CN107065907A - A kind of method for planning the sufficient end swinging track of quadruped robot - Google Patents
A kind of method for planning the sufficient end swinging track of quadruped robot Download PDFInfo
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- CN107065907A CN107065907A CN201710244823.2A CN201710244823A CN107065907A CN 107065907 A CN107065907 A CN 107065907A CN 201710244823 A CN201710244823 A CN 201710244823A CN 107065907 A CN107065907 A CN 107065907A
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- sufficient end
- swinging track
- quadruped robot
- sufficient
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Abstract
The present invention relates to a kind of method for planning the sufficient end swinging track of quadruped robot, it includes：According to the swing span at sufficient end and the duration of swing phase, the endpoint curve state parameter in the sufficient end swing process of design；The sufficient end swinging track of fitting.The sufficient end swinging track planing method that the present invention is provided, in the lift leg stage there is movement tendency upward backward effectively to realize barrier avoiding function；Leg direction is being stepped with movement tendency forward and up, can be very good to realize obstacle crossing function；And sufficient end swinging track parameter can be adjusted in real time, can flexible adaptation landform, improve handling capacity of the quadruped robot in complicated rugged topography.
Description
Technical field
The present invention relates to robot motion planning field, and in particular to a kind of sufficient end swinging track of planning quadruped robot
Method.
Background technology
The walking manner of current ground robot is broadly divided into the research of wheeled, crawler type and sufficient formula wheel-pedrail robots
Relative maturity, but its handling capacity in complicated rugged topography is poor, legged type robot uses bionic principle, and simulation is certainly
The sufficient formula animal on right boundary, the deficiency of wheel-pedrail robot is effectively compensate in narrow and small rugged topography with good by property.
In legged type robot, quadruped robot is simpler than biped robot, higher than multi-foot robot wheel efficiency, therefore with higher
Researching value.Sufficient end swinging track having a great impact by property in rugged topography to quadruped robot.
Rational foot end track helps to reduce impact when the sufficient end of quadruped robot is contacted to earth, moreover, sufficient end track is to four
The dynamics important of biped robot.Current trajectory design method has rectangular path, sine straight up and down
Curvilinear path and multinomial are derived etc., and its mentality of designing mainly realizes the effective span that sufficient end travels forward, but in avoidance and
Consideration is lost in terms of obstacle climbing ability.For example by Yuan Lipeng, Zhang Zhi's space and Ou Yangrong it is perpendicular deliver jointly " quadruped robot is based on work(
The sufficient end trajectory planning of rate principle of optimality ", content includes：" herein according to zero impact principle, three quadruped robots are planned
Sufficient end track, carries out virtual prototype simulation analysis to each bar sufficient end track, according to power optimized principle, is selected for different gaits
Corresponding optimal sufficient end track is selected, is that the realization of Similar Problems opens new approaches and new way "；Using multinomial in disclosure
The principle that formula is derived is calculated the sufficient end motion of quadruped robot, wherein with multiple restrictive conditions, virtually adding meter
Calculation amount.
Therefore, finding a kind of method for planning the sufficient end swinging track of quadruped robot, quadruped robot is improved rugged in complexity
Handling capacity in rugged landform, as those skilled in the art it is in the urgent need to address the problem of.
The content of the invention
In order to solve the above-mentioned deficiency in the presence of prior art, the present invention provides a kind of planning quadruped robot sufficient end pendulum
The method of dynamic rail mark, methods described includes：
Step 1：It is determined that swing span and the duration of swing phase at sufficient end；
Step 2：Endpoint curve state parameter in the sufficient end swing process of design；
Step 3：The sufficient end swinging track of fitting.
It is preferred that, the step 1 determines swing span of the sufficient end on three-dimensional respectively, and whole swing phase is held
The continuous time.
It is preferred that, the sufficient end swing process of the step 2 includes：Leg is lifted, leg is stepped and falls the leg stage.
