CN114684295B - Foot lifting step planning method for foot robot, controller and foot robot - Google Patents
Foot lifting step planning method for foot robot, controller and foot robot Download PDFInfo
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- CN114684295B CN114684295B CN202011639708.3A CN202011639708A CN114684295B CN 114684295 B CN114684295 B CN 114684295B CN 202011639708 A CN202011639708 A CN 202011639708A CN 114684295 B CN114684295 B CN 114684295B
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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 step planning method for a foot robot, a controller and the foot robot. The foot lifting step planning method of the foot robot adopts a same-speed back-pull method, so that the swinging legs are associated with the movement of the supporting legs in the front-back direction, the moving speed of the swinging legs relative to the trunk is guaranteed to be the same as the moving speed of the supporting legs relative to the trunk, the swinging legs are vertically lifted when the foot robot advances, and the phenomenon that the vertical face kicked to the ground influences balance is avoided.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a foot lifting step planning method of a foot robot, a controller and the foot 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, goats and the like can freely move on mountain rocks and cliffs, and the foot-type moving mode has strong terrain adaptability. Inspired by animals, foot-based robotics also began to develop vigorously, with obstacle-surmounting capabilities being a major concern. The conventional gait planning methods of the foot robot comprise a planning method based on a central pattern generator, a planning method based on a spring-loaded inverted pendulum model, a planning method based on a preset foot end movement track, a hybrid planning method based on the methods and the like. The inventor finds that the above method can happen that when the foot robot lifts the foot, the foot robot kicks the obstacle to influence balance and even stumbles by the obstacle.
Disclosure of Invention
In order to solve at least one technical problem in the background art, the invention provides a foot lifting step planning method of a foot robot, a controller and the foot robot, which avoid collision between foot ends and obstacles by controlling the swing legs to retract at the same speed or to retract at overspeed.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect of the invention provides a foot lifting step planning method for a foot robot.
A foot-lifting step planning method for a foot-type robot adopts a same-speed back-pull method to enable swinging legs to be related to movement of supporting legs in the front-back direction, and ensures that the moving speed of the swinging legs relative to a trunk is the same as that of the supporting legs relative to the trunk, so that the swinging legs are vertically lifted when the foot-type robot advances, and the phenomenon that the vertical face kicked to the ground affects balance is avoided.
As an alternative implementation mode, an overspeed back-out method is adopted, so that the back-out speed of the swinging leg exceeds the pedaling speed of the supporting leg, and the balance is prevented from being damaged due to the fact that the swinging leg is pressed by the protruding part of the ground obstacle elevation when the foot is lifted.
As an alternative embodiment, the overspeed pullback method is described in terms of speed: withdrawal speed of swing leg = k x pedaling speed of support leg; wherein k is greater than 1.
As an alternative embodiment, the overspeed pullback method is described in terms of position: the swing leg withdrawal position = support leg position-the ratio of the distance of multiple withdrawals after the foot lifting has ended to the expected length of the swing phase.
As an alternative embodiment, the motion track of the swing leg when lifting the foot is divided into an X-axis track and a Z-axis track, the X-axis track is forward positive, and the Z-axis track is the timing time after the swing leg enters the swing phase in the ratio of the position=step height and the expected duration of the swing phase of the swing leg.
As an alternative embodiment, the timed time after entering the swing phase is greater than or equal to 0 and less than or equal to the swing leg withdrawal time.
As an alternative embodiment, the swing leg foot end has no horizontal initial velocity from the ground coordinate system.
As an alternative embodiment, the swing leg also behaves as a vertical foot lift when the foot robot is on a slope.
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 of the foot lift planning method of a foot robot as described above.
A third aspect of the invention provides a foot robot.
A foot robot comprising a controller as described above.
Compared with the prior art, the invention has the beneficial effects that:
the innovatively provides a foot-lifting step planning method of the foot-type robot, a foot-lifting step planning system of the foot-type robot is developed, and a same-speed back-pull method is adopted, so that the moving speed of the swinging leg relative to the trunk is the same as the moving speed of the supporting leg relative to the trunk, the swinging leg is vertically lifted when the foot-type robot advances, and the influence of kicking a vertical face of the ground on balance is avoided; by adopting the overspeed back-off method, the back-off speed of the swinging leg exceeds the pedaling speed of the supporting leg, so that the situation that the swinging leg is pressed by the protruding part of the ground obstacle elevation to damage balance when the foot is lifted is avoided, the problems that the swinging leg is easy to kick the stair elevation when the foot robot climbs stairs and the foot robot is lifted by the obstacle to influence balance and even stumble by the obstacle when the foot robot climbs the stairs are solved, the stability of the movement of the foot robot is improved, and the device is suitable for gravel terrain, grasslands and other situations that the foot robot can stumble the leg when the foot is lifted.
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 included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic illustration of a same-speed pullback method in accordance with an embodiment of the present invention;
FIG. 2 is a schematic illustration of a simultaneous pullback method with a robot on a slope in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of an overspeed pullback method according to an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. 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 present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Example 1
When the foot robot walks, the legs are divided into supporting legs and swinging legs according to the supporting state, the supporting legs pedal the ground, and the foot ends are moved backwards to push the trunk to advance; the swing leg is emptied and extends forward to prepare for touching the ground. The swing stage of the swing leg is divided into a rising stage and a falling stage according to the motion direction of the foot end in a Z-axis (vertical upwards is positive), and the rising stage is a foot lifting stage.
According to the foot-lifting step planning method for the foot-type robot, a same-speed back-pull method is adopted, so that the swinging legs are associated with the movement of the supporting legs in the front-back direction, the moving speed of the swinging legs relative to the trunk is guaranteed to be the same as the moving speed of the supporting legs relative to the trunk, the swinging legs are guaranteed to be vertically lifted when the foot-type robot advances, and the phenomenon that the vertical face kicked to the ground affects balance is avoided.
