerometer and three axis magnetometer；Decision computer system is equipped with operating system, such as Linux,
Windows etc. is responsible for completing the tasks such as Image Acquisition, state estimation, intelligent decision, the network communication of anthropomorphic robot；Control
Computer system is used to control the real-time driving of joint driver, to guarantee that multiple joints receive at the time of determining
New movement instruction avoids robot walking unstability to realize smooth motion profile；Decision computer system and control meter
Calculation machine system is communicated using one-to-one mode between the two, exchanges data using the agreement of standard, forms master-slave communication and interior
Deposit the structure of mapping.
The voltage tune for adjusting 135 output voltage of joint driver interface is additionally provided in the control circuit board 12
Module is saved, the voltage regulator module and the power management module are electrically connected, set on the shell 11 of the decision controller 1
There is the voltage adjusting knob 136 for controlling the voltage regulator module.The setting of voltage adjusting knob 136 passes through voltage tune
The input voltage that section module strip adjusts power management module increases to adjust the output voltage of joint driver interface 135
The applicability of decision controller 1 in the present invention can cope with different voltage inputs.
The joint driver interface 135 include several control interfaces, second source interface, several control interfaces with
The control computer system is electrically connected, and several second source interfaces and the power management module are electrically connected.Control
The design of interface processed and second source interface, equipment extrinsic articulation driver can directly be connect with joint driver interface 135
Realize transmission of the decision controller 1 to the power supply of joint driver and control signal, joint driver is supplied without additional connect
Power supply makes simplifying the structure for anthropomorphic robot.
A kind of anthropomorphic robot motion control arithmetic for the Decision Control module being embedded in above-mentioned intelligent anthropomorphic robot,
Including all direction walking control algolithm, special action control algolithm and walking stability contorting algorithm, all direction walking control
Algorithm processed realizes the walking of anthropomorphic robot, the full side using the method for formulating anthropomorphic robot hip and foot movement track
The target of position gait stability control algorithm is to follow the motion steps instruction of any direction, arbitrary size, and the motion steps instruct shape
Formula is (Xc, Yc, θc)T, i.e. the advance stride X of single stepc, sidesway stride YcAnd rotation step θc；
The special action control algolithm is to save a series of joint key frames, and run in walking by debugging offline
Cubic spline curve of the period between line computation key frame, each group of peculiar gait all have an ID to distinguish other steps
The number of state, gait ID and execution constitutes peculiar gait control instruction；
The walking stability contorting algorithm effectively, will lose during anthropomorphic robot all direction walking in anthropomorphic robot
When walking being gone to stablize, modify the instruction of original stride so that anthropomorphic robot in next step or under several steps restore walking stabilities.
It is embedded in anthropomorphic robot motion control arithmetic in the Decision Control module of intelligent anthropomorphic robot, is controlled by all direction walking
Algorithm, special action control algolithm and walking stability contorting algorithm, realize the control to anthropomorphic robot walking, special action
System and the gait amendment in anthropomorphic robot unstability.
The all direction walking control algolithm is described using the linear combination of normalization modeling curve and multiplied by gains
Anthropomorphic robot swings foot and the method for hip motion rule generates joint trajectories, specifically describes are as follows:
In formula, PfmRefer to and swings sufficient track, PhmRefer to hip track, aiFor range coefficient, i=1,12, stride instructs C=
(Xc,Yc,Θc)TIf the single walking period time is T, the leg joint control period is Δ t, the then control of single walking period
Frame number n=T/ Δ t, sjIt is normalized curve, s for 1 × n sequencej∈[-1,1]n, j=1,18, (s1,s2,,s18)TFor 18 × n
Matrix.
Wherein, (Xc,Yc,Θc) be hip attitude matrix Yu anthropomorphic robot attitude matrix homogeneous transformation parameter, rule
There are proportionate relationships for the fixed transformation parameter and the relationship of motion steps instruction:
Wherein, εx,εy,εθ∈[0,1]。
Therefore, the parameter of gait planning can be concluded are as follows:
Σn×18=(s1,s2...s18)T
A1×15=(a1,a2...a12,εx,εy,εθ)
Wherein, collection of curves Σ defines the trajectory shape for having put anthropomorphic robot action spot and hip, using as shown in Figure 5
The normalized curve of linear function and trigonometric function description, describes the basic model of robot walking.a1~a6Machine can be then regarded as
The offset and amplitude of fluctuation of hip joint when device people remains where one is.a7~a12When can be regarded as remaining where one is swing foot height,
Amplitude of fluctuation etc., the parameter series can be debugged on actual robot and be optimized by the movement that remains where one is of robot.
εx,εy,εθIt can be then optimized by walking stability.During final anthropomorphic robot walking, the motion profile of hip and foot is only
(X is instructed with stridec,Yc,Θc)TIt is related, joint trajectories are generated eventually by the inverse kinematics in leg joint.
