CN106354137B - Quiet gait and trot gait handoff algorithms applied to four-leg bionic robot - Google Patents
Quiet gait and trot gait handoff algorithms applied to four-leg bionic robot Download PDFInfo
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Abstract
A kind of quiet gait and trot gait handoff algorithms applied to four-leg bionic robot gives six kinds of situations and optimal switching method that the quiet gait of interval switches to trot gait.Firstly, the definition method of gait handoff procedure mesopodium end position description is given, the point and trot gait and its accessible point that proposes the quiet gait of interval and its can switch；Then, the rule of rhythm detection and the strategy of scheme control in gait switching are given, ensure that the flatness of speed in handoff procedure；Finally, proposing improved general stability margin Criterion on stability, allow to the organism stability in acceleration mode when accurate monitoring gait transition.The algorithm considers phase difference and switch speed simultaneously, while improving gait switching stability flatness, shortens by the time difference receiving switching signal to switching, guarantees the stability and high efficiency of robot gait switching.
Description
Technical field
The present invention relates to the algorithm switched between a kind of quiet gait and trot gait for four-leg bionic robot,
Belong to field of artificial intelligence.
Background technique
At this stage, quadruped robot gradually moves towards outdoor from indoor, high dynamic, environmental suitability and heavy load ability
It significantly improves.In order to complete Given task, robot is typically all the motor pattern for using certain single, and this significantly reduces machines
Device people is to the adaptability of various different complex environments, and quadruped mammal can carry out different motion mode according to varying environment
Switching.Therefore, in order to improve the environmental suitability of robot, need to study the unified life of the various different motion modes of robot
At method and mutual steady switchover policy.
In addition, energy utilization efficiency is also an important index to robot, robot will complete complexity, interminable
Business, it is necessary to have higher energy utilization efficiency.Therefore, in the motion control of robot, it is necessary to improve the energy of robot
Utilization efficiency carries out the optimization of the various motor pattern parameters of robot, and this is also required to research robot in different motion mode
Between switchover policy.For example, in order to reduce energy consumption, the quadruped mammals such as horse, dog can be according to oneself movement velocity
Difference, carry out the switching between different gaits；Bionical based on biology, more scholar has carried out robot gait switching
Research work.
Currently, there are mainly two types of the control methods of gait conversion: being based on central pattern generator (cpg) (central pattern
Generator, CPG) the biology induction ambulation control method and design method based on oint motion trajectory.It delivers within 2009
In " Intelligent Service Robotics " (" intellect service robot technology ") 105-112 pages of " Gait
planning for quadruped robot based on dynamic stability:landing accordance
Ratio " (" the quadruped robot gait planning based on dynamic stability: proportionally falling foot ") be published in 2007
475-490 pages of " International Journal of Robotics Research " (" international robot research magazine ")
《Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on
Biological Concepts " (" the adaptive dynamic row of four-leg bionic robot based on biology thought in the natural environment
Walk ") using CPG realize the gait control to four-leg bionic robot；It is published in " Robotics& Autonomous within 2011
Systems " " Gait transition and modulation in 620-634 pages of (" robotics and autonomous system ")
A quadruped robot:A brainstem-like modulation approach " (" four-leg bionic robot gait turns
Change and adjust: a kind of imitative brain stem method of adjustment ") and it is published in " Proceedings of IEEE International
Conference on Robotics and Biomimetics " (" IEEE robotics and bionics international conference collection of thesis ")
" the Gait generation and transitions of quadruped robot based on of page 19 to 24
Wilson-Cowan weakly neural networks " (" the four-leg bionic machine based on the weak neural network of Wilson-Cowan
Device people's gait generate and switching ") in using CPG realize gait conversion.
Above-mentioned CPG method mainly constructs a differential equation controller, adjusts gait using the change of input feedback
The output of curve, so by curve of output be mapped to robot hip joint or entire leg section, realize the gait of robot
Switching.Under the premise of robot stabilization condition guarantees, the gait that robot may be implemented in CPG method changes, still, due to
Do not account for robot stabilization and gait switching efficiency, merely with CPG method realize switching condition method there are biggish
Limitation；In addition, bio-robot is made of machinery, electrical control, itself intrinsic constraint has been doomed it can not be such as animal
As have itself perfect feedback mechanism.