It is preferred that, the lift leg stage sufficient end is in X, Y, and the curve movement on Z three-dimensionals includes：Sufficient end is on x directions edge
Fuselage backswing, is swung out in y directions along fuselage, is swung up in z directions.
It is preferred that, leg stage advanced in years sufficient end in X, Y, the curve movement on Z three-dimensionals includes：Sufficient end is on x directions edge
Fuselage positive movement and span is larger, continuing on fuselage in y directions swings out, continued up in z directions until highest
Point.
It is preferred that, it is described fall the leg stage sufficient end in X, Y, the curve movement on Z three-dimensionals includes：Sufficient end is in x directions and y
The original direction of motion is continued to keep in direction, drops to ground from peak in a z-direction so that sufficient end slowly falls to diagonally forward
Ground.
It is preferred that, using the sufficient end swinging track of step 3 described in cubic spline interpolation.
It is preferred that, the fitting of the sufficient end swinging track includes：It is determined that starting point, retreating the seat of point, peak and terminal
Scale value, correspondence moment, and after the velocity amplitude of beginning and end, using cubic spline curve, fitting obtain with avoidance and
The sufficient end swinging track of obstacle crossing function.
It is preferred that, in quadruped robot motion process, before each swing phase starts, sufficient end three directions across
Degree and starting point, the parameter information for retreating point, peak and terminal, can believe according to the motion state and landform of quadruped robot
Cease and adjust in real time.
Compared with prior art, beneficial effects of the present invention are：
(1) sufficient end swing process is divided into lift leg, steps leg and falls leg three phases, the kinetic characteristic in each stage is not
Together；
(2) sufficient end has movement tendency upward backward in the lift leg stage, effectively realizes barrier avoiding function；
(3) sufficient end is stepping leg direction with movement tendency forward and up, can be very good to realize obstacle crossing function；
(4) sufficient end swinging track parameter can be adjusted in real time, can flexible adaptation landform, improve quadruped robot multiple
Handling capacity in miscellaneous rugged topography.
Brief description of the drawings
Fig. 1 is sufficient end swinging track schematic diagram of the invention；
Fig. 2 is sufficient end of the invention in X-direction swinging track curve map；
Fig. 3 is sufficient end of the invention swinging track curve map in the Y direction；
Fig. 4 is sufficient end of the invention in Z-direction swinging track curve map；
Fig. 5 is the graphics of the sufficient end swinging track of the present invention.
Embodiment
For a better understanding of the present invention, present disclosure is done further with reference to Figure of description and example
Explanation.
Step 1：It is determined that swing span and the duration of swing phase at sufficient end
Sufficient end is determined in X, Y, the swing span D on Z three-dimensionalsx, Dy, Dz, and the entirely duration of swing phase
Tsw。
Step 2：Endpoint curve state parameter in the sufficient end swing process of design
As shown in figure 1, sufficient end swing process is divided into lift leg, steps leg and falls leg three phases, and to the song of three phases
Line endpoints state parameter is designed, and is specifically included：
Step 21, sufficient end swing process is divided into lift leg, steps leg and falls leg three phases.
Step 22：P1P2The leg stage is lifted, sufficient end, along fuselage backswing, is outwards put in x directions in y directions along fuselage
It is dynamic, it is swung up in z directions, this causes sufficient end lift leg space to form a convex spheroid, and front can be hidden to large extent and is hindered
Hinder.
Step 23：P2P3The leg stage is stepped, sufficient end is continued in y directions x directions are along fuselage positive movement and span is larger
Swing out, continued up in z directions until peak, this obstacle height for enabling sufficient end to cross over is equal to along fuselage
Sufficient end track peak.
Step 24：P3P4Fall the leg stage, the original direction of motion is continued to keep in sufficient end in x directions and y directions, in a z-direction
Ground is dropped to from peak so that slowly landed to diagonally forward at sufficient end, it is to avoid the non-flexible shock contacted sufficiently.
