CN101408435B - Method and apparatus for movement planning of apery robot ankle - Google Patents
Method and apparatus for movement planning of apery robot ankle Download PDFInfo
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- CN101408435B CN101408435B CN 200810172218 CN200810172218A CN101408435B CN 101408435 B CN101408435 B CN 101408435B CN 200810172218 CN200810172218 CN 200810172218 CN 200810172218 A CN200810172218 A CN 200810172218A CN 101408435 B CN101408435 B CN 101408435B
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Abstract
The invention discloses a movement planning method and a device of ankles of a humanoid robot, belonging to the technical field of humanoid robot movement planning. The method comprises: the trail planning of the ankles of non-supporting feet of the humanoid robot is divided into a first period and a second period in the period of odd-leg supporting; setting the stamping height in the first period and the jumping height in the second period as P. The device comprises: a phasing module used for dividing the trail planning of the ankles of non-supporting feet of the humanoid robot into the first period and the second period in the period of odd-leg supporting; a setting module used for setting the stamping height in the first period and the jumping height in the second period as P; wherein, is equal to L plus F, L is a distance between the ankle and feet surface, and F is the ground clearance compensation of ankles, and L is more than 0 and F is more that 0. In the invention, the trail planning of the ankles of non-supporting feet of the humanoid robot is divided into the first period and the second period in the period of odd-leg supporting, and counterforce of the ground to the feet surface of the robot is decreased at the moment when the feet surface of the humanoid robot stamps the ground in the process of action performance, thus increasing the flexibility of stamping the ground of the feet surface of the humanoid robot and improving the stability.
Description
Technical field
The present invention relates to anthropomorphic robot motion planning technical field, particularly the motion planning method of apery robot ankle and device.
Background technology
The motion planning of anthropomorphic robot is a very important field in the anthropomorphic robot research.The performance of anthropomorphic robot is to realize by the electric machine rotation that is distributed on each joint of anthropomorphic robot.The number of each joint motor has represented the number of degree of freedom on this joint.How each motor rotates constantly at each, is provided by motion planning before the anthropomorphic robot performance.At present, the method of anthropomorphic robot motion planning mainly is based on point of zero moment (ZMP, Zero Moment Point) stability principle carries out, method is first according to the track of ground environment set foot ankle-joint, in the effective range of variable element, find out have maximum stable nargin the trunk track as last program results.As seen, considerable basic role is played in the planning of foot track.Wherein, ZMP refers to the central point that the suffered ground reaction force of anthropomorphic robot is made a concerted effort.When the ZMP of anthropomorphic robot reality dropped on anthropomorphic robot instep (single pin or both feet) and contacts in the polygonal region that surrounds with ground, anthropomorphic robot can not stablized, as shown in Figure 1.
Human single pin support phase and the double support phase of in gait processes, being divided into, the relative ground of two pin (feet) invariant position when both feet support; A pin (feet) was fixed with respect to ground location when single pin supported, and another leg (non-feet) steps to the front from behind with respect to feet, the length that is stepped is called step-length, and the summation that single pin supports phase and double support phase time is called walking period.Human walking is exactly the cyclical movement that constantly circulates these two periods.For this characteristics, the planning of most humanoid robot foot section track generally is at first to determine several relevant parameters in the gait processes, such as step-length, walking period, lift the pin height, the both feet supporting time compares etc., and two ankle-joints were at the level and smooth movement locus of single pin support phase and double support phase when the algorithm by interpolation just can obtain respectively the anthropomorphic robot walking again.When prior art supports the ankle track of non-feet of phase at planning anthropomorphic robot list pin, several key parameters in the interpolation operation are arranged as follows: namely the pin height that rises of instep highly all is set to zero with stopping over, and intermediate altitude is set to lift the pin height.Then the ankle-joint that obtains non-feet by interpolation operation is at the whole pin level and smooth geometric locus in the process of landing of lifting.