Design method based on oint motion trajectory is that the step of robot is realized using the change of robot gait parameter
The adjustment of state switching and gait, for example, being published in the " Gait of 29-37 pages of " China Mechanical Engineering journal: English edition " for 2012
Definition and Successive Gait-transition Method Based on Energy Consumption
For a Quadruped " (" definition of gait based on quadruped robot energy consumption and continuous gait generation method ") research,
Various gaits are introduced first, and provides the relationship and speed of phase difference and duty ratio and oxygen in gait respectively and consumes
Relationship, it is believed that every kind of gait has an optimal velocity, and average oxygen consumption reaches minimum under this speed, thus from reason
Joined when robot speed increases to a certain extent using gait by above realizing based on the smallest gait switching of energy consumption
Several changes realizes the switching of different gaits.
In recent years, to getting up the research of gait switching more, but there is presently no it is fairly perfect, comprehensively consider machine
Stability, rate smoothing switching and the method that guarantees minimum switching time of the people in gait handoff procedure.It is published within 2013
" IEEE International Conference on Robotics and Biomimetics " (" IEEE robotics and imitative
It is raw to learn international conference collection of thesis ") 2535-2539 pages of " Gait transition of quadruped robot using
Rhythm control and stability analysis " (" with the robot gait switching of rhythm detection and stability
Analysis ") be published within 2014 2171-2176 pages of " Ifac Proceedings Volumes " (" IFAC proceeding ")
Paper " Automated Transitions Between Walking and Running in Legged Robots " (" foot
Formula robot ambulation and the automatic switchover run ") in complete gait using inverted pendulum model and stiffness spring and switch, 2014
Indicated in one Master's thesis " four-leg bionic Biped Robot Control and switchover policy are analyzed " switching of walk-trot gait with
The influence of velocity variations, but the specific implementation procedure of switching is not provided, text " Hysteresis in gait transition
induced by changing waist joint stiffness of a quadruped robot driven by
Nonlinear oscillators with phase resetting " in using duty ratio change method complete gait cut
It changes, literary " A Gait-Transition Method for a Quadruped Walking Robot " proposes a kind of switching method
Stop the robot walking at the certain point for meeting condition, to start a kind of lower gait, but all not in view of step
The stability as caused by the change in step-length and period and flatness problem in state switching；"A gait transition
Algorithm based on hybrid walking gait for a quadruped walking robot " first by between
Quiet gait of having a rest is improved to non-batch quiet gait, the process that switching is completed under a kind of non-batch state is then provided, by handoff procedure
It is divided into used time identical three parts, does not consider the problems of speed transition；"Biologically inspired gait
Transition control for a quadruped walking robot " in have proposed than more complete walk-to-
Trot handover scheme, but receive handover information to execute switching point it is longer there are the time difference, if quiet gait state does not meet switching item
Part need to continue to run the original state until meeting provide two kinds of switch instances, so that gait switching efficiency is had a greatly reduced quality.
Robot during the motion, in order to improve environmental suitability and sport efficiency, generally, flatter landform using pair
Trot gait (trot) at angle, and more rugged topography uses quiet gait (static walk, be abbreviated as walk).
The present invention studies above-mentioned most representational two kinds of gaits, explores the quiet gait of interval and walks to trotting
The effective ways of state switching.So that robot in gait handoff procedure, completes the flat of gait under the premise of moving unbroken
Sliding, stable switching, thus the environmental suitability for reducing energy consumption, improving robot.
Summary of the invention
For the quiet gait (static walk, be abbreviated as walk) of existing four-leg bionic robot interval to trotting
Gait (trot) convert (walk-to-trot) there are the problem of, the present invention provides a kind of applied to four-leg bionic robot
Quiet gait and trot gait handoff algorithms, the algorithm consider phase difference and switch speed simultaneously, and improving, gait switching is steady
While qualitative flatness, shorten by the time difference receiving switching signal to switching, guarantees the steady of robot gait switching
It is fixed efficient.