It is (0,0,0) that general gait instruction (x, y, θ), which is arranged, in the Special controlling algorithm automatically first, to control apery
Robot terminates omnidirectional gait movement, until apery robot stabilized standing recalls peculiar gait.
The walking stability contorting algorithm comprising following steps:
Step 1, the angle of the sole and horizontal plane that define anthropomorphic robot are Rf(φf,θf), pass through functional relation:
Find out the sole of anthropomorphic robot and the angle (φ of planef,θf), R in formulatorsoAnd RfIt is anthropomorphic robot respectively
Spin matrix under world coordinate system of trunk and support leg, RsupIt is the corresponding rotation of anthropomorphic robot leg joint rotation
Torque battle array；
Step 2 measures trunk attitude angle by the posture and direction sensorAnd trunk rotational angular velocity
ωrAnd ωp, walking will be lost in anthropomorphic robot and stablized, i.e. ωrAnd ωpIt significantly increases and in advance in Rf(φf,θf) change
When change, modify the instruction of original stride so that anthropomorphic robot in next step or under several steps restore walking stabilities.
In the step 2, the controlling increment of the stride of original stride instruction is modified are as follows:
Wherein Δ x and Δ y is the incremental steps of front-rear direction and sidesway direction, K respectivelypx, Kpy, px, pyIt is to need to adjust
Constant, by practical anthropomorphic robot walking stablize experiment obtain,WithIt is (φ respectivelyf,θf) and target value between
Difference.The walking stability contorting algorithm relies only on posture of the present invention and direction sensor and its joint connected turns
Angle feedback, the stabilization of stride can be realized by being not required to rely on other complicated sole force snesors, can effectively be compatible with different heights
With the anthropomorphic robot of leg structure, applicability is stronger, and is conducive to the standardization of Decision Control module.
Structure of the invention design is rationally ingenious, and the corresponding several connection fastening positions 21 of decision controller 1 are fixed on apery machine
In the mounting box 2 of device people's torso portion, convenient for the installation and removal of decision controller 1, in addition intelligent anthropomorphic robot certainly
Plan control module is embedded in anthropomorphic robot motion control arithmetic, is calculated by all direction walking control algolithm, special action control
Method and walking stability contorting algorithm realize the control to anthropomorphic robot walking, special action and lose in anthropomorphic robot
Gait amendment when steady, and be conducive to the standardization of Decision Control module.
The above described is only a preferred embodiment of the present invention, being not intended to limit the present invention in any form.Appoint
What those skilled in the art, without departing from the scope of the technical proposal of the invention, all using the skill of the disclosure above
Art means and technology contents make many possible changes and modifications to technical solution of the present invention, or be revised as equivalent variations etc.
Imitate embodiment.Therefore anything that does not depart from the technical scheme of the invention, made by shape according to the present invention, construction and principle etc.
Effect variation, should all be covered by protection scope of the present invention.
Claims (8)
1. a kind of Decision Control module of intelligence anthropomorphic robot, it is characterised in that: it includes decision controller and setting imitative
The mounting box of robot people's torso portion, the mounting box are equipped with several connection fastenings for fixing the decision controller
Position, the decision controller include shell and setting in the intracorporal control circuit board of the shell, and the decision controller is corresponding
Several connection fastening positions are fixed in the mounting box, and Yu Suoshu shell is equipped with multiple be used for and the control circuit
The external electric interfaces of plate connection；
The control circuit board is equipped with control computer system, which is used for the real-time of joint driver
Driving is controlled, to guarantee that multiple joints receive new movement instruction at the time of determining, to realize smooth movement
Track；
Be additionally provided with power management module in the control circuit board, multiple external electric interfaces include the first power interface with
And joint driver interface；The joint driver interface includes several control interfaces, second source interface, several controls
Interface and the control computer system are electrically connected, and several second source interfaces electrically connect with the power management module
It connects；
The control computer system is connected with the power management module, the joint driver interface, the first power interface
It is electrically connected respectively with the power management module；
The voltage regulator module for adjusting the joint driver interface output voltage, institute are additionally provided in the control circuit board
It states voltage regulator module and the power management module is electrically connected, the shell of the decision controller is equipped with for controlling
State the voltage adjusting knob of voltage regulator module.
2. the Decision Control module of intelligence anthropomorphic robot according to claim 1, which is characterized in that multiple described external
Electric interfaces further include USB interface, Ethernet interface and display output interface, and the USB interface, is shown Ethernet interface
Show that device output interface, the first power interface and joint driver interface are electrically connected with control circuit board.
3. the Decision Control module of intelligence anthropomorphic robot according to claim 2, which is characterized in that the control circuit
It is additionally provided with wireless communication module, posture and direction sensor and decision computer system on plate, the posture and direction sensor,
Wireless communication module respectively with the control computer system, decision computer system be connected, the decision computer system with
The power management module conducting, the USB interface, Ethernet interface, display output interface and the decision computer system
System is electrically connected.