After prior art is analyzed, the inventor finds: in the process of the actual walking of robot, because the existence of mechanical flexibility (distortion of physical construction because produced by External Force Acting) and servo flexibility (departure), the non-feet of anthropomorphic robot can land in the process of taking a step forward in advance.If according to existing planing method, when the non-feet of anthropomorphic robot lands in advance, can be flushed to ground with certain speed, its reacting force then can be given in ground, certainly will affect like this land stability of process of robot.
Summary of the invention
In order to realize that anthropomorphic robot flexibility of lower limb in gait processes lands, increase the stability that it lands when carrying out the operation behaviours such as performance, the embodiment of the invention provides motion planning method and the device of apery robot ankle.Described technical scheme is as follows:
The motion planning method of apery robot ankle may further comprise the steps:
The ankle of the non-feet of anthropomorphic robot is divided into phase one and subordinate phase at the trajectory planning that single pin supports the phase, wherein, the described phase one has comprised pin point, intermediate point, three key points of foothold, and described subordinate phase has comprised pin point, intermediate point, three key points of foothold;
The pin height that stop over height and the subordinate phase of phase one are set is P, P=L+F wherein, and L is the distance of ankle and instep, F is the ankle ground clearance compensation, and L＞0, F＞0;
Wherein, described the pin height that stop over height and the subordinate phase of phase one are set is P step comprises: the intermediate altitude that the described phase one is set is H, and the intermediate altitude of described subordinate phase is L+F/2, wherein H＞P;
The step that the described pin height that stop over height and the subordinate phase of phase one are set is P also comprises: the ankle geometric locus f that the phase one is set
1(x) first order derivative that plays pin point and foothold in the phase one is 0;
The step that the described pin height that stop over height and the subordinate phase of phase one are set is P also comprises: the ankle geometric locus f that subordinate phase is set
2(x) first order derivative that plays pin point and foothold in subordinate phase is 0.
The motion planning device of apery robot ankle comprises:
Stage is divided module, be used for the ankle of the non-feet of anthropomorphic robot is divided into phase one and subordinate phase at the trajectory planning that single pin supports the phase, wherein, the described phase one has comprised pin point, intermediate point, three key points of foothold, and described subordinate phase has comprised pin point, intermediate point, three key points of foothold;
Module is set, and a pin height that is used for arranging stop over height and the subordinate phase of phase one is P, P=L+F wherein, and L is the distance of ankle and instep, F is the ankle ground clearance compensation, and L＞0, F＞0;
The described module that arranges comprises intermediate altitude setting unit, the first derivative setting unit, flection setting unit, wherein:
Described intermediate altitude setting unit, being used for the intermediate altitude of described phase one is set is H, the intermediate altitude of described subordinate phase is L+F/2, wherein H＞P;
Described the first derivative setting unit is for the ankle geometric locus f that the phase one is set
1(x) first order derivative that plays pin point and foothold in the phase one is 0;
Described flection setting unit is for the ankle geometric locus f that subordinate phase is set
2(x) first order derivative that plays pin point and foothold in subordinate phase is 0.
The beneficial effect of the technical scheme that the embodiment of the invention provides is:
Non-feet trajectory planning is divided into two stages when single pin is supported the phase, reduced anthropomorphic robot in the performance process instep landing instant ground in the face of the reacting force of robot foot face, increase the flexibility that the human emulated robot instep lands, improved stability.
Description of drawings
Fig. 1 is that prior art anthropomorphic robot instep (single pin or both feet) contacts the polygonal region schematic diagram that surrounds with ground;
Fig. 2 is the motion planning method process flow diagram of the anthropomorphic robot of embodiment of the invention ankle altimetric compensation when landing;
Fig. 3 is that the ankle of the non-feet of anthropomorphic robot of the embodiment of the invention supports the planned trajectory of phase at single pin;
Fig. 4 is the later physical planning ankle-joint height value curve out of motion planning method that the anthropomorphic robot of the embodiment of the invention adopts ankle altimetric compensation when landing;
Fig. 5 is the motion planning device schematic diagram of embodiment of the invention anthropomorphic robot ankle altimetric compensation when landing;
Fig. 6 is the module diagram that arranges of the embodiment of the invention.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing.