Quiet gait and trot gait handoff algorithms applied to four-leg bionic robot of the invention, firstly, for mark
Bright foot end swings starting point and falls foot point in the position in the direction body coordinate system x, defines the opposite position at sufficient end and itself hip joint
Hip_x is set, indicates that principle is using itself hip joint as origin, position is positive if falling foot point in front of origin, is at rear
It is negative；
Detailed process is:
(1) point that gait switches occurs for six for defining the quiet gait of interval:
The quiet gait of the interval of use, definition step-length are L, and a cycle was divided into for six stages, defines six switching points, six ranks
The end point of section is respectively designated as switching point SP1, switching point SP2, switching point SP3, switching point SP4, switching point SP5 and switching point
SP6, and provide the four-footed hip_x value of each switching point:
SP1:
SP2:
SP3:
SP4:
SP5:
SP6:
(2) institute as access point for defining trot gait is stateful, and the sufficient end of each state is demarcated with hip_x value
Position:
The trot gait used defines step-length as L', and left front-right rear leg is defined as diagonal leg DL1, before right-left back
Leg is defined as diagonal leg DL2；
One trot period inner opposite angle trot gait access point there are two, respectively state C1 and state C2；In C1,
DL1 is located at half of step-length in front of itself hip joint, and DL2 is located at itself half of hip joint rear step-length；In C2, DL1 is located at itself
Half of hip joint rear step-length, DL2 are located at half of step-length in front of itself hip joint；
Diagonal leg positioned at itself half of hip joint rear step-length is led leg for next stage, and another diagonal leg is lower single order
Lower a pair of foot that swings of section supporting leg, C1 is DL2, and lower a pair of foot that swings of C2 is DL1；
The hip_x value of four-footed is as follows at each state point:
C1:
C2:
(3) rhythm detection queue:
1. executing the first switching queue, the adjustment of center of gravity is carried out, center of gravity is adjusted to center in left and right directions, in front and back
On direction, the biggish parapodum of x value (left side foot or right side foot) is chosen, obtains falling foot point center work before and after this parapodum
Position in the front-back direction is projected in for center of gravity；
2. executing the second switching queue, center of gravity accelerates to advance, by the diagonal leg conduct where the smallest foot of hip_x in four-footed
This stage swings diagonal leg, if being all minimum there are two foot hip_x, back leg is preferential；Center of gravity Forward apart from it is constant in the case where,
So that the diagonal leg swung is become L'/2 relative to the hip_x of itself hip joint, and enters next switching queue；
3. executing third switching queue, center of gravity accelerates to advance, and controls another diagonal leg and swings forward, reaches its hip_x
L'/2；Four-footed hip_x value selects hip_x value phase compared with two access state hip_x value of trot gait at this stage end point
Same state is as trot gait access point；
(4) scheme control:
In the switching of walk-to-trot gait, other than the rhythm and pace of moving things to be changed, step-length S, cycle T, gravity motion speed v are
It needs to adjust accordingly, triadic relation v=S/T, still, the center of gravity Forward of the quiet gait of interval is not generally evenly distributed in whole
In a period, but 1/3 period is concentrated on, therefore, the practical movement speed of the quiet gait center of gravity of interval is denoted as: vwalk=
3L/Twalk, and for two stages of trot gait a cycle, center of gravity constantly moves forward, and speed is denoted as: vtrot=2L'/
Ttrot, wherein L' is the step-length of trot gait, TtrotFor its period；
For the continuity for guaranteeing gravity motion speed in gait handoff procedure, it is desirable to obtain a suitable acceleration, make
It obtains robot and reaches following target during initiating a switch to switching and completing:
1. it is v that switching queue, which plays spot speed,walk；
2. switching queue terminal velocity is vtrot；
3. three switching queue speed are continuous, acceleration is remained unchanged.
Wherein, three switching queue any time gravity motion distances are denoted as Lt, speed is denoted as vt, the pass of the two and time
System is respectively as follows:
Lt=vwalkt+0.5at2,
vt=vwalk+ at,
Due to the gravity motion distance L of switching queue end pointsumWith speed vtrotIt is known that and setting three switching queues use
When be Tsum, by following condition t=Tsum, L=Lsum, vt=vtrotBring above formula L intot=vwalkt+0.5at2And vt=
vwalk+ at:
It acquires
Therefore, the starting point of switching queue to velocity variations between end point be a function about time t, it is following public
Formula:
In this way, ensure that from walk gait the velocity variations continuity into trot gait handoff procedure, thus, it improves and turns
The smooth steady of robot during changing；
(5) improved general stability margin INSTABILITY CRITERION method:
Firstly, using following formula for zero moment subpoint not by inertia force influence and by two kinds of inertia force influence
Situation is calculated in the difference d of direction of advance:
Wherein, h is body height of C.G., and v is to stop moment body forward speed.
It is as follows to acquire d value:
It to make robot keep original stable region degree, is not influenced by inertia force bring, firstly, in even accelerate to start the
In one period, swing four-footed compared with the short d of given standard step-length, support polygon is also relatively original on the basis of other situations are constant
Support polygon move forward d less；Then, restore given standard step-length, improved support polygon is made to be always positioned at improvement
At front support polygon rear d；Finally, at the end of the uniformly accelerated motion, make in one cycle sufficient end swing forward step-length compared with
Standard step-length increases d, reverts to the support polygon before improving.
