CN114684295A - Foot lifting gait planning method and controller for foot type robot and foot type robot - Google Patents
Foot lifting gait planning method and controller for foot type robot and foot type robot Download PDFInfo
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- CN114684295A CN114684295A CN202011639708.3A CN202011639708A CN114684295A CN 114684295 A CN114684295 A CN 114684295A CN 202011639708 A CN202011639708 A CN 202011639708A CN 114684295 A CN114684295 A CN 114684295A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention belongs to the field of robots and provides a foot lifting gait planning method for a foot type robot, a controller and the foot type robot. The foot lifting gait planning method of the foot type robot adopts a same-speed backward-withdrawing method, so that the motion of the swing legs and the motion of the supporting legs in the front and back directions are related, the moving speed of the swing legs relative to the trunk is ensured to be the same as the moving speed of the supporting legs relative to the trunk, the swing legs are vertically lifted when the foot type robot moves forwards, and the influence on balance caused by the vertical face kicked to the ground is avoided.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a foot lifting gait planning method for a foot type robot, a controller and the foot type robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The large terrestrial animals on the earth are generally in a foot type moving mode, and goats, rock sheep and the like can freely move on mountains and cliffs, which proves that the foot type moving mode has strong terrain adaptability. Inspired by animals, legged robotics also began to flourish, with obstacle-surmounting capabilities being of central importance. Common gait planning methods of the existing foot robot include a planning method based on a central mode generator, a planning method based on a spring load inverted pendulum model, a planning method based on a preset foot end motion track, a hybrid planning method based on the methods and the like. The inventor finds that the above method may cause the situation that kicks to the obstacle affect the balance and even trip over the obstacle when the foot robot lifts the foot.
Disclosure of Invention
In order to solve at least one technical problem in the background art, the invention provides a foot-lifting gait planning method for a legged robot, a controller and the legged robot, which can avoid the collision between the foot end and the obstacle by controlling the swinging legs to retreat at the same speed or retreat at an overspeed.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a foot lifting gait planning method for a foot robot.
A foot lifting gait planning method for a foot type robot is characterized in that a same-speed backward-withdrawing method is adopted, so that the motion of a swing leg and a supporting leg in the front and back directions is related, the moving speed of the swing leg relative to a trunk is ensured to be the same as the moving speed of the supporting leg relative to the trunk, the swing leg is vertically lifted when the foot type robot moves forwards, and the influence on balance caused by the fact that a vertical face kicked to the ground is avoided.
As an alternative mode, an overspeed withdrawing method is adopted, so that the withdrawing speed of the swing leg exceeds the pedaling speed of the supporting leg, and the condition that the foot is pressed by a convex part of the ground obstacle vertical surface to break the balance when the foot is lifted is avoided.
As an alternative embodiment, the overspeed pullback method is described in terms of speed: the withdrawing speed of the swing leg is k equal to the stepping speed of the support leg; wherein k is greater than 1.
As an alternative embodiment, the overspeed fallback method is described by location: the retreating position of the swing leg is the position of the supporting leg, namely the ratio of the distance of multiple retreating after the foot lifting is finished to the expected duration of the swing phase, and the timing time after the swing phase is started.
As an alternative embodiment, the motion trajectory of the swing leg when lifting the foot is divided into an X-axis trajectory and a Z-axis trajectory, the X-axis trajectory is positive forward, and the Z-axis trajectory is the timing time after the position of the swing leg on the Z-axis enters the swing phase, i.e., the ratio of the step to the height to the expected duration of the swing phase.
As an alternative embodiment, the timing time after entering the swing phase is greater than or equal to 0 and less than or equal to the pull-back time of the swing leg.
As an alternative embodiment, the swing leg and foot end has no horizontal initial velocity from the ground coordinate system.
As an alternative embodiment, the swing legs also appear to lift the foot vertically when the legged robot is on an incline.
A second aspect of the invention provides a controller.
A controller comprising a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps in the foot-lifting gait planning method of a legged robot as described above.
A third aspect of the present invention provides a legged robot.
A legged robot including a controller as described above.