As shown in fig. 1, the motion track of the swing leg when the foot is lifted can be divided into an X-axis (forward positive) track and a Z-axis track, and the core of the same-speed pullback 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, namely:
thus, from the ground coordinate system, the foot end of the swing leg has no horizontal initial velocity.Is the withdrawal speed of the swing leg;is the pedaling speed of the supporting leg.
For the Z-axis trajectory, any one of the following equations may be used:
①
②
③
wherein Z is max To step height, t Swing T is the timing time after entering the swing phase, and is more than or equal to 0 and less than or equal to t Swing 。p Z_Swing To swing the leg in the Z-axis position.
After obtaining the foot end track, the X-axis and Z-axis coordinates are converted into joint rotation angles by using a foot end inverse kinematics equation, and then the motion is realized through joint servo. The inverse kinematics equation is determined by the leg mechanical structure, which varies from leg to leg. Specifically, the motion is achieved by planning foot end trajectories of the X axis and the Z axis in the XOZ plane, then converting to joint angles through inverse kinematics equations, and then servo joint angles.
In the trunk coordinate system, the swinging legs and the supporting legs have the same withdrawal speed, the supporting legs withdraw to push the trunk to advance, and the swinging legs withdraw to avoid collision obstacle. From the ground coordinate system, the end of the swing leg is vertically lifted.
When the foot robot is on a slope, the X-axis and Z-axis track planning modes are the same as the above, but the X-axis is not the same as the advancing direction, but rotates to be horizontal, and the Z-axis is vertical upwards. 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 swing leg now appears to be vertically raised as shown in fig. 2.
When the ground obstacle elevation has a bulge, an overspeed back-off method can be adopted. The method may be described in terms of speed or position, as shown in fig. 3. In the trunk coordinate system, the withdrawal speed of the swing leg is greater than the withdrawal speed of the support leg. From the ground coordinate system, the end of the swing leg is lifted and retracted.
In particular implementations, the pullback value of the swing leg may 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 the actual situation.Is the withdrawal speed of the swing leg; />Is the pedaling speed of the supporting leg.
The position description equation is:
d is the distance of multiple receptions after the foot lifting is finished, and the distance can be estimated according to the terrain, or can be dynamically set after the terrain is scanned by using a sensor such as a laser radar or a stereo camera. P is p X_Swing A retracted position for the swing leg; p is p X_Support Is the position of the support leg. t is t Swing For prediction of wobble phaseThe time length, t, is the timing time after entering the swing phase, and t is more than or equal to 0 and less than or equal to t Swing 。
The foot-lifting step planning method of the foot-lifting robot of the first embodiment is also applicable to gravel terrain, grasslands and other conditions which may trip over the foot-lifting robot.
Example two
The present embodiment provides a controller, which includes a computer readable storage medium, where a computer program is stored on the computer readable storage medium, and the program when executed by a processor implements the steps in the foot lifting step planning method of the foot robot according to the above embodiment.
It should be noted that, other structures of the controller are all existing structures, and will not be described here.
Example III
The present embodiment provides a foot robot, which includes the controller described in the second embodiment.
It should be noted that the legged robot may be a biped, tripodal or quadruped robot, and other structures of the robot are all existing structures, and will not be described in detail herein.
It will be appreciated by those skilled in the art that 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, magnetic 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps 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 (Random AccessMemory, RAM), or the like.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The foot-lifting step planning method for the foot-type robot is characterized in that a same-speed back-pull method is adopted to enable the swinging legs and the supporting legs to be associated with each other in the front-back direction, so that the moving speed of the swinging legs relative to the trunk is guaranteed to be the same as the moving speed of the supporting legs relative to the trunk, the swinging legs are guaranteed to be vertically lifted when the foot-type robot advances, and the influence of the vertical face kicked to the ground on balance is avoided;
when the ground obstacle elevation has a bulge, adopting an overspeed back-out method to enable the back-out speed of the swinging leg to exceed the pedaling speed of the supporting leg, so as to avoid the balance being damaged due to the fact that the swinging leg is pressed by the bulge of the ground obstacle elevation when the foot is lifted;
overspeed pullback method is described in terms of speed: withdrawal speed of swing leg = k x pedaling speed of support leg; wherein k is greater than 1;
alternatively, the overspeed pullback method is described in terms of position: the swing leg withdrawal position = support leg position-the ratio of the distance of multiple withdrawals after the foot lifting has ended to the expected length of the swing phase.
2. The foot-lifting planning method of the foot robot according to claim 1, wherein the motion track of the swing leg when lifting the foot is divided into an X-axis track and a Z-axis track, the X-axis track being positive forward, the Z-axis track being a timing time after entering the swing phase, the ratio of the position=step height and the estimated duration of the swing phase of the swing leg on the Z-axis.
3. The foot lift planning method of claim 2, wherein the timing time after entering the swing phase is greater than or equal to 0 and less than or equal to the swing leg withdrawal time.
4. The foot lift planning method of a foot robot of claim 1 wherein the swing leg foot end has no horizontal initial velocity from a ground coordinate system.
5. The foot lift planning method of claim 1 wherein the swing leg also exhibits vertical foot lift when the foot robot is on a slope.
6. A controller comprising a computer readable storage medium having a computer program stored thereon, wherein the program when executed by a processor performs the steps of the foot-lift planning method of the foot robot of any one of claims 1-5.
7. A foot robot comprising the controller of claim 6.
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| US6317652B1 (en) * | 1998-09-14 | 2001-11-13 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot |
| US10406690B1 (en) * | 2014-08-25 | 2019-09-10 | Boston Dynamics, Inc. | Handling gait disturbances with asynchronous timing |
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