CN101414190A - Method and system for controlling apery robot stabilized walking based on effective stable domain - Google Patents
Method and system for controlling apery robot stabilized walking based on effective stable domain Download PDFInfo
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Abstract
The invention discloses a method for controlling steady walking of a humanoid robot based on an effective stable region, and belongs to the automation control field. The method comprises the following steps: measuring a ground reaction force of the robot by a force sensor; obtaining a resultant force point of the ground reaction force of the robot according to the ground reaction force; judging whether a planned zero moment point (ZMP) and the resultant force point of the ground reaction force are within the effective stable region; and controlling the robot to walk according to a judgment result. The device comprises the force sensor, a processing module, a judgment module and a control module. The system comprises a forward feeder, a real-time corrector and a servo driver. The system causes the planned ZMP and the resultant force point of the ground reaction force to be in the effective stable region by the real-time correction of an angle of ankle joints of the robot, thus achieving the aim of the steady walking of the robot.
Description
Technical Field
The invention relates to the field of automation control, in particular to a method and a system for controlling a humanoid robot to walk stably based on an effective stable region.
Background
A humanoid robot (hereinafter, referred to as a robot) moves by walking with two legs, as a human. The double-leg structure of the robot is similar to that of a human body, and the robot has better maneuverability compared with the traditional wheeled and tracked robots, and particularly shows superiority on uneven ground, stairs and occasions with only discrete and discontinuous contact points with the ground. However, the biped robot has the characteristic of unstable nature and is easy to fall down. In order for the robot to walk, a walking trajectory (dynamic gait) of the robot needs to be given. The dynamic gait of the robot is an inherent, periodic motion that is generated based on the overall dynamics of the biped robot. Due to the coupling of constraints and the complexity of the kinetic equations, dynamic gait calculations require an optimization process. Thus, dynamic gait can generally only be achieved by off-line computational methods. That is, dynamic gait is generally generated assuming that the bipedal robot model and surrounding environment are known. In fact, the real walking environment of the biped robot cannot be completely the same as the set environment and conditions, and due to the change of the surrounding environment of the robot or the generation of unknown conditions, if the robot is mechanically executed according to the dynamic gait planned in advance, the planned dynamic gait is not corrected and controlled in real time, and abnormal phenomena such as instability, even falling and the like are likely to be generated. Therefore, the planned dynamic gait needs to be corrected according to the current environmental information and the current self state of the robot, real-time gait control is carried out, the change and uncertainty of the environment are overcome, and the robot can stably walk in the actual environment.
In the prior art, a control method based on Zero Moment Point (ZMP) compensation is disclosed, and specifically, the ZMP compensation is realized by changing the upper body of a robot and the position of feet of a correction robot, so that the robot can walk stably;
wherein, the specific meanings of ZMP are as follows: according to the mechanics principle, when the object is in a static state, the essential condition for balancing is that the projection of the gravity center of the object on the ground is in the supporting surface; when the object is in motion, the necessary condition for balancing is that the extension line of the resultant force of the received gravity and the inertial force passes through the supporting surface, and the intersection point of the extension line of the resultant force and the supporting surface is called ZMP.
The second prior art discloses a method for controlling a biped walking robot, which specifically includes calculating a roll angle and a pitch angle according to a ground reaction force, driving a brake according to the roll angle and the pitch angle, aligning a normal vector of a stress surface with a reference vector in a gravity direction, and realizing stable walking of the robot.
In the process of implementing the invention, the inventor finds that the prior art has at least the following problems:
1) in the prior art, the state correction of the robot needs dynamic calculation, and real-time compensation and correction are difficult to realize; in addition, this method does not take into account the stability margin necessary for dynamic walking of the robot.
2) The second prior art is only suitable for static walking occasions of the robot and is not suitable for dynamic walking control of the robot.
Disclosure of Invention
In order to enable the robot to walk stably, the embodiment of the invention provides a control method and a control system for simulating the stable walking of the robot based on an effective stable area. The technical scheme is as follows:
in one aspect, an embodiment of the present invention provides a method for controlling a humanoid robot to walk stably based on an effective stable region, where the method includes:
measuring the ground reaction force of the robot through a force sensor;
according to the ground reaction force, obtaining a ground reaction force resultant point of the robot;
judging whether a planned zero moment point and the resultant point of the ground reaction force are both in an effective stable area;
and controlling the robot to walk according to the judgment result.