The present invention considers phase difference and switch speed simultaneously, while improving gait switching stability flatness, shortens
By the time difference receiving switching signal to switching, guarantee the stability and high efficiency of robot gait switching.
Detailed description of the invention
Fig. 1 is the quiet gait of interval employed in the present invention (static walk, be abbreviated as walk) schematic diagram.
Fig. 2 is trot gait (trot) schematic diagram used in the present invention.
Fig. 3 is that a trot period inner opposite angle is trotted the access point schematic diagram of gait.
Fig. 4 is diagonal leg selection rule schematic diagram.
Fig. 5 is that quiet gait switching point 1 arrives 2 switching law schematic diagram of Dynamic gait access point.
Fig. 6 is that quiet gait switching point 2 arrives 1 switching law schematic diagram of Dynamic gait access point.
Fig. 7 is that quiet gait switching point 3 arrives 1 switching law schematic diagram of Dynamic gait access point.
Fig. 8 is that quiet gait switching point 4 arrives 1 switching law schematic diagram of Dynamic gait access point.
Fig. 9 is that quiet gait switching point 5 arrives 2 switching law schematic diagram of Dynamic gait access point.
Figure 10 is that quiet gait switching point 6 arrives 2 switching law schematic diagram of Dynamic gait access point.
Figure 11 is the schematic diagram of improved general stability margin INSTABILITY CRITERION method.
Specific implementation method
Quiet gait and trot gait handoff algorithms applied to four-leg bionic robot of the invention, it is necessary first to fixed
Adopted handoff procedure mesopodium end position x value.In the present invention, a kind of definition method of handoff procedure mesopodium end position x value is provided, is being cut
During changing, due to there is the case where advance of the swing of foot and body carries out simultaneously, the initial position that sufficient end is swung with
Pick-up point position is relative position of the sufficient end for local Coordinate System, is sat to indicate that sufficient end swings starting point and falls foot point in body
The position in the direction mark system x defines the relative position hip_x at sufficient end and itself hip joint, indicates that principle is to be with itself hip joint
Origin, position is positive if falling foot point in front of origin, is negative at rear.
The six kinds of situations switched The present invention gives the quiet gait of interval to trot gait and optimal switching method.
Firstly, giving the definition method of gait handoff procedure mesopodium end position description, proposing the quiet gait of interval and its can cutting
The point and trot gait and its accessible point changed；Then, the rule and mode of rhythm detection in gait switching are given
The strategy of control ensure that the flatness of speed in handoff procedure；Finally, proposing improved general stability margin stability distinguishing
Method allows to the organism stability in acceleration mode when accurate monitoring gait transition.Details are provided below.
1. point interval quiet gait and its can switched
The quiet gait of interval (static walk, be abbreviated as walk) employed in the present invention is as shown in Figure 1, define step-length
For L, a cycle can be divided into for six stages.Stage 1: right metapedes (right hind foot, RH) swings forward a step-length (note
For L), at the end of this stage, RH falls foot point in front of itself hip joint at L/2；Stage 2: right front foot (right front
Foot, RF) step-length is swung forward, so that sufficient end is fallen foot point and is located at before itself hip joint at L/2；Stage 3: center of gravity is to dextrad
Preceding movement has marked center line, the left stabilizer boundary, right stabilizer boundary of walk gait, left and right stability boundaris in Fig. 1
With the minimum value for making robot keep stabilized walking at a distance from center line to be determined according to the size of fuselage size.Move forward distance
For L/2, moves to right and reach right stabilizer boundary.At the end of this course movement, RF, RH fall foot point and itself hip joint and protect in the direction x
It holds unanimously, left front foot (lift front foot, LF), left back foot (lift hind foot, LH) are in itself hip joint rear L/
At 2；Stage, 4:LH swung forward L, so that LH is fallen foot point and is located in front of itself hip joint at L/2；Stage, 5:LF swung forward L, should
It falls foot point and is located in front of itself hip joint at L/2 at the end of stage；Stage 6: center of gravity moves forward to the left, and Forward distance is L/
2, left stabilizer boundary is moved left to, after this stage, the x value of LF, LH are identical as itself respective hip joint x value, and RF, RH are then
At itself hip joint rear L/2.By above-mentioned six stage reciprocation cycles, robot completes walk gait motion.