Step 25：According to step 21, step 22, step 23, step 24, the three phases of sufficient end motion track are by four allusion quotations
Type location point P1, P2, P3, P4To divide, specific design is carried out to the corresponding moment of this four exemplary positions, coordinate value, speed.
Coordinate system is set up to swing the sufficient end position of start time as origin, each axle in the same direction, designs the shape of four points with world coordinate system
State is as follows：
P1For starting point, its correspondence moment is 0, and coordinate value is (0,0,0), and speed is (vx1, vy1, vz1)；
P2To retreat point, its correspondence moment is rt2﹒ Tsw, coordinate value is (- rx2·Dx, ry2·Dy, rz2·Dz)；
P3For peak, its correspondence moment is rt3﹒ Tsw, coordinate value is (rx3·Dx,-ry3·Dy, Dz)；
P4For terminal, its correspondence moment is Tsw, coordinate value is (Dx, Dy, 0), speed is (vx4, vy4, vz4)。
Step 3：The sufficient end swinging track of fitting
As shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 5, step 3 is using the sufficient end swinging track of cubic spline interpolation.
Step 31：It is determined that four exemplary positions coordinate value, correspondence the moment, and beginning and end velocity amplitude it
Afterwards, using cubic spline curve, fitting obtains the sufficient end swinging track with avoidance and obstacle crossing function.Wherein, Fig. 2 is fitting
The X-direction swinging track curve map obtained afterwards, Fig. 3 is Y-direction swinging track curve map, and Fig. 4 is Z-direction swinging track curve
Figure, Fig. 5 is the graphics of sufficient end swinging track, and Fig. 5 is basically identical with schematic diagram curved profile shown in Fig. 1, illustrates the present invention
The cubic spline interpolation result used disclosure satisfy that setting for the sufficient end swinging track curve with avoidance and obstacle crossing function
Meter needs.
Step 32：In quadruped robot motion process, before each swing phase starts, sufficient end three directions across
The parameter information of degree and four exemplary positions, can be real-time according to the motion state and terrain information of quadruped robot
Adjustment, further improves avoidance obstacle climbing ability, so as to enhance the landform adaptability of quadruped robot.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, the application can be using the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the application can be used in one or more computers for wherein including computer usable program code
The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application is the flow with reference to method, equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram are described.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which is produced, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Embodiments of the invention are these are only, are not intended to limit the invention, it is all in the spirit and principles in the present invention
Within, any modification, equivalent substitution and improvements done etc., be all contained in apply pending scope of the presently claimed invention it
It is interior.
Claims (9)
1. a kind of method for planning the sufficient end swinging track of quadruped robot, it is characterised in that methods described includes：
Step 1：By the endpoint curve state in the sufficient end swing process of the duration design of swing span and swing phase at sufficient end
Parameter；
Step 2：The sufficient end swinging track of fitting.
2. the sufficient end swinging track planing method of quadruped robot as claimed in claim 1, it is characterised in that the step 1 point
Not Que Ding swing span of the sufficient end on three-dimensional, and whole swing phase duration.
3. the sufficient end swinging track planing method of quadruped robot as claimed in claim 1, it is characterised in that the step 1
Sufficient end swing process includes：Leg is lifted, leg is stepped and falls the leg stage.
4. the sufficient end swinging track planing method of quadruped robot as claimed in claim 3, it is characterised in that the lift leg stage
Sufficient end is in X, Y, and the curve movement on Z three-dimensionals includes：Sufficient end in x directions along fuselage backswing, in y directions along machine
Body is swung out, and is swung up in z directions.
5. the sufficient end swinging track planing method of quadruped robot as claimed in claim 3, it is characterised in that the leg stage advanced in years
Sufficient end is in X, Y, and the curve movement on Z three-dimensionals includes：Sufficient end is x directions are along fuselage positive movement and span is larger, in y
Direction continues on fuselage and swung out, and is continued up in z directions until peak.