4. a kind of anthropomorphic robot motion control for the Decision Control module for being embedded in intelligence anthropomorphic robot described in claim 3
Algorithm, it is characterised in that: it includes that all direction walking control algolithm, special action control algolithm and walking stability contorting are calculated
Method, all direction walking control algolithm realize apery machine using the method for formulating anthropomorphic robot hip and foot movement track
The walking of device people, the target of all direction walking control algolithm are to follow the motion steps instruction of any direction, arbitrary size,
The motion steps instruction type is (Xc, Yc, θc)T, i.e. the advance stride X of single stepc, sidesway stride YcAnd rotation step θc；
The special action control algolithm is to save a series of joint key frames, and during walking operation by debugging offline
Cubic spline curve between line computation key frame, each group of peculiar gait all have an ID to distinguish other gaits,
Gait ID and the number of execution constitute peculiar gait control instruction；
The walking stability contorting algorithm effectively, will lose step in anthropomorphic robot during anthropomorphic robot all direction walking
When row is stablized, modify the instruction of original stride so that anthropomorphic robot in next step or under several steps restore walking stabilities.
5. anthropomorphic robot motion control arithmetic according to claim 4, which is characterized in that all direction walking control
Algorithm describes anthropomorphic robot using the linear combination of normalization modeling curve and multiplied by gains and swings foot and hip motion
The method of rule generates joint trajectories, specifically describes are as follows:
In formula, aiFor range coefficient, i=1 ..., 12, stride instruction C=(Xc,Yc,Θc)TIf the single walking period time is T,
The leg joint control period is Δ t, then control frame number n=T/ the Δ t, s of single walking periodjFor 1 × n sequence, for normalization
Curve, sj∈[-1,1]n, j=1 ..., 18, (s1,s2,…,s18)TFor 18 × n matrix.
6. anthropomorphic robot motion control arithmetic according to claim 4, which is characterized in that the special action control is calculated
It is (0,0,0) that general gait instruction (x, y, θ), which is arranged, in method automatically first, so that controlling anthropomorphic robot terminates omnidirectional gait fortune
It is dynamic, until apery robot stabilized standing recalls peculiar gait.
7. anthropomorphic robot motion control arithmetic according to claim 4, which is characterized in that the walking stability contorting is calculated
Method comprising following steps:
Step 1, the angle of the sole and horizontal plane that define anthropomorphic robot are Rf(φf,θf), pass through functional relation:
Find out the sole of anthropomorphic robot and the angle (φ of planef,θf), R in formulatorsoAnd RfIt is the body of anthropomorphic robot respectively
Dry and spin matrix of the support leg under world coordinate system, RsupIt is the corresponding spin moment of anthropomorphic robot leg joint rotation
Battle array；
Step 2 measures trunk attitude angle by the posture and direction sensorAnd trunk rotational angular velocity ωrWith
ωp, walking will be lost in anthropomorphic robot and stablized, i.e. ωrAnd ωpIt significantly increases and in advance in Rf(φf,θf) variation when,
Modify the instruction of original stride so that anthropomorphic robot in next step or under several steps restore walking stabilities.
8. anthropomorphic robot motion control arithmetic according to claim 7, which is characterized in that in the step 2, modification
The controlling increment of the stride of original stride instruction are as follows:
Wherein Δ x and Δ y is the incremental steps of front-rear direction and sidesway direction, K respectivelypx, Kpy, px, pyBe need adjust it is normal
Number is stablized experiment by the walking of practical anthropomorphic robot and is obtained,WithIt is (φ respectivelyf,θf) and target value between difference
It is different.
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| CN105446345A (en) * | 2015-07-02 | 2016-03-30 | 浙江大学 | Control system of humanoid biped robot |
| CN106737714A (en) * | 2016-11-28 | 2017-05-31 | 清研华宇智能机器人（天津）有限责任公司 | A kind of service robot |
| CN106940961A (en) * | 2017-04-12 | 2017-07-11 | 杨林刚 | Simulation or teaching demonstration avoidance footrace robot and its control method |
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| CN102637036A (en) * | 2012-05-08 | 2012-08-15 | 北京理工大学 | Combined type bionic quadruped robot controller |
| CN105446345A (en) * | 2015-07-02 | 2016-03-30 | 浙江大学 | Control system of humanoid biped robot |
| CN106737714A (en) * | 2016-11-28 | 2017-05-31 | 清研华宇智能机器人（天津）有限责任公司 | A kind of service robot |
| CN106940961A (en) * | 2017-04-12 | 2017-07-11 | 杨林刚 | Simulation or teaching demonstration avoidance footrace robot and its control method |
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