To enable walk minimum time to switch, it is necessary to gait conversion can be carried out immediately after meeting each stage
Requirement, to define following six switching point as shown in Figure 1, the stage, 1,2,3,4,5,6 end point was respectively designated as switching
Point 1 (Switching Point1 is abbreviated as SP1), switching point 2 (SP2), switching point 3 (SP3), switching point 4 (SP4), switching point
5 (SP5), switching point 6 (SP6).
The hip_x value of four-footed is as follows at each switching point:
SP1:
SP2:
SP3:
SP4:
SP5:
SP6:
2. trot gait and its accessible point
The trot gait (trot) used in the present invention is as shown in Fig. 2, define step-length for L', by left front-right rear leg
It is defined as diagonal leg 1 (Diagonal Legs1, be abbreviated as DL1), before right-left back leg is defined as diagonal 2 (Diagonal of leg
Legs2, DL2).One gait cycle is divided into two stages, and two diagonal legs are respectively as primary support foot and swing foot, wherein
Sufficient end is located at the diagonal leg of itself half of hip joint rear step-length as foot is swung, and foot in addition is being swung as support foot
When foot is in the highest point of gait curve, four-footed is located at the underface of itself hip joint.After above-mentioned half period, the
The support in one stage is located at itself half of hip joint rear step-length enough, and the swing of first stage is located at enough half in front of itself hip joint
A step-length starts next stage swing and support.
The trot access point of gait of one trot period inner opposite angle has two in Fig. 3, respectively state 1
(Condition1 is abbreviated as C1) and state 2 (Condition2, C2).In C1, DL1 is located at half of step in front of itself hip joint
Long, DL2 is located at itself half of hip joint rear step-length；In C2, DL1 is located at itself half of hip joint rear step-length, and DL2 is located at certainly
Half of step-length in front of body hip joint.
In addition, also needing to know which diagonal leg of subsequent time is swung at trot gait state point.Hollow solid line dot in Fig. 3
For the swing foot of every kind of state next stage, it is seen then that the diagonal leg positioned at itself half of hip joint rear step-length is next stage
It leads leg, another diagonal leg is next stage supporting leg, and lower a pair of foot that swings of C1 is DL2, and lower a pair of foot that swings of C2 is
DL1。
The hip_x value of four-footed is as follows at each state point:
C1
C2
3. switching law
The adjustment of 3.1 rhythm and pace of moving things
For six kinds of different walk gait switching points, provide same three switching queues: switching queue 1 is adjustment weight
Heart position；Switching queue 2 is adjustment DL1 (DL2)；Switching queue 3 is adjustment DL2 (DL1).For switching queue 2 and 3, how
It determines which queue is adjusted which diagonal leg, which state of trot gait is accessed, it then follows the diagonal leg in Fig. 4 is chosen
Rule.The three phases of switching queue are specific as follows:
Switching queue 1: center of gravity is adjusted to center in left and right directions by centre of gravity adjustment, in the longitudinal direction, by center of gravity tune
Two to the larger parapodum of x value (left side foot or right side foot) fall the direction foot point x center；
Switching queue 2: center of gravity accelerates to advance.It is put by the diagonal leg where the smallest foot of hip_x in four-footed as this stage
Diagonal leg is moved, if being all minimum there are two foot hip_x, back leg is preferential.Such as: when switching at switching point 1, before right, behind the right side
The hip_x of leg is-L'/2, and the diagonal leg 1 where selecting right rear leg is adjusted.When switching at switching point 2, then by
The smallest right front leg of hip_x value come determine the leg being this time adjusted be diagonal leg 2.It moves forward in center of gravity apart from constant situation
Under, so that the diagonal leg swung is become L'/2 relative to the hip_x of itself hip joint, and enter next stage；
Switching queue 3: center of gravity accelerates to advance.It controls another diagonal leg to swing forward, its hip_x is made to become L'/2.
Specific switching method at walk gait six different switching points is as follows:
1. Case 1: quiet gait switching point 1 arrives 2 switching law of Dynamic gait access point
Walk gait is connected to switching gait order at each moment in stage 1 and switches at switching point 1.Switching point 1
Moment, robot terminate to the left centre of gravity adjustment forward, prepare to step dynamic right rear leg.It is cut as shown in figure 5, executing switching queue
It changes.
Switching queue 1: center of gravity is adjusted to the right under the premise of front-rear direction is constant, reaches center by adjustment position of centre of gravity
Line position；
Switching queue 2: adjustment DL1, so that at the end of adjustment ,-LFhip_x=RHhip_x=0.5L'；
Switching queue 3: adjustment DL2, so that at the end of adjustment, RFhip_x=LHhip_x=0.5L'.