On the other hand, the embodiment of the invention provides a control device for a humanoid robot to walk stably based on an effective stable region, which comprises:
the force sensor is used for measuring the ground reaction force of the robot;
the processing module is used for obtaining a resultant force point of the ground reaction force of the robot according to the ground reaction force measured by the force sensor;
the judging module is used for judging whether a planning zero moment point and a resultant point of the ground reaction force obtained by the processing module are both in an effective stable area;
and the control module is used for controlling the robot to walk according to the judgment result of the judgment module.
On the other hand, the embodiment of the invention also provides a control system for the humanoid robot to walk stably based on the effective stable region, which comprises the following components:
feedforward for providing off-line of a robotPlanned dynamic gait θa0(t)；
A real-time corrector for providing a dynamic gait trajectory theta to the feedforward device when the ground reaction force resultant point and/or the planned zero moment point of the robot are not within the effective stable areaa0(t) real-time correction amount [ Delta ] [ theta ] for correctiona(t)；
A servo driver for driving a dynamic gait theta in the feedforwarda0(t) and a real-time correction amount Delta theta in the real-time correctora(t) after the addition, driving the ankle joint of the robot.
The technical scheme provided by the embodiment of the invention has the beneficial effects that:
the planned ZMP point and the ground reaction force resultant point are both in an effective stable area by correcting the angle of the ankle joint of the robot in real time, so that the stable walking of the robot is realized; and moreover, a clear robot dynamics model is not needed, the calculation is simple, and the dynamic gait of the robot is quickly corrected, so that the robot can adapt to an unknown environment.
Drawings
FIG. 1 is a schematic diagram of a robot walking controller architecture;
FIG. 2 is a schematic illustration of the relationship between the ZMP point and the ground reaction force resultant point of the robot and the stable region;
fig. 3 is a flowchart of a control method for a humanoid robot to walk stably based on an effective stable region according to embodiment 1 of the present invention;
fig. 4 is a schematic view of a control device for a humanoid robot to walk stably based on an effective stable region according to embodiment 2 of the present invention;
fig. 5 is a schematic diagram of a control system for enabling a humanoid robot to walk stably based on an effective stable region according to embodiment 3 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1, the structural diagram of the walking controller of the robot is shown, and the walking controller is a dynamic gait theta of the ankle joint planned by an off-line mode which plays a feed-forward rolea0(t) (offline planned ankle angle) and local feedback ankle real-time correction Δ θa(t), the robot comprises an upper body 101, a hip joint 102, a knee joint 103, an ankle joint 104, feet 105, a force sensor 106 and connecting parts among all parts, wherein the force sensor 106 is used for measuring the magnitude of the ground reaction force.
The robot is divided into a single-foot supporting period and a double-foot supporting period, and when the robot is in the single-foot supporting period, the ground reaction force of a single foot is measured through a force sensor of the single foot; when in the supporting period of the feet, the force sensors of the feet respectively measure the ground reaction force of the feet. Through the ground reaction force that force sensor surveyed, can obtain ground reaction force resultant point, specifically be: when the single foot is in the supporting period, the acting point of the ground reaction force of the single foot, which is measured by the force sensor of the single foot, is the resultant point of the ground reaction force; when the feet are in the supporting period, the acting points of the resultant force of the ground reaction forces of the feet respectively measured by the force sensors of the feet are the resultant force points of the ground reaction forces.
In the walking process of the robot, in order to avoid toppling of the robot and ensure stable walking of the robot, a planned ZMP point (a ZMP point which is planned in advance and ensures stable walking of the robot) and a ground reaction force resultant point are required to be in a stable area. If the ZMP point and the ground reaction force resultant point are planned to be within the stable region, the robot can generally walk without toppling. However, in order to ensure that the robot can walk stably, a ZMP point, a resultant force point of a ground reaction force and a stable region boundary are planned to keep a certain distanceAnd (4) enabling the planned ZMP point and the resultant point of the ground reaction force to be in an effective stable area, namely, having a certain stability margin. Referring to fig. 2, the robot's stability zone boundary 201, effective stability zone 202 and planned ZMP points 203 and ground reaction force resultant points 204, d are shownzmpIs the distance, d, of the planned ZMP point 203 (not within the effective stable region) from the effective stable region boundary 205fIs the distance between the resultant ground reaction force point 204 (when not within the effective stability region) and the effective stability region boundary 205.
