CN107203490A - The control method of one species humanoid robot balance - Google Patents
The control method of one species humanoid robot balance Download PDFInfo
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- CN107203490A CN107203490A CN201710288759.8A CN201710288759A CN107203490A CN 107203490 A CN107203490 A CN 107203490A CN 201710288759 A CN201710288759 A CN 201710288759A CN 107203490 A CN107203490 A CN 107203490A
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- robot
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The present invention discloses the control method of species humanoid robot balance, comprises the following steps：Angle and the known robot components size that the robot general joint obtained according to sensor is bent, calculate center of gravity and the joint of lower extremity position of the robot；The desired angle of balance is maintained according to the state computation ankle-joint and/or hip joint of the robot；The angle for maintaining sensor is obtained in the desired angle replacement step 1 of balance ankle-joint and/or hip joint to bend with the ankle-joint and/or hip joint.It is controlled by the method for the present invention, robot can maintain balance dynamically, in realtime, computation complexity is smaller.
Description
Technical field
The present invention relates to the control method of species humanoid robot balance, in particular with class humanoid robot's body weight
The angle that hip joint and ankle-joint should be bent when the heart and joint of lower extremity point position calculate and predict robot motion with maintain balance
A kind of control method.
Background technology
In the robot field of current high speed development, class humanoid robot is a big representative.Class humanoid robot and human body
Profile is close, can make the action similar to the mankind.Because with biped, this kind of robot is adapted to more environment,
More tasks are completed, such as when in face of the task comprising top bar relevant action, humanoid robot can be readily accomplished, and
The robot that roller advances is difficult to be competent at.
And during humanoid robot is operated, inevitably run into the equilibrium problem of robot.It is now main
The balance control method of stream is the thought according to negative-feedback, when machine human body is moved and makes gravity motion, passes through robot
The linkage of each part of whole body carrys out opposite direction and moved center of gravity, make center of gravity to ground projection all the time support feet instep to
In the face of face projection, balance is maintained with this.
But