In convert queue 2 and 3, the even acceleration Forward of center of gravity, each switching queue forward travel distance is all L', switching queue knot
Shu Hou, hip_x value of the four-footed relative to itself hip jointTherefore trot gait access
Point 2 starts trot gait.
2. Case 2: quiet gait switching point 2 arrives 1 switching law of Dynamic gait access point
In walk gait implementation procedure, if being connected to gait switching signal within the stage 2, cut at switching point 2 reaching
It changes.At this point, right rear leg swing terminates, as shown in fig. 6, being switched as follows according to switching law.
Switching queue 1: adjusting to the right center of gravity, its projection is made to reach position of center line；
Switching queue 2: DL2 is chosen as leading leg in switching queue 2, after swing:
RFhip_x=LHhip_x=0.5L'；
Switching queue 3: to DL1 as leading leg, adjusting to end position is LFhip_x=RHhip_x=0.5L'.
In switching queue 2 and 3, center of gravity accelerates Forward, and forward travel distance is L' in each switching queue, therefore, four-footed
PositionFor the access point 1 of trot gait, start trot gait.
3. Case 3: quiet gait switching point 3 arrives 1 switching law of Dynamic gait access point
If receiving switching command within the stage 3 of walk gait, start to execute switching queue, such as Fig. 7 at switching point 3
Shown, this switching time point is that right front leg swing terminates and gravity motion beginning not yet, is done according to switching queue as lowered
It is whole:
Switching queue 1: center of gravity being adjusted to the right above center line, falls foot point centre bit to right side front and back foot is moved forward to
It sets；
Switching queue 2: dynamic DL2 is stepped to designated position, makes hip_x value at the end of swinging
RFhip_x=LHhip_x=0.5L'；
Switching queue 3: stepping dynamic DL1, makes hip_x value LF at the end of swinginghip_x=RHhip_x=0.5L'.
In switching queue 2 and 3, center of gravity accelerates Forward, and forward travel distance is all L', therefore, after convert queue 3 terminates,
Four-footed positionFor the access point 1 in trot gait, into trot gait.
4. Case 4: quiet gait switching point 4 arrives 1 switching law of Dynamic gait access point
Switching is received in stage 4, starts to execute at switching point 4, and time point is left back for the center of gravity mobile end in front to the right
Leg is swung to be started not yet, as shown in figure 8, being sequentially adjusted according to switching queue as follows:
Switching queue 1: center of gravity is adjusted to the left, is located at its projection right above center line；
Switching queue 2: adjustment DL1, position RF at the end of swinging ithip_x=LHhip_x=0.5L'；
Switching queue 3: adjustment DL2, at the end of DL2 position be LFhip_x=RHhip_x=0.5L', meanwhile, RFhip_x=
LHhip_x=-0.5L'.
In switching queue 2 and 3, center of gravity accelerates Forward, and forward travel distance is all L', therefore after switching queue 3, four-footed
PositionFor the description of trot gait access point 1, start trot gait.
5. Case 5: quiet gait switching point 5 arrives 2 switching law of Dynamic gait access point
It switches at switching point 5, time point is left back foot swing end and left front foot swings beginning not yet, such as Fig. 9
It is shown.
Switching queue 1: center of gravity is adjusted to the left to position of center line, completes switching queue 1；
Switching queue 2: adjustment DL1 makes the position DL1 LF after swinghip_x=RHhip_x=0.5L'；
Switching queue 3: adjusting diagonal leg 2, and the position DL2 is RF after swinghip_x=LHhip_x=0.5L'.
In switching queue 2 and 3, center of gravity accelerates Forward, and forward travel distance is L', therefore, four-footed positionFor the access point 2 of trot gait, start to execute trot gait.
6. Case 6: quiet gait switching point 6 arrives 2 switching law of Dynamic gait access point
It is as shown in Figure 10 when switching at switching point 6, this switching time point be LF swing terminate and gravity motion not
Start.
Switching queue 1: center of gravity being adjusted to the left above center line, falls foot point centre bit to left side front and back foot is moved forward to
It sets；
Switching queue 2: it steps and moves to DL1 to designated position, make LFhip_x=RHhip_x=0.5L'；
Switching queue 3: it steps and moves to DL2, make RFhip_x=LHhip_x=0.5L'.