Compared with the prior art, the invention has the beneficial effects that:
the foot lifting gait planning method for the foot type robot is innovatively provided, a foot lifting gait planning system for the foot type robot is developed, and a same-speed back-withdrawing method is adopted, so that the moving speed of a swing leg relative to a trunk is the same as that of a support leg relative to the trunk, the swing leg is vertically lifted when the foot type robot moves forwards, and the influence on balance caused by the vertical face kicked to the ground is avoided; the overspeed withdrawing method is adopted, so that the withdrawing speed of the swing legs exceeds the ground-climbing speed of the supporting legs, the situation that the swing legs are pressed by a convex part of a ground obstacle vertical surface to destroy balance when the foot-type robot lifts the foot is avoided, the problems that the swing legs are easy to kick the vertical surface of the stair when the foot-type robot climbs the stair and the obstacle is likely to kick when the foot-type robot lifts the foot to influence balance and even trip over by the obstacle are solved, the motion stability of the foot-type robot is improved, and the foot-type robot is suitable for gravel terrain, grassland and other situations that the foot-type robot can trip over the legs when the foot is lifted.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic diagram of a constant velocity pullback method of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a constant velocity pull-back method of a robot according to an embodiment of the present invention when the robot is on a slope;
FIG. 3 is a schematic diagram of an overspeed pullback method of an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example one
When the foot type robot walks, the legs are divided into supporting legs and swinging legs according to the supporting state, the supporting legs are pedaled to the ground, and the foot ends move backwards to push the trunk to move forwards; the swing legs are raised and extended in the air in preparation for reaching the ground. The swing stage of the swing leg is divided into an ascending stage and a descending stage according to the movement direction of the foot end on the Z axis (the vertical direction is positive), and the ascending stage is the foot lifting stage.
The foot lifting gait planning method for the legged robot in the embodiment adopts a same-speed backward-withdrawing method to correlate the motion of the swing legs and the support legs in the front and back directions, and ensures that the moving speed of the swing legs relative to the trunk is the same as that of the support legs relative to the trunk, so that the swing legs are vertically lifted when the legged robot moves forward, and the influence of the vertical surface kicked to the ground on the balance is avoided.
As shown in fig. 1, the motion trajectory of the swing leg when lifting the foot can be divided into an X-axis (forward is positive) trajectory and a Z-axis trajectory, and the core of the constant-speed pull-back method is to ensure that the moving speed of the swing leg relative to the trunk is the same as the moving speed of the support leg relative to the trunk, that is:
thus, the swing leg and foot end has no horizontal initial velocity from the ground coordinate system.
The withdrawal speed of the swing leg;
the pedaling speed of the supporting leg.
For the Z-axis trajectory, any of the following equations may be used:
①
②
③
wherein Z ismaxIs the height of step, tSwingThe estimated time length of the swing phase, t is the timing time after the swing phase is entered, t is more than or equal to 0 and less than or equal to tSwing。pZ_SwingThe position of the swing leg on the Z-axis.
And after the foot end track is obtained, converting the X-axis and Z-axis coordinates into joint rotation angles by using a foot end inverse kinematics equation, and then realizing motion through joint servo. The inverse kinematics equation is determined by the mechanical structure of the leg, and varies from leg to leg. Specifically, the motion is realized in an XOZ plane by planning the foot end tracks of an X axis and a Z axis, then converting the foot end tracks into joint angles through an inverse kinematics equation, and then servo the joint angles.
In a trunk coordinate system, the withdrawing speeds of the swing legs and the supporting legs are the same, the supporting legs are withdrawn to push the trunk to advance, and the swing legs are withdrawn to avoid collision obstacles. The end of the swing leg is vertically raised from the ground coordinate system.
When the foot robot is on a slope, the trajectory planning mode of the X-axis and the Z-axis is the same as that described above, but the X-axis is not the same as the advancing direction any more at the moment, but the X-axis rotates to be horizontal, and the Z-axis is vertically upward. The rotation angle is the pitch angle of the robot and can be measured by an inertial measurement unit or other sensors mounted on the robot body. The swinging leg now behaves as a vertical foot lift, as shown in fig. 2.