Embodiment one
The motion planning method of ankle altimetric compensation when the embodiment of the invention provides a kind of anthropomorphic robot to land as shown in Figure 2, may further comprise the steps:
210: the ankle of the non-feet of anthropomorphic robot is divided into phase one and subordinate phase at the trajectory planning that single pin supports the phase.
In above-mentioned each stage, all comprise respectively three key points: play pin point, intermediate point, foothold, the ankle of the non-feet of anthropomorphic robot is on the trajectory planning that single pin supports the phase just is based upon planning to above three key points.
220: the pin height that stop over height and the subordinate phase of phase one are set is P, P=L+F wherein, and L is the distance of ankle and instep, F is the ankle ground clearance compensation, and L＞0, F＞0.
The pin height value that rises of stop over height and the subordinate phase of phase one is set to same numerical value P, and namely the terminal point of phase one is the starting point of subordinate phase.L is ankle height (distance of ankle and instep), and this numerical value is known constant, is decided by the concrete shape of anthropomorphic robot.In the present embodiment, one meter six of anthropomorphic robot height, 75 kilograms of body weight, the distance L of ankle and instep are 12.6 centimetres.F is the ankle ground clearance compensation, and it need to be set to one is not 0 arithmetic number.Particularly, in the present embodiment, be set to 5 millimeters.Therefore, P is 13.1 centimetres in the present embodiment.Here need to prove, according to the concrete shape of experiment effect or anthropomorphic robot, the ankle ground clearance compensation can also be set to other suitable numerical value.This wherein, the stopping over of pin height and subordinate phase instep of rising of phase one instep highly all is set to zero.Also be the trajectory planning of ankle of the single pin non-feet that supports the phase at the height of the foothold that plays pin point and subordinate phase of phase one, be set to the ankle height.
Further, the intermediate altitude of phase one is set for lifting pin height and ankle height sum, lifts in the present embodiment the pin height and be set to 10 centimetres, the intermediate altitude that also is the phase one is 22.6 centimetres.Here, lift the maximum height that the pin height refers to that the phase one instep lifts.The intermediate altitude that subordinate phase is set is the mean value L+F/2 of the height of stopping over that plays pin height and subordinate phase of subordinate phase, namely 12.85 centimetres.
Like this, ankle several important parameters in the track of single pin support phase of the non-feet of anthropomorphic robot have just been determined, that is: the phase one play pin height (height of some A), intermediate altitude (height of some D), the height of stopping over (height of some B) and subordinate phase play pin height (height of some B), intermediate altitude (height of some E), the height of stopping over (height of some C), referring to Fig. 3.Ankle-joint supported the level and smooth movement locus of phase when the method by interpolation just can obtain respectively the anthropomorphic robot walking again at single pin.The method of interpolation has a lot, such as cubic spline interpolation method, Hermite (Hermite) interpolation method, Piecewise Interpolation Method etc., what the present embodiment adopted is the cubic spline interpolation method, the every one-phase track of this interpolation method needs 3 key parameters at least: play pin height, intermediate altitude and the height of stopping over, then making the first order derivative that plays pin point and foothold of every one-phase is 0.That is: the ankle geometric locus f of phase one is set
1(x) first order derivative that plays pin point and foothold in the phase one is 0, and the ankle geometric locus f that subordinate phase is set
2(x) first order derivative that plays pin point and foothold in subordinate phase is 0.Wherein, f
1(x) be the ankle geometric locus function of phase one, f
2(x) be the ankle geometric locus function of subordinate phase.Ankle-joint supports the level and smooth movement locus of phase in the time of so just can obtaining the anthropomorphic robot walking at single pin, as shown in Figure 4.
The ankle of the non-feet of the present embodiment anthropomorphic robot all is provided with above-mentioned three parameters at the track that single pin supports each section of phase---and play pin height, intermediate altitude, stop over highly, also more parameter can be set, such as five parameters are set: play pin height, the first intermediate altitude, the second intermediate altitude, the 3rd intermediate altitude and the height of stopping over.