In switching queue 2 and 3, center of gravity accelerates Forward, and forward travel distance is all L', therefore, after switching queue 3 terminates,
Four-footed positionFor the access point 2 in trot gait, into trot gait.
4.2 scheme control
In the switching of walk-to-trot gait, other than the rhythm and pace of moving things to be changed, step-length S, cycle T, gravity motion speed v
It requires to adjust accordingly.Triadic relation is v=S/T.But the center of gravity Forward of the quiet gait of interval is not generally evenly distributed in
In whole cycle, but concentrate on 1/3 period.Therefore, the practical movement speed of the quiet gait center of gravity of interval is denoted as: vwalk
=3L/Twalk.And for two stages of trot gait a cycle, center of gravity constantly moves forward, and speed can be denoted as: vtrot=
2L'/Ttrot.Wherein, L' is the step-length of trot gait, TtrotFor its period.
For the continuity for guaranteeing gravity motion speed in gait handoff procedure, it is desirable to obtain a suitable acceleration, make
It obtains robot and reaches following target during initiating a switch to switching and completing:
(1) it is v that switching queue, which plays spot speed,walk；
(2) switching queue terminal velocity is vtrot；
(3) three switching queue speed are continuous, and acceleration remains unchanged.
Wherein, three switching queue any time gravity motion distances are denoted as Lt, speed is denoted as vt, the pass of the two and time
System is respectively as follows:
Lt=vwalkt+0.5at2 (1)
vt=vwalk+at (2)
Due to the gravity motion distance L of switching queue end pointsumWith speed vtrotIt is known that and setting three switching queues use
When be Tsum, by following condition t=Tsum, L=Lsum,vt=vtrotBring formula (1) and (2) into:
It acquires
Therefore, the starting point of switching queue to velocity variations between end point be a function about time t, it is following public
Formula:
In this way, ensure that from walk gait the velocity variations continuity into trot gait handoff procedure, thus, it improves and turns
The smooth steady of robot during changing.
4. improved general stability margin INSTABILITY CRITERION method
When robot at the uniform velocity advances, stability is carried out using general stability margin (wide stability margin, WSM)
Criterion.But in walk-to-trot switching queue, the even acceleration of robot is advanced, to generate inertia force backward, at this moment, only
The influence for considering that gravity projects body nodal point is no longer accurate.In addition, if inertia force is excessive, the stable region that is obtained using WSM
Degree may no longer meet given stable region degree minimum value, the influence generated therefore, it is necessary to offset inertia force to fuselage.The present invention is same
When consider gravity and inertia force, find center of gravity subpoint in the resultant direction of two power, as shown in figure 11, this method be known as improving
General stability margin INSTABILITY CRITERION method (modified wide stability margin, MWSM).
Firstly, using formula (4) for zero moment subpoint not by inertia force influence and by two kinds of inertia force influence
Situation is calculated in the difference d of direction of advance；
Wherein, h is body height of C.G., and v is to stop moment body forward speed.
It is as follows that d value is acquired using formula (4):
To make robot keep original stable region degree, do not influenced by inertia force bring.Firstly, in even accelerate to start the
In one period, swing four-footed compared with the short d of given standard step-length, support polygon is also relatively original on the basis of other situations are constant
Support polygon move forward d less；Then, restore given standard step-length, improved support polygon is made to be always positioned at improvement
At front support polygon rear d；Finally, at the end of the uniformly accelerated motion, make in one cycle sufficient end swing forward step-length compared with
Standard step-length increases d, reverts to the support polygon before improving.