When the elevation of the ground obstacle is raised, an overspeed withdrawing method can be adopted. The method can be described in terms of velocity or position, as shown in FIG. 3. In the trunk coordinate system, the withdrawing speed of the swing legs is greater than that of the supporting legs. From the ground coordinate system, the tail end of the swinging leg is retracted while being lifted.
In implementations, the retraction of the swing leg can be achieved by increasing the speed or increasing the amount of displacement.
The velocity description equation is:
wherein k is>1, the parameter can be adjusted according to actual conditions.
The withdrawal speed of the swing leg;
for supporting legsThe pedaling speed.
The position description equation is:
and d is the distance of multiple retreats after the foot lifting is finished, can be estimated according to the terrain, and can also be dynamically set after a sensor such as a laser radar or a stereo camera is used for scanning the terrain. p is a radical ofX_SwingIs the retreating position of the swing leg; p is a radical ofX_SupportThe position of the support leg. t is tSwingThe estimated time length of the swing phase, t is the timing time after the swing phase is entered, t is more than or equal to 0 and less than or equal to tSwing。
The foot-lifting gait planning method of the foot-type robot in the first embodiment is also suitable for other situations, such as gravel terrain, grassland and the like, in which the foot-lifting robot can trip over legs during foot lifting.
Example two
The present embodiment provides a controller, which includes a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and when the program is executed by a processor, the computer program implements the steps of the foot lifting gait planning method of the legged robot as described in the first embodiment.
It should be noted that other structures of the controller are all conventional structures, and will not be described herein again.
EXAMPLE III
The present embodiment provides a legged robot including a controller as described in the second embodiment above.
It should be noted here that the legged robot may be a two-legged, three-legged or four-legged robot, and other structures of the robot are all conventional structures, and detailed description thereof is omitted here.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by a computer program, which may be stored in a computer readable storage medium and executed by a computer to implement the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A foot lifting gait planning method for a foot type robot is characterized in that a same-speed backward withdrawing method is adopted, so that the motion of a swing leg and a supporting leg in the front and back directions is related, the moving speed of the swing leg relative to a trunk is ensured to be the same as that of the supporting leg relative to the trunk, the swing leg is ensured to be vertically lifted when the foot type robot moves forwards, and the influence on balance caused by the vertical face kicked to the ground is avoided.
2. The foot-lifting gait planning method of the legged robot as claimed in claim 1, characterized in that the overspeed withdrawal method is adopted to make the withdrawal speed of the swing leg exceed the pedaling speed of the support leg, thereby avoiding the balance being destroyed by the pressing of the convex part of the ground obstacle elevation when lifting the foot.
3. The legged robot foot-lifting gait planning method according to claim 2, characterized in that the overspeed pullback method is described by velocity: the withdrawing speed of the swing leg is k, the pedaling speed of the supporting leg is k; wherein k is greater than 1.
4. The legged robot foot-lifting gait planning method according to claim 2, characterized in that the overspeed pullback method is described by position: the retreating position of the swing leg is the position of the supporting leg, namely the ratio of the distance of multiple retreating after the foot lifting is finished to the expected duration of the swing phase, and the timing time after the swing phase is started.
5. The foot-lifting gait planning method for the legged robot according to claim 4, characterized in that the motion trail of the swing leg during foot-lifting is divided into an X-axis trail and a Z-axis trail, the X-axis trail is positive forward, and the Z-axis trail is the timing time after the swing leg enters the swing phase, wherein the position of the swing leg on the Z-axis is the ratio of the step to the height to the expected duration of the swing phase.
6. The foot-lifting gait planning method for a legged robot according to claim 5, characterized in that the timing time after entering the swing phase is greater than or equal to 0 and less than or equal to the withdrawal time of the swing leg.
7. The foot-lifting gait planning method for a foot-type robot according to claim 1, characterized in that the swing leg and foot end has no horizontal initial velocity from the ground coordinate system.
8. The method of foot-lifting gait planning for a legged robot according to claim 1, characterized in that when the legged robot is on a slope, the swing legs also appear to lift the foot vertically.
9. A controller comprising a computer readable storage medium having a computer program stored thereon, wherein the program when executed by a processor implements the steps in a legged robot foot-lifting gait planning method according to any of claims 1-8.
10. A legged robot comprising a controller according to claim 9.
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