In the embodiment of the invention, when the robot stably walks, the reference angle theta of the servo control of the ankle joint of the robota(t) (actual ankle angle while the robot is walking) equals the offline planned dynamic gait θa0(t) and real-time correction amount Delta thetaa(t) sum, i.e. θa(t)＝θa0(t)+Δθa(t) of (d). Wherein, thetaa0(t) is generally generated given that the robot model and surrounding environment are known; delta thetaa(t) is a real-time correction of the ankle joint angle while maintaining the robot in balance when the ground reaction force resultant point and/or the planned ZMP point of the robot are not within the effective stable region.
How to utilize the real-time correction amount of the ankle joint angle to correct the ankle joint angle in real time is specifically described below, so that the robot is prevented from toppling over, and the robot is guaranteed to walk stably.
Example 1
Referring to fig. 3, a flowchart of a control method for enabling a humanoid robot to walk stably based on an effective stable region according to an embodiment of the present invention is used for correcting an ankle joint angle in real time to ensure stable walking of the robot, and specifically includes:
301: and measuring the ground reaction force through the force sensor, and obtaining a ground reaction force resultant point according to the ground reaction force measured by the force sensor.
The robot can measure the magnitude of the ground reaction force through the force sensor in the process of standing or walking.
In the walking process of the robot, the robot can be divided into a single-foot supporting period and a double-foot supporting period, and when in the single-foot supporting period, the ground reaction force of a single foot is measured by a single-foot force sensor; when in the supporting period of the feet, the force sensors of the feet respectively measure the ground reaction force of the feet. When the robot is static, the robot supports the feet during walking, and the description is omitted here.
Through the ground reaction force that force sensor surveyed, can obtain ground reaction force resultant point, specifically be: when the single foot is in the supporting period, the acting point of the ground reaction force of the single foot, which is measured by the force sensor of the single foot, is the resultant point of the ground reaction force; when the feet are in the supporting period, the acting points of the resultant force of the ground reaction forces of the feet respectively measured by the force sensors of the feet are the resultant force points of the ground reaction forces.
302: and judging whether the planned ZMP point and the ground reaction force resultant point are both in the effective stable region.
Judging whether the planned ZMP point and the ground reaction force resultant point are both in the effective stable region, the possible results are as follows:
planning that a ZMP point and a ground reaction force resultant point are both in an effective stable area;
planning that a ZMP point is not in an effective stable region and a ground reaction force resultant point is in the effective stable region;
planning a ZMP point in an effective stable area, and planning a ground reaction force resultant point not in the effective stable area;
neither the projected ZMP point nor the ground reaction force resultant point is within the effective stability zone.
303: and controlling the robot to walk according to the judgment result of the step 302.
According to the judgment result in the step 302, controlling the robot to walk specifically includes the following conditions:
if the result of the determination in step 302 is that the planned ZMP point and the ground reaction force resultant point are both within the effective stable region, the robot walks in accordance with the offline planned dynamic gait. That is, the ankle joint angle of the robot is not required to be corrected, and is a dynamic gait theta planned off-linea0(t)。
And if the judgment result in the step 302 is that the planned ZMP point is not in the effective stable region and the ground reaction force resultant point is in the effective stable region, correcting the ankle joint angle of the supporting foot according to the distance between the planned ZMP point and the boundary of the effective stable region, and adjusting the planned ZMP point to the effective stable region.
Correcting the ankle joint angle of the supporting leg according to the distance between the planned ZMP point and the boundary of the effective stable area, and the specific process is as follows: dynamic gait theta planned off-linea0(t) adding a real-time correction amount [ Delta ] [ theta ] to the correction signalaAnd (t) realizing real-time correction of the ankle joint angle. Dynamic gait thetaa0(t) is planned off-line, is a known quantity, and is a real-time correction quantity delta thetaa(t) is a real-time calculated dynamic gait theta in the actual walking process of the robota0(t) correction amount.
Real-time correction amount delta thetaa(t) is calculated by the following formula (1):
in the formula, <math> <mrow> <mi>φ</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msub> <mi>K</mi> <mrow> <mn>1</mn> <mi>c</mi> </mrow> </msub> <mo>*</mo> <msub> <mi>d</mi> <mi>zmp</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>,</mo> </mtd> <mtd> <msub> <mi>F</mi> <mi>foot</mi> </msub> <mo>></mo> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mo>-</mo> <msub> <mi>K</mi> <mrow> <mn>1</mn> <mi>r</mi> </mrow> </msub> <mo>*</mo> <msub> <mi>Δθ</mi> <mi>a</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>-</mo> <mi>T</mi> <mo>)</mo> </mrow> <mo>,</mo> </mtd> <mtd> <msub> <mi>F</mi> <mi>foot</mi> </msub> <mo>=</mo> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> </mrow> <mo>,</mo> </mrow></math>
dzmp(t) distance between planned ZMP point and effective stable region boundary at time t, K1cAnd K1rIs a coefficient, and 0<K1c<1、0<K1r<1, T is the computer control period, FfootIs the magnitude of the ground reaction force to the foot, F, measured by the force sensorfoot>0 indicates that the foot is in supportState, FfootWhen 0 indicates that the foot is in the swing state, i.e. the foot in the support state is switched to the swing state, according to FfootThe ankle angle of the foot is corrected by a formula corresponding to 0, and when the foot is in a swing state, the ankle angle of the foot should be gradually restored to a value prescribed in the natural dynamic gait, so that FfootThe equation corresponding to 0 is a value for restoring the ankle angle of the foot to the value prescribed in the natural dynamic gait.