6. the sufficient end swinging track planing method of quadruped robot as claimed in claim 3, it is characterised in that it is described fall the leg stage
Sufficient end is in X, Y, and the curve movement on Z three-dimensionals includes：The original direction of motion is continued to keep in sufficient end in x directions and y directions,
Ground is dropped to from peak so that slowly landed to diagonally forward at sufficient end in a z-direction.
7. the sufficient end swinging track planing method of quadruped robot as claimed in claim 1, it is characterised in that use cubic spline
The sufficient end swinging track of step 2 described in curve matching.
8. the sufficient end swinging track planing method of quadruped robot as claimed in claim 1, it is characterised in that the sufficient end is swung
The fitting of track includes：It is determined that starting point, the coordinate value for retreating point, peak and terminal, correspondence moment, and beginning and end
Velocity amplitude after, using cubic spline curve, fitting obtains the sufficient end swinging track with avoidance and obstacle crossing function.
9. the sufficient end swinging track planing method of quadruped robot as claimed in claim 8, it is characterised in that in quadruped robot
In motion process, before each swing phase starts, sufficient end is at the span and starting point in three directions, retrogressing point, peak and end
The parameter information of point, is adjusted in real time according to the motion state and terrain information of quadruped robot.
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| CN201710244823.2A CN107065907A (en) | 2017-04-14 | 2017-04-14 | A kind of method for planning the sufficient end swinging track of quadruped robot |
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| CN201710244823.2A CN107065907A (en) | 2017-04-14 | 2017-04-14 | A kind of method for planning the sufficient end swinging track of quadruped robot |
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Family
ID=59600421
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| CN201710244823.2A Pending CN107065907A (en) | 2017-04-14 | 2017-04-14 | A kind of method for planning the sufficient end swinging track of quadruped robot |
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Cited By (14)
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| CN108614421A (en) * | 2018-05-17 | 2018-10-02 | 长安大学 | A kind of quadruped robot motion control method based on central pattern generator (cpg) |
| CN108809191A (en) * | 2018-05-05 | 2018-11-13 | 深圳市越疆科技有限公司 | Network-type servo control algorithm, AC servo and readable storage medium storing program for executing |
| CN109696909A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | Legged type robot paths planning method and device |
| CN110262532A (en) * | 2019-06-24 | 2019-09-20 | 重庆大学 | A kind of robot landform processing and more landform gait control method and system |
| CN110480640A (en) * | 2019-08-26 | 2019-11-22 | 中科新松有限公司 | Robot foot end method for planning track for step topography walking |
| CN111813115A (en) * | 2020-07-08 | 2020-10-23 | 山东优宝特智能机器人有限公司 | Four-foot complete-rising item gait control method and system and four-foot robot |
| CN112035965A (en) * | 2020-05-28 | 2020-12-04 | 西南石油大学 | Foot type robot leg mechanism size optimization method |
| CN112193345A (en) * | 2020-09-30 | 2021-01-08 | 江苏集萃智能制造技术研究所有限公司 | Sectional type quintic polynomial curve obstacle crossing gait planning method |
| CN112829848A (en) * | 2019-11-25 | 2021-05-25 | 深圳市优必选科技股份有限公司 | Robot motion control method and device and robot |
| CN112847354A (en) * | 2020-12-31 | 2021-05-28 | 国网智能科技股份有限公司 | Transformer substation foot type robot posture adjusting method, controller, system and robot |