Non-feet trajectory planning is divided into two stages when single pin is supported the phase, reduced anthropomorphic robot in the performance process instep landing instant ground in the face of the reacting force of robot foot face, increase the flexibility that the human emulated robot instep lands, improved stability.
Embodiment two
The motion planning device of ankle altimetric compensation when the embodiment of the invention provides a kind of anthropomorphic robot to land as shown in Figure 5, comprising:
Stage is divided module 501, is used for the ankle of the non-feet of anthropomorphic robot is divided into phase one and subordinate phase at the trajectory planning that single pin supports the phase.
The pin height value that rises that stop over height and the subordinate phase of 502 phase one of module are set is set to same numerical value P, and namely the terminal point of phase one is the starting point of subordinate phase.L is ankle height (distance of ankle and instep), and this numerical value is known constant, is decided by the concrete shape of anthropomorphic robot.In the present embodiment, one meter six of anthropomorphic robot height, 75 kilograms of body weight, the distance L of ankle and instep are 12.6 centimetres.F is the ankle ground clearance compensation, and it need to be set to one is not 0 arithmetic number.Particularly, in the present embodiment, be set to 5 millimeters.Therefore, P is 13.1 centimetres in the present embodiment.Here need to prove, according to the concrete shape of experiment effect or anthropomorphic robot, the ankle ground clearance compensation can also be set to other suitable numerical value.This wherein, the stopping over of pin height and subordinate phase instep of rising of phase one instep highly all is set to zero.Also be the trajectory planning of ankle of the single pin non-feet that supports the phase at the height of the foothold that plays pin point and subordinate phase of phase one, be set to the ankle height.
Further, as shown in Figure 6, module 502 is set also comprises:
Intermediate altitude setting unit 601, being used for the intermediate altitude of described phase one is set is H, the intermediate altitude of described subordinate phase is L+F/2, wherein H＞P.
The first derivative setting unit 602 is for the ankle geometric locus f that the phase one is set
1(x) first order derivative that plays pin point and foothold in the phase one is 0.
Flection setting unit 603 is for the ankle geometric locus f that subordinate phase is set
2(x) first order derivative that plays pin point and foothold in subordinate phase is 0.
Intermediate altitude setting unit 601 arranges the intermediate altitude H of phase one for lifting pin height and ankle height sum, lifts in the present embodiment the pin height and is set to 10 centimetres, and the intermediate altitude that also is the phase one is 22.6 centimetres.Here, lift the maximum height that the pin height refers to that the phase one instep lifts.The intermediate altitude that subordinate phase is set is the mean value L+F/2 of the height of stopping over that plays pin height and subordinate phase of subordinate phase, namely 12.85 centimetres.
Like this, ankle several important parameters in the track of single pin support phase of the non-feet of anthropomorphic robot have just been determined, that is: the phase one play pin height (height of some A), intermediate altitude (height of some D), the height of stopping over (height of some B) and subordinate phase play pin height (height of some B), intermediate altitude (height of some E), the height of stopping over (height of some C), referring to Fig. 3.Ankle-joint supported the level and smooth movement locus of phase when the method by interpolation just can obtain respectively the anthropomorphic robot walking again at single pin.The method of interpolation has a lot, such as cubic spline interpolation method, Hermite (Hermite) interpolation method, Piecewise Interpolation Method etc., what the present embodiment adopted is the cubic spline interpolation method, the every one-phase track of this interpolation method needs 3 key parameters at least: play pin height, intermediate altitude and the height of stopping over, then making the first order derivative that plays pin point and foothold of every one-phase is 0.The first derivative setting unit 602 arranges the ankle geometric locus f of phase one
1(x) first order derivative that plays pin point and foothold in the phase one is 0, and flection setting unit 603 arranges the ankle geometric locus f of subordinate phase
2(x) first order derivative that plays pin point and foothold in subordinate phase is 0.Wherein, f
1(x) be the ankle geometric locus function of phase one, f
2(x) be the ankle geometric locus function of subordinate phase.Ankle-joint supports the level and smooth movement locus of phase in the time of so just can obtaining the anthropomorphic robot walking at single pin, as shown in Figure 4.