The robot is divided into a single-foot supporting period and a double-foot supporting period, and when the robot is in the single-foot supporting period, the ankle joint angle of a single foot is corrected according to the distance between the planned ZMP point and the boundary of the effective stable area, so that the planned ZMP point is adjusted into the effective stable area; and when the feet are in the supporting period, correcting the ankle joint angles of the feet according to the distance between the planned ZMP point and the boundary of the effective stable area respectively, so that the planned ZMP point is adjusted into the effective stable area.
And if the result of the judgment in the step 302 is that the planned ZMP point is in the effective stable region and the resultant force point of the ground reaction force is not in the effective stable region, correcting the angle of the ankle joint of the supporting leg according to the distance between the resultant force point of the ground reaction force and the boundary of the effective stable region, and adjusting the resultant force point of the ground reaction force to the effective stable region.
Correcting the ankle joint angle of the supporting leg according to the distance between the resultant force point of the ground reaction force and the boundary of the effective stable area, wherein the specific process is as follows: dynamic gait theta planned off-linea0(t) adding a real-time correction amount [ Delta ] [ theta ] to the correction signalaAnd (t) correcting the ankle joint angle. Dynamic gait thetaa0(t) is planned off-line, is a known quantity, and is a real-time correction quantity delta thetaa(t) is a real-time calculated dynamic gait theta in the actual walking process of the robota0(t) correction amount.
Real-time correction amount delta thetaa(t) is calculated by the following formula (2):
in the formula,
df(t) represents the distance between the resultant point of the ground reaction force and the boundary of the effective stable area at the moment t, K2cAnd K2rIs a coefficient, and 0<K2c<1、0<K2r<1, T is the computer control period, FfootIs the magnitude of the ground reaction force to the foot, F, measured by the force sensorfoot>0 indicates that the foot is in a supporting state, FfootWhen 0 indicates that the foot is in the swing state, i.e. the foot in the support state is switched to the swing state, according to FfootThe ankle angle of the foot is corrected by a formula corresponding to 0, and when the foot is in a swing state, the ankle angle of the foot should be gradually restored to a value prescribed in the natural dynamic gait, so that FfootThe equation corresponding to 0 is a value for restoring the ankle angle of the foot to the value prescribed in the natural dynamic gait.
The robot is divided into a single-foot supporting period and a double-foot supporting period, and when the robot is in the single-foot supporting period, the ankle joint angle of a single foot is corrected according to the distance between the resultant force point of the ground reaction force and the boundary of the effective stable area, so that the resultant force point of the ground reaction force is adjusted to be in the effective stable area; and in the support period of the two feet, correcting the ankle joint angles of the two feet according to the distance between the resultant force point of the ground reaction force and the boundary of the effective stable area respectively, so that the resultant force point of the ground reaction force is adjusted to be in the effective stable area.
If the result of the determination in step 302 is that neither the planned ZMP point nor the ground reaction resultant force point is within the effective stable region, then the ankle angle of the support foot is modified by the product of the distance between the planned ZMP point and the boundary of the effective stable region and the distance between the ground reaction resultant force point and the boundary of the effective stable region, so that both the planned ZMP point and the ground reaction resultant force point are adjusted within the effective stable region.
Correcting the ankle joint angle of the supporting leg according to the product of the distance between the planned ZMP point and the boundary of the effective stable area and the distance between the resultant force point of the ground reaction force and the boundary of the effective stable area, wherein the specific process is as follows: dynamic gait theta planned off-linea0(t) adding a real-time correction amount [ Delta ] [ theta ] to the correction signalaAnd (t) correcting the ankle joint angle. Dynamic gait thetaa0(t) is planned off-line, is a known quantity, and is a real-time correction quantity delta thetaa(t) is a real-time calculated dynamic gait theta in the actual walking process of the robota0(t) correction amount.
