CN105930588B - Robot motion generation method based on physical engine - Google Patents
Robot motion generation method based on physical engine Download PDFInfo
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- CN105930588B CN105930588B CN201610251372.0A CN201610251372A CN105930588B CN 105930588 B CN105930588 B CN 105930588B CN 201610251372 A CN201610251372 A CN 201610251372A CN 105930588 B CN105930588 B CN 105930588B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/30—Circuit design
- G06F30/36—Circuit design at the analogue level
- G06F30/367—Design verification, e.g. using simulation, simulation program with integrated circuit emphasis [SPICE], direct methods or relaxation methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
Abstract
The robot motion generation method based on physical engine that the invention discloses a kind of, comprising the following steps: obtain robot model using 3D modeling, utilize physical engine constructing analog ground environment；Weight, acceleration of gravity and the plane coefficient of friction of robot model are set, and placed it in simulation ground environment；The action signal that robot model generates according to analog platform executes corresponding movement under gravity, motional inertia or frictional force.The present invention realizes the real motion physical environment in computer-internal efficient simulation robot using analog platform, physical engine and 3D modeling technology, realize the movement effects only gone out originally by prototype test aptitude tests, improve the efficiency that robot motion is generated with tested, can large-scale parallel simulation trial, and without accumulated error.
Description
Technical field
The present invention relates to robot fields, and in particular to the robot motion generation method based on physical engine.
Background technique
Manual or Program Generating set of actions is mainly taken in the existing debugging to robot motion, then by set of actions
The actual running results can just be obtained by being burnt to robot interior and carrying out actual machine test, and specific operation needs artificial one-to-one
Authentic testing is carried out to robot motion, but after a large amount of tests for a long time, joint of robot and structural member may be because
It needs to adjust or replace to be seriously worn, otherwise test result can be accumulated and be influenced to error, and in order to avoid the accumulation of error
Influence to test result needs to adjust or replace in time joint and the structural member of robot.
In conclusion the existing debugging technique to robot motion has the disadvantage in that (1) efficiency is lower；(2) in order to keep away
Exempt from joint and structural member that influence of the accumulation of error to test result needs adjustment in time or replacement robot.
In view of this, being badly in need of designing the new method that a kind of pair of robot motion is debugged, realizing efficiently and being missed without accumulation
Difference debugs robot motion.
Summary of the invention
Technical problem to be solved by the invention is to provide the new methods that a kind of pair of robot motion is debugged, and realize high
Effect and without accumulated error the problem of debugging to robot motion.
In order to solve the above-mentioned technical problem, the technical scheme adopted by the invention is that providing a kind of machine based on physical engine
Device human action generation method, comprising the following steps:
Robot model is obtained using 3D modeling, utilizes physical engine constructing analog ground environment；
Weight, acceleration of gravity and the plane coefficient of friction of robot model are set, and place it in simulation ground face ring
In border；
The action signal generated by analog platform controls robot model and executes under gravity, motional inertia or frictional force
Corresponding movement.
In the above-mentioned technical solutions, multiple robot models are placed in the same simulation ground environment.
In the above-mentioned technical solutions, the action signal includes but is not limited to: each joint rotation angle of each frame and movement
Each sufficient end of position, each frame relative to sufficient coordinate system each sufficient end of coordinate position, each frame relative to fuselage centre coordinate
Each sufficient end of the coordinate position of system, each frame exists relative to the coordinate position of virtual field ground level coordinate system, each sufficient independent periods
Coordinate position list and end rotation signal in beginning and ending time.
In the above-mentioned technical solutions, the physical engine includes but is not limited to Havok and PhysX.
In the above-mentioned technical solutions, the simulation ground environment includes the object in landform and ground.
In the above-mentioned technical solutions, the robot model includes but is not limited to: Six-foot walking robot, mechanical arm, people
Anthropomorphic robot and multi-foot robot.
The present invention is realized using analog platform, physical engine and 3D modeling technology in computer-internal efficient simulation machine
The real motion physical environment of device people realizes the movement effects only gone out originally by prototype test aptitude tests, improves machine
Device human action generates the efficiency with test, can large-scale parallel simulation trial, and without accumulated error.
Detailed description of the invention
Fig. 1 is the robot motion generation method flow chart provided in an embodiment of the present invention based on physical engine.