Non-feet trajectory planning is divided into two stages when single pin is supported the phase, reduced anthropomorphic robot in the performance process instep landing instant ground in the face of the reacting force of robot foot face, increase the flexibility that the human emulated robot instep lands, improved stability.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. the motion planning method of an apery robot ankle is characterized in that, may further comprise the steps:
The ankle of the non-feet of anthropomorphic robot is divided into phase one and subordinate phase at the trajectory planning that single pin supports the phase, wherein, the described phase one has comprised pin point, intermediate point, three key points of foothold, and described subordinate phase has comprised pin point, intermediate point, three key points of foothold;
The pin height that stop over height and the subordinate phase of phase one are set is P, P=L+F wherein, and L is the distance of ankle and instep, F is the ankle ground clearance compensation, and L＞0, F＞0;
Wherein, described the pin height that stop over height and the subordinate phase of phase one are set is P step comprises: the intermediate altitude that the described phase one is set is H, and the intermediate altitude of described subordinate phase is L+F/2, wherein H＞P;
The step that the described pin height that stop over height and the subordinate phase of phase one are set is P also comprises: the ankle geometric locus f that the phase one is set
1(x) first order derivative that plays pin point and foothold in the phase one is 0;
The step that the described pin height that stop over height and the subordinate phase of phase one are set is P also comprises: the ankle geometric locus f that subordinate phase is set
2(x) first order derivative that plays pin point and foothold in subordinate phase is 0.
2. the motion planning device of an apery robot ankle is characterized in that, comprising:
Stage is divided module, be used for the ankle of the non-feet of anthropomorphic robot is divided into phase one and subordinate phase at the trajectory planning that single pin supports the phase, wherein, the described phase one has comprised pin point, intermediate point, three key points of foothold, and described subordinate phase has comprised pin point, intermediate point, three key points of foothold;
Module is set, and a pin height that is used for arranging stop over height and the subordinate phase of phase one is P, P=L+F wherein, and L is the distance of ankle and instep, F is the ankle ground clearance compensation, and L＞0, F＞0;
The described module that arranges comprises intermediate altitude setting unit, the first derivative setting unit, flection setting unit, wherein:
Described intermediate altitude setting unit, being used for the intermediate altitude of described phase one is set is H, the intermediate altitude of described subordinate phase is L+F/2, wherein H＞P;
Described the first derivative setting unit is for the ankle geometric locus f that the phase one is set
1(x) first order derivative that plays pin point and foothold in the phase one is 0;
Described flection setting unit is for the ankle geometric locus f that subordinate phase is set
2(x) first order derivative that plays pin point and foothold in subordinate phase is 0.
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| CN103197671A (en) * | 2012-01-04 | 2013-07-10 | 中国人民解放军第二炮兵工程学院 | Humanoid robot gait planning and synthesizing method |
| CN104345735A (en) * | 2014-09-30 | 2015-02-11 | 同济大学 | Robot walking control method based on foothold compensator |
| CN104792559B (en) * | 2015-04-22 | 2017-05-24 | 北京工业大学 | Method for measuring kinetic stability and structure stability of humanoid robot |
| CN117452931B (en) * | 2023-10-16 | 2024-06-25 | 之江实验室 | Walking control method, device and storage medium of humanoid robot |
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| CN1649698A (en) * | 2002-03-18 | 2005-08-03 | 索尼株式会社 | Robot device, legged locomotion robot operation control device and operation control method, legged locomotion robot sensor system, and locomotion device |
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| CN1649698A (en) * | 2002-03-18 | 2005-08-03 | 索尼株式会社 | Robot device, legged locomotion robot operation control device and operation control method, legged locomotion robot sensor system, and locomotion device |
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| 杨敏.拟人机器人的步态规划仿真研究.《中国优秀硕士学位论文全文数据库》.2007,58-59. * |
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