Real-time correction amount delta thetaa(t) is calculated by the following equation (3):
in the formula, <math> <mrow> <mi>ψ</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msub> <mi>K</mi> <mrow> <mn>3</mn> <mi>c</mi> </mrow> </msub> <mo>*</mo> <msub> <mi>d</mi> <mi>zmp</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>*</mo> <msub> <mi>d</mi> <mi>f</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>,</mo> </mtd> <mtd> <msub> <mi>F</mi> <mi>foot</mi> </msub> <mo>></mo> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mo>-</mo> <msub> <mi>K</mi> <mrow> <mn>3</mn> <mi>r</mi> </mrow> </msub> <mo>*</mo> <msub> <mi>Δθ</mi> <mi>a</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>-</mo> <mi>T</mi> <mo>)</mo> </mrow> <mo>,</mo> </mtd> <mtd> <msub> <mi>F</mi> <mi>foot</mi> </msub> <mo>=</mo> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> </mrow> <mo>,</mo> </mrow></math>
dzmp(t) distance between planned ZMP point and effective stable region boundary at time t, df(t) represents the distance between the resultant point of the ground reaction force and the boundary of the effective stable area at the moment t, K3cAnd K3rIs a coefficient, and 0<K3c<1、0<K3r<1, T is the computer control period, FfootIs the magnitude of the ground reaction force to the foot, F, measured by the force sensorfoot>0 indicates that the foot is in a supporting state, FfootWhen 0 indicates that the foot is in the swing state, i.e. the foot in the support state is switched to the swing state, according to FfootCorrecting the ankle joint angle of the foot according to a formula corresponding to 0, wherein the ankle joint angle of the foot should be gradually restored to the natural dynamic gait when the foot is in the swing stateA predetermined value, so FfootThe equation corresponding to 0 is a value for restoring the ankle angle of the foot to the value prescribed in the natural dynamic gait.
The robot is divided into a single-foot supporting period and a double-foot supporting period, and when the robot is in the single-foot supporting period, the ankle joint angle of a single foot is corrected according to the product of the distance between the planned ZMP point and the boundary of the effective stable area and the distance between the resultant force point of the ground reaction force and the boundary of the effective stable area, so that the planned ZMP point and the resultant force point of the ground reaction force are both adjusted into the effective stable area; and when in the double-foot supporting period, correcting the ankle joint angles of the double feet according to the product of the distance between the planned ZMP point and the boundary of the effective stable area and the distance between the resultant force point of the ground reaction force and the boundary of the effective stable area, so that the planned ZMP point and the resultant force point of the ground reaction force are adjusted to be in the effective stable area.
According to the method disclosed by the embodiment of the invention, the planned ZMP point and the ground reaction force resultant point are both in an effective stable area by correcting the angle of the ankle joint of the robot in real time, so that the stable walking of the robot is realized; and moreover, a clear robot dynamics model is not needed, the calculation is simple, and the dynamic gait of the robot is quickly corrected, so that the robot can adapt to an unknown environment.
Example 2
Referring to fig. 4, an embodiment of the present invention provides a control device for a humanoid robot to walk stably based on an effective stable region, where the device specifically includes:
a force sensor 401 for measuring the ground reaction force of the robot;
the processing module 402 is configured to obtain a resultant force point of the ground reaction force of the robot according to the ground reaction force measured by the force sensor 401;
a judging module 403, configured to judge whether the planned zero moment point and the resultant point of the ground reaction force obtained by the processing module 402 are both in the effective stable region;
and a control module 404, configured to control the robot to walk according to the determination result of the determining module 403.
Wherein, the control module 404 specifically includes:
and the processing unit is configured to, when the determination result of the determining module 403 is that the planned zero moment point and the ground reaction force resultant point are both in the effective stable region, enable the robot to walk according to the planned dynamic gait.
Wherein, the control module 404 specifically includes: :
a first correcting unit, configured to correct an ankle joint angle of the supporting foot according to a distance between the planned zero moment point and an effective stable area boundary when a determination result of the determining module 403 is that the planned zero moment point is not in the effective stable area and a ground reaction force resultant point is in the effective stable area, where the specific correcting manner is as follows: dynamic gait theta planned off-linea0(t) adding a real-time correction amount [ Delta ] [ theta ] to the correction signalaAnd (t) realizing real-time correction of the ankle joint angle. Dynamic gait thetaa0(t) is planned off-line, is a known quantity, and is a real-time correction quantity delta thetaa(t) is a real-time calculated dynamic gait theta in the actual walking process of the robota0(t) correction amount, real-time correction amount [ Delta ] [ theta ]a(t) was calculated according to the formula (1) in example 1.