Specific embodiment
The present invention is described in detail with specific embodiment with reference to the accompanying drawings of the specification.
The robot motion generation method based on physical engine that the embodiment of the invention provides a kind of, as shown in Figure 1, including
Following steps:
Step 101 obtains robot model using 3D modeling, constructs mould using physical engine (such as Havok and PhysX)
Quasi- ground environment.
Step 102, weight, acceleration of gravity and the plane coefficient of friction that robot model is set, and place it in mould
In quasi- ground environment.
Step 103, the action signal generated by analog platform control robot model in gravity, motional inertia or friction
Corresponding movement is executed under power.
Multiple robot models are placed in the same simulation ground environment.Above-mentioned robot model includes but unlimited
In: Six-foot walking robot, mechanical arm, anthropomorphic robot and multi-foot robot.
Above-mentioned action signal includes but is not limited to: each each joint rotation angle of frame and shift position, each foot end of each frame
Hold coordinate position, each of each sufficient end of coordinate position, each frame relative to sufficient coordinate system relative to fuselage centre coordinate system
Coordinate position, each sufficient independent periods coordinate bit during beginning and ending time of each sufficient end of frame relative to virtual field ground level coordinate system
Set list and end rotation signal.
Above-mentioned each frame refers to that each frame in the robot entire action cycle, each foot are referred to each foot independent periods
For unit, the movement being independently Myself, not by the interference of other foots, such as: No. 1 foot was since 0 second, with 3 seconds for the period, weekly
Phase is equally divided into 9 frames, do one and be lifted up-move forward and land-kick backward ground circulation action；No. 2 foots were opened from 0.8 second
Begin, with 5 seconds for the period, each cycle is equally divided into 15 frames, does one and is lifted up-swinging twice-and drop back into movement in situ.
The movement of No. 1 foot and No. 2 foots is mutually incoherent, but robot interior program calculates entire machine according to the self contained function of the two foots
The posture of each frame of device people and execution, therefore be then first and last complete set movement from robot.
Above-mentioned fuselage centre coordinate system is to be parallel to machine through coordinate origin using the fuselage centre point of robot as coordinate origin
Body plane and be Y-axis perpendicular to the connecting line of plane where the camera of robot head, through coordinate origin and perpendicular to Y-axis side
To axis be X-axis, be the coordinate system set up of Z axis through coordinate origin and perpendicular to the axis of fuselage plane.
Above-mentioned virtual field ground level coordinate system is former by coordinate of some of the central point of virtual field ground level or edge points
Point, virtual field ground level are X-Y plane, are the coordinate system that Z axis is set up through coordinate origin and perpendicular to the axis of X-Y plane,
Virtual field ground level coordinate system finds target shift position according to action signal for robot, calculates movement routine.
Above-mentioned foot coordinate system is using every sufficient root and fuselage tie point as coordinate origin, and the fuselage tangent line through coordinate origin is
X-axis perpendicular to the axis of X-axis and Y-axis is Z axis using the connection extended line of coordinate origin and fuselage centre point as Y-axis, through coordinate origin
Coordinate system.
In the present invention, using the position of foot each under standard midstance end as reference, the flat of each sufficient end is calculated
Straight line path is moved, since under standard midstance, the relative position of sufficient end and fuselage centre point is fixed, so in machine
When body is located at any position, the coordinate of each sufficient end can be calculated, so can also calculate by fuselage centre point path for translation
The path for translation of each sufficient end out.
Following step is specifically included by the corresponding relationship that coordinate transformation algorithm establishes sufficient coordinate system and fuselage centre coordinate system
It is rapid:
Rotate to obtain coordinate (x ', y ') of the fuselage centre coordinate system (x, y) in sufficient coordinate system by robot are as follows:
Wherein, θ is that the line of fuselage centre point and robot head camera direction and fuselage centre point and sufficient root exist
The angle of fuselage tie point line；
By being translated to obtain seat of the fuselage centre coordinate system (x, y, z) in sufficient coordinate system again after robot rotation
It marks (x ", y ", z "), wherein x "=x '；Y "=y '+r；R is fuselage radius, i.e., fuselage centre point is to sufficient root in fuselage tie point
Distance；Since z-axis does not convert, so z "=z；
Using the above method, each the corresponding of foot terminal position in moving process is extrapolated by the movement of fuselage centre point and is sat
Mark.