| CN113139987A (en) * | 2021-05-06 | 2021-07-20 | 太原科技大学 | Visual tracking quadruped robot and tracking characteristic information extraction algorithm thereof |
| CN113547517A (en) * | 2020-04-24 | 2021-10-26 | 深圳市优必选科技股份有限公司 | Gait planning method and device for dynamic obstacle avoidance, readable storage medium and robot |
| CN114684295A (en) * | 2020-12-31 | 2022-07-01 | 国网智能科技股份有限公司 | Foot lifting gait planning method and controller for foot type robot and foot type robot |
| CN115840453A (en) * | 2023-02-10 | 2023-03-24 | 季华实验室 | Adaptive foot end obstacle avoidance method and device for quadruped robot, electronic equipment and medium |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109696909A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | Legged type robot paths planning method and device |
| CN109696909B (en) * | 2017-10-23 | 2022-04-15 | 深圳市优必选科技有限公司 | Foot type robot path planning method and device |
| CN108809191A (en) * | 2018-05-05 | 2018-11-13 | 深圳市越疆科技有限公司 | Network-type servo control algorithm, AC servo and readable storage medium storing program for executing |
| CN108614421A (en) * | 2018-05-17 | 2018-10-02 | 长安大学 | A kind of quadruped robot motion control method based on central pattern generator (cpg) |
| CN110262532A (en) * | 2019-06-24 | 2019-09-20 | 重庆大学 | A kind of robot landform processing and more landform gait control method and system |
| CN110480640A (en) * | 2019-08-26 | 2019-11-22 | 中科新松有限公司 | Robot foot end method for planning track for step topography walking |
| CN110480640B (en) * | 2019-08-26 | 2021-01-29 | 中科新松有限公司 | Robot foot end track planning method for walking on terraced terrain |
| CN112829848A (en) * | 2019-11-25 | 2021-05-25 | 深圳市优必选科技股份有限公司 | Robot motion control method and device and robot |
| US20210154853A1 (en) * | 2019-11-25 | 2021-05-27 | Ubtech Robotics Corp Ltd | Robot motion control method and apparatus and robot using the same |
| CN113547517A (en) * | 2020-04-24 | 2021-10-26 | 深圳市优必选科技股份有限公司 | Gait planning method and device for dynamic obstacle avoidance, readable storage medium and robot |
| CN113547517B (en) * | 2020-04-24 | 2022-08-02 | 深圳市优必选科技股份有限公司 | Gait planning method and device for dynamic obstacle avoidance, readable storage medium and robot |
| CN112035965A (en) * | 2020-05-28 | 2020-12-04 | 西南石油大学 | Foot type robot leg mechanism size optimization method |
| CN111813115A (en) * | 2020-07-08 | 2020-10-23 | 山东优宝特智能机器人有限公司 | Four-foot complete-rising item gait control method and system and four-foot robot |
| CN111813115B (en) * | 2020-07-08 | 2023-06-09 | 山东交通学院 | Four-foot complete-flight-item gait control method and system and four-foot robot |
| CN112193345A (en) * | 2020-09-30 | 2021-01-08 | 江苏集萃智能制造技术研究所有限公司 | Sectional type quintic polynomial curve obstacle crossing gait planning method |
| CN112847354A (en) * | 2020-12-31 | 2021-05-28 | 国网智能科技股份有限公司 | Transformer substation foot type robot posture adjusting method, controller, system and robot |
| CN112847354B (en) * | 2020-12-31 | 2022-05-17 | 国网智能科技股份有限公司 | Transformer substation foot type robot posture adjusting method, controller, system and robot |
| CN114684295A (en) * | 2020-12-31 | 2022-07-01 | 国网智能科技股份有限公司 | Foot lifting gait planning method and controller for foot type robot and foot type robot |
| CN114684295B (en) * | 2020-12-31 | 2023-09-05 | 国网智能科技股份有限公司 | Foot lifting step planning method for foot robot, controller and foot robot |
| CN113139987A (en) * | 2021-05-06 | 2021-07-20 | 太原科技大学 | Visual tracking quadruped robot and tracking characteristic information extraction algorithm thereof |
| CN115840453A (en) * | 2023-02-10 | 2023-03-24 | 季华实验室 | Adaptive foot end obstacle avoidance method and device for quadruped robot, electronic equipment and medium |
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