Claims (1)
1. a kind of quiet gait and trot gait handoff algorithms applied to four-leg bionic robot, characterized in that first for
It indicates that sufficient end swings starting point and falls foot point in the position in the direction body coordinate system x, it is opposite with itself hip joint to define sufficient end
Position hip_x indicates that principle is using itself hip joint as origin, and position is positive if falling foot point in front of origin, at rear
It is negative；
Detailed process is:
(1) point that gait switches occurs for six for defining the quiet gait of interval:
The quiet gait of the interval of use, definition step-length are L, and a cycle was divided into for six stages, define six switching points, six stages
End point is respectively designated as switching point SP1, switching point SP2, switching point SP3, switching point SP4, switching point SP5 and switching point SP6,
And provide the four-footed hip_x value of each switching point:
SP1:
SP2:
SP3:
SP4:
SP5:
SP6:
(2) institute as access point for defining trot gait is stateful, and the sufficient end position of each state is demarcated with hip_x value
It sets:
The trot gait used defines step-length as L', and left front-right rear leg is defined as diagonal leg DL1, before right-left back leg is fixed
Justice is diagonal leg DL2；
One trot period inner opposite angle trot gait access point there are two, respectively state C1 and state C2；In C1, DL1
Half of step-length in front of itself hip joint, DL2 are located at itself half of hip joint rear step-length；In C2, DL1 is located at itself hip joint
Half of rear step-length, DL2 are located at half of step-length in front of itself hip joint；
Diagonal leg positioned at itself half of hip joint rear step-length is led leg for next stage, and another diagonal leg is next stage branch
Lower a pair of foot that swings of support leg, C1 is DL2, and lower a pair of foot that swings of C2 is DL1；
The hip_x value of four-footed is as follows at each state point:
C1:
C2:
(3) rhythm detection queue:
1. executing the first switching queue, the adjustment of center of gravity is carried out, center of gravity is adjusted to center in left and right directions, in front-rear direction
On, the biggish parapodum of x value is chosen, obtains falling foot point center as center of gravity before and after this parapodum and is projected in front-rear direction
Position；
2. executing the second switching queue, center of gravity accelerates to advance, by the diagonal leg where the smallest foot of hip_x in four-footed as this rank
Section swings diagonal leg, if being all minimum there are two foot hip_x, back leg is preferential；Center of gravity Forward apart from it is constant in the case where, make to put
Dynamic diagonal leg becomes L'/2 relative to the hip_x of itself hip joint, and enters next switching queue；
3. executing third switching queue, center of gravity accelerates to advance, and controls another diagonal leg and swings forward, its hip_x is made to reach L'/2；
Four-footed hip_x value selects hip_x value identical compared with two access state hip_x value of trot gait at this stage end point
State is as trot gait access point；
(4) scheme control:
In the switching of walk-to-trot gait, other than the rhythm and pace of moving things to be changed, step-length S, cycle T, gravity motion speed v are required
It adjusts accordingly, triadic relation v=S/T, still, the center of gravity Forward of the quiet gait of interval is not generally evenly distributed in entire week
It is interim, but 1/3 period is concentrated on, therefore, the practical movement speed of the quiet gait center of gravity of interval is denoted as: vwalk=3L/
Twalk, and for two stages of trot gait a cycle, center of gravity constantly moves forward, and speed is denoted as: vtrot=2L'/Ttrot,
Wherein, L' is the step-length of trot gait, TtrotFor its period；
For the continuity for guaranteeing gravity motion speed in gait handoff procedure, it is desirable to a suitable acceleration is obtained, so that machine
Device people reaches following target during initiating a switch to switching and completing:
1. it is v that switching queue, which plays spot speed,walk；
2. switching queue terminal velocity is vtrot；
3. three switching queue speed are continuous, acceleration is remained unchanged；
Wherein, three switching queue any time gravity motion distances are denoted as Lt, speed is denoted as vt, the relation of the two and time
Not are as follows:
Lt=vwalk t+0.5at2,
vt=vwalk+ at,
Due to the gravity motion distance L of switching queue end pointsumWith speed vtrotIt is known that and set three switching queue used times as
Tsum, by following condition t=Tsum, L=Lsum,vt=vtrotBring above formula L intot=vwalkt+0.5at2And vt=vwalk+ at:
It acquires
Therefore, the starting point of switching queue to velocity variations between end point be a function about time t, following formula:
In this way, ensure that from walk gait the velocity variations continuity into trot gait handoff procedure, thus, it improves converted
The smooth steady of Cheng Zhong robot；
(5) improved general stability margin INSTABILITY CRITERION method:
Firstly, using following formula for zero moment subpoint not by inertia force influence and by two kinds of situations of inertia force influence
It is calculated in the difference d of direction of advance:
Wherein, h is body height of C.G., and v is center of gravity movement speed；
It is as follows to acquire d value:
To make robot keep original stable region degree, do not influenced by inertia force bring, firstly, in even first week for accelerating to start
In phase, swing four-footed compared with the short d of given standard step-length, support polygon branch also more original on the basis of other situations are constant
Support polygon moves forward d less；Then, restore given standard step-length, branch before making improved support polygon be always positioned at improvement
It supports at the d of polygon rear；Finally, making sufficient end swing step-length forward compared with standard in one cycle at the end of uniformly accelerated motion
Step-length increases d, reverts to the support polygon before improving.
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| CN109407542A (en) * | 2017-08-15 | 2019-03-01 | 天津市大然科技有限公司 | Diagonal gait design method of quadruped robot under participation of waist twisting |
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