Above-mentioned simulation ground environment includes the object etc. on landform (plane or uneven) and ground, the object on ground
Body may belong to ground environment a part (irremovable) or discrete objects (after being influenced by external force move, than as can by
The pillar knocked down), set the weight of each object and robot model, acceleration of gravity and planar friction in simulation ground environment
Then the robot model of foundation is placed in simulation ground environment by coefficient etc., the action signal generated by analog platform
Control robot model executes corresponding movement under gravity, motional inertia or frictional force, and robot model makees in physical engine
Physical law is voluntarily followed under.
The present invention is realized using analog platform, physical engine and 3D modeling technology in computer-internal efficient simulation machine
The real motion physical environment of people realizes the movement effects only gone out originally by prototype test aptitude tests, improves machine
Human action generates the efficiency with test, can large-scale parallel simulation trial, and without accumulated error.
The present invention is not limited to above-mentioned preferred forms, and anyone should learn that the knots made under the inspiration of the present invention
Structure variation, the technical schemes that are same or similar to the present invention are fallen within the scope of protection of the present invention.
Claims (5)
1. the robot motion generation method based on physical engine, which comprises the following steps:
Robot model is obtained using 3D modeling, utilizes physical engine constructing analog ground environment；
Weight, acceleration of gravity and the plane coefficient of friction of robot model are set, and placed it in simulation ground environment；
The action signal generated by analog platform controls robot model and executes under gravity, motional inertia or frictional force accordingly
Movement；
The action signal includes but is not limited to: each each joint rotation angle of frame and shift position, each sufficient end phase of each frame
Foot end each for coordinate position, each frame of sufficient coordinate system is each relative to coordinate position, each frame of fuselage centre coordinate system
Coordinate position, each sufficient independent periods coordinate position column during beginning and ending time of the sufficient end relative to virtual field ground level coordinate system
Table and end rotation signal；Above-mentioned each frame refers to each frame in the robot entire action cycle, each foot independent periods
The movement being independently Myself as unit of each foot is referred to, not by the interference of other foots.
2. the method as described in claim 1, which is characterized in that be placed with multiple institutes in the same simulation ground environment
State robot model.
3. the method as described in claim 1, which is characterized in that the physical engine includes but is not limited to Havok and PhysX.
4. the method as described in claim 1, which is characterized in that the simulation ground environment includes the object in landform and ground
Body.
5. the method as described in claim 1, which is characterized in that the robot model includes but is not limited to: six-legged walking machine
Device people, mechanical arm, anthropomorphic robot and multi-foot robot.
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| CN111251305B (en) * | 2020-03-13 | 2023-02-07 | 南方科技大学 | Robot force control method, device, system, robot and storage medium |
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| CN101493855A (en) * | 2009-01-16 | 2009-07-29 | 吉林大学 | Real-time simulation system for under-driven double-feet walking robot |
| CN103345285A (en) * | 2013-06-27 | 2013-10-09 | 山东大学 | Quadruped robot remote control system and remote control method thereof |
| CN104200052A (en) * | 2014-09-22 | 2014-12-10 | 哈尔滨工业大学 | System and method for simulating hydraulic-drive hexapod robot |
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| WO2010019962A2 (en) * | 2008-08-15 | 2010-02-18 | Edsa Corporation | A method for predicting power usage effectiveness and data center infrastructure efficiency within a real-time monitoring system |
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|---|---|---|---|---|
| CN101493855A (en) * | 2009-01-16 | 2009-07-29 | 吉林大学 | Real-time simulation system for under-driven double-feet walking robot |
| CN103345285A (en) * | 2013-06-27 | 2013-10-09 | 山东大学 | Quadruped robot remote control system and remote control method thereof |
| CN104200052A (en) * | 2014-09-22 | 2014-12-10 | 哈尔滨工业大学 | System and method for simulating hydraulic-drive hexapod robot |
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| 仿人机器人实时建模与仿真平台的设计与开发;宁晗;《中国优秀硕士学位论文全文数据库 信息科技辑》;20120715(第7期);论文第9-14、35-41、47、57-68、75、77页 |
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