Wherein, the control module 404 specifically includes:
a second correcting unit, configured to correct the ankle joint angle of the supporting foot according to the distance between the ground reaction force resultant point and the boundary of the effective stable region when the determination result of the determining module 403 is that the planned zero moment point is in the effective stable region and the ground reaction force resultant point is not in the effective stable region, where the specific correcting manner is as follows: dynamic gait theta planned off-linea0(t) adding a real-time correction amount [ Delta ] [ theta ] to the correction signalaAnd (t) realizing real-time correction of the ankle joint angle. Dynamic gait thetaa0(t) is planned off-line, is a known quantity, and is a real-time correction quantity delta thetaa(t) is in a robotReal-time calculated dynamic gait theta during inter-walkinga0(t) correction amount, real-time correction amount [ Delta ] [ theta ]a(t) was calculated according to the formula (2) in example 1.
Wherein, the control module 404 specifically includes:
a third correcting unit, configured to correct, when the determination result of the determining module 403 is that the planned zero moment point and the ground reaction force resultant point are not located in the effective stable region, an ankle joint angle of the supporting foot according to a product of a distance between the planned zero moment point and the effective stable region boundary and a distance between the ground reaction force resultant point and the effective stable region boundary, where the specific correcting manner is: dynamic gait theta planned off-linea0(t) adding a real-time correction amount [ Delta ] [ theta ] to the correction signalaAnd (t) realizing real-time correction of the ankle joint angle. Dynamic gait thetaa0(t) is planned off-line, is a known quantity, and is a real-time correction quantity delta thetaa(t) is a real-time calculated dynamic gait theta in the actual walking process of the robota0(t) correction amount, real-time correction amount [ Delta ] [ theta ]a(t) was calculated according to the formula (3) in example 1.
According to the device disclosed by the embodiment of the invention, the planned ZMP point and the ground reaction force resultant point are both in an effective stable area by correcting the angle of the ankle joint of the robot in real time, so that the stable walking of the robot is realized; and moreover, a clear robot dynamics model is not needed, the calculation is simple, and the dynamic gait of the robot is quickly corrected, so that the robot can adapt to an unknown environment.
Example 3
Referring to fig. 5, an embodiment of the present invention provides a control system for a humanoid robot to walk stably based on an effective stable region, where the system specifically includes:
a feedforward 501 for providing a dynamic gait θ of an ankle joint for off-line planning of a robota0(t)；
A real-time corrector 502 for correcting the resultant force of the ground reaction forces of the robotProviding a dynamic gait trajectory θ in the feedforward 501 when the point and/or the planned zero moment point are not within the effective stability regiona0(t) real-time correction amount of ankle Joint to be corrected Delta thetaa(t)；
When the planned ZMP point is not in the effective stable region and the ground reaction force resultant point is in the effective stable region, the real-time correction amount delta theta isa(t) calculated according to the formula (1) in example 1;
when the resultant point of the ground reaction force is not in the effective stable region, the planned ZMP point is in the effective stable region, and the real-time correction quantity delta theta isa(t) calculated according to the formula (2) in example 1;
when the planned ZMP point and the ground reaction force resultant point are not in the effective stable region, the real-time correction quantity delta theta is correcteda(t) was calculated according to the formula (3) in example 1.
A servo driver 503 for driving a dynamic gait θ in the feedforward 501a0(t) and real-time correction amount Delta theta in real-time corrector 502aAnd (t) adding the two components, and driving the ankle joint of the robot. The system is arranged on the ankle joints of the two feet of the robot respectively, the robot is divided into a single-foot supporting period and a double-foot supporting period, and when the single-foot supporting period is reached, the system for supporting the ankle joints of the feet corrects the ankle joints of the supporting feet; the system of ankle joints of both feet makes corrections to the respective ankle joints of both feet when in the supporting period of both feet.
According to the system disclosed by the embodiment of the invention, the planned ZMP point and the ground reaction force resultant point are both in an effective stable area by correcting the angle of the ankle joint of the robot in real time, so that the stable walking of the robot is realized; and moreover, a clear robot dynamics model is not needed, the calculation is simple, and the dynamic gait of the robot is quickly corrected, so that the robot can adapt to an unknown environment.
All or part of the technical solutions provided by the above embodiments may be implemented by software programming, and the software program is stored in a readable storage medium, for example: hard disk, optical disk or floppy disk in a computer.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (14)
1. A control method for humanoid robot stable walking based on an effective stable region is characterized by comprising the following steps:
measuring the ground reaction force of the robot through a force sensor;
according to the ground reaction force, obtaining a ground reaction force resultant point of the robot;
judging whether a planned zero moment point and the resultant point of the ground reaction force are both in an effective stable area;
and controlling the robot to walk according to the judgment result.
2. The method for controlling the humanoid robot to walk stably based on the effective stable region of claim 1, wherein the controlling the robot to walk according to the determination result specifically comprises:
and if the judgment result shows that the planning zero moment point and the ground reaction force resultant point are both in the effective stable area, the robot walks according to the planned dynamic gait.
3. The method for controlling the humanoid robot to walk stably based on the effective stable region of claim 1, wherein the controlling the robot to walk according to the determination result specifically comprises:
and if the judgment result shows that the planned zero moment point is not in the effective stable area and the resultant force point of the ground reaction force is in the effective stable area, correcting the ankle joint angle of the supporting leg according to the distance between the planned zero moment point and the boundary of the effective stable area.
4. The method for controlling the humanoid robot to walk stably based on the effective stable region as claimed in claim 3, wherein the correcting according to the distance between the planned zero moment point and the boundary of the effective stable region specifically comprises:
dynamic gait theta planned off-linea0(t) adding a real-time correction amount [ Delta ] [ theta ] to the correction signala(t)；
The real-time correction amount Delta thetaaThe (t) is specifically:
wherein, <math> <mrow> <mi>φ</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msub> <mi>K</mi> <mrow> <mn>1</mn> <mi>c</mi> </mrow> </msub> <mo>*</mo> <msub> <mi>d</mi> <mi>zmp</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>,</mo> </mtd> <mtd> <msub> <mi>F</mi> <mi>foot</mi> </msub> <mo>></mo> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mrow> <mo>-</mo> <mi>K</mi> </mrow> <mrow> <mn>1</mn> <mi>r</mi> </mrow> </msub> <mo>*</mo> <msub> <mi>Δθ</mi> <mi>a</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>-</mo> <mi>T</mi> <mo>)</mo> </mrow> <mo>,</mo> </mtd> <mtd> <msub> <mi>F</mi> <mi>foot</mi> </msub> <mo>=</mo> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> </mrow> <mo>,</mo> </mrow></math>
dzmp(t) represents the distance between the planned zero moment point and the effective stable area boundary at the moment t, K1cAnd K1rIs a coefficient, and 0<K1c<1、0<K1r<1, T is the computer control period, FfootIs the magnitude of the ground reaction force to the foot measured by the force sensor, Ffoot>0 indicates that the foot is in a supporting state, Ffoot0 indicates that the foot is in a swing state.
5. The method for controlling the humanoid robot to walk stably based on the effective stable region of claim 1, wherein the controlling the robot to walk according to the determination result specifically comprises:
and if the judgment result is that the planning zero moment point is in the effective stable area and the ground reaction force resultant point is not in the effective stable area, correcting the ankle joint angle of the supporting leg according to the distance between the ground reaction force resultant point and the boundary of the effective stable area.
6. The method for controlling the humanoid robot to walk stably based on the effective stable area as claimed in claim 5, wherein the correcting according to the distance between the resultant force point of the ground reaction force and the boundary of the effective stable area specifically comprises:
dynamic gait theta planned off-linea0(t) adding a real-time correction amount [ Delta ] [ theta ] to the correction signala(t)；
The real-time correction amount Delta thetaaThe (t) is specifically:
wherein,
df(t) represents the distance between the resultant point of the ground reaction force and the boundary of the effective stable area at the moment t, K2cAnd K2rIs a coefficient, and 0<K2c<1、0<K2r<1, T is the computer control period, FfootIs the ground to the foot measured by the force sensorMagnitude of reaction force, Ffoot>0 indicates that the foot is in a supporting state, Ffoot0 indicates that the foot is in a swing state.
7. The method for controlling the humanoid robot to walk stably based on the effective stable region of claim 1, wherein the controlling the robot to walk according to the determination result specifically comprises:
and if the judgment result shows that the planning zero moment point and the ground reaction force resultant point are not in the effective stable area, correcting the ankle joint angle of the supporting leg according to the product of the distance between the planning zero moment point and the effective stable area boundary and the distance between the ground reaction force resultant point and the effective stable area boundary.
8. The method for controlling the humanoid robot to walk stably based on the effective stable region of claim 7, wherein the correcting is performed according to a product of a distance between the planned zero moment point and the boundary of the effective stable region and a distance between the resultant force point of the ground reaction force and the boundary of the effective stable region, and specifically comprises:
dynamic gait theta planned off-linea0(t) adding a real-time correction amount [ Delta ] [ theta ] to the correction signala(t)；
The real-time correction amount Delta thetaaThe (t) is specifically:
wherein, <math> <mrow> <mi>ψ</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msub> <mi>K</mi> <mrow> <mn>3</mn> <mi>c</mi> </mrow> </msub> <mo>*</mo> <msub> <mi>d</mi> <mi>zmp</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>*</mo> <msub> <mi>d</mi> <mi>f</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>,</mo> </mtd> <mtd> <msub> <mi>F</mi> <mi>foot</mi> </msub> <mo>></mo> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mrow> <mo>-</mo> <mi>K</mi> </mrow> <mrow> <mn>3</mn> <mi>r</mi> </mrow> </msub> <mo>*</mo> <msub> <mi>Δθ</mi> <mi>a</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>-</mo> <mi>T</mi> <mo>)</mo> </mrow> <mo>,</mo> </mtd> <mtd> <msub> <mi>F</mi> <mi>foot</mi> </msub> <mo>=</mo> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> </mrow> <mo>,</mo> </mrow></math>
dzmp(t) represents the distance of the planned zero moment point from the effective stable area boundary at time t,df(t) represents the distance between the resultant point of the ground reaction force and the boundary of the effective stable area at the moment t, K3cAnd K3rIs a coefficient, and 0<K3c<1、0<K3r<1, T is the computer control period, FfootIs the magnitude of the ground reaction force to the foot measured by the force sensor, Ffoot>0 indicates that the foot is in a supporting state, Ffoot0 indicates that the foot is in a swing state.
9. A control device for humanoid robot stable walking based on effective stable region, which is characterized in that the device comprises:
the force sensor is used for measuring the ground reaction force of the robot;
the processing module is used for obtaining a resultant force point of the ground reaction force of the robot according to the ground reaction force measured by the force sensor;
the judging module is used for judging whether a planning zero moment point and a resultant point of the ground reaction force obtained by the processing module are both in an effective stable area;
and the control module is used for controlling the robot to walk according to the judgment result of the judgment module.
10. The control device for the humanoid robot to walk stably based on the effective stable region as claimed in claim 9, wherein the control module specifically comprises:
and the processing unit is used for enabling the robot to walk according to a planned dynamic gait when the judgment result of the judgment module is that the planned zero moment point and the ground reaction force resultant point are both in the effective stable area.
11. The control device for the humanoid robot to walk stably based on the effective stable region as claimed in claim 9, wherein the control module specifically comprises:
and the first correcting unit is used for correcting the ankle joint angle of the supporting leg according to the distance between the planned zero moment point and the boundary of the effective stable area when the judgment result of the judging module is that the planned zero moment point is not in the effective stable area and the resultant force point of the ground reaction force is in the effective stable area.
12. The control device for the humanoid robot to walk stably based on the effective stable region as claimed in claim 9, wherein the control module specifically comprises:
and the second correction unit is used for correcting the ankle joint angle of the supporting leg according to the distance between the resultant force point of the ground reaction force and the boundary of the effective stable area when the judgment result of the judgment module is that the planned zero moment point is in the effective stable area and the resultant force point of the ground reaction force is not in the effective stable area.
13. The control device for the humanoid robot to walk stably based on the effective stable region as claimed in claim 9, wherein the control module specifically comprises:
and the third correcting unit is used for correcting the ankle joint angle of the supporting leg according to the product of the distance between the planned zero moment point and the effective stable area boundary and the distance between the ground reaction force resultant point and the effective stable area boundary when the judging result of the judging module shows that the planned zero moment point and the ground reaction force resultant point are not in the effective stable area.
14. A control system for humanoid robot stable walking based on effective stable region, characterized in that the system includes:
a feedforward for providing a dynamic gait θ of the robot for off-line planninga0(t)；
A real-time corrector for providing a dynamic gait trajectory theta to the feedforward device when the ground reaction force resultant point and/or the planned zero moment point of the robot are not within the effective stable areaa0(t) real-time correction amount [ Delta ] [ theta ] for correctiona(t)；
A servo driver for driving a dynamic gait theta in the feedforwarda0(t) and a real-time correction amount Delta theta in the real-time correctora(t) after the addition, driving the ankle joint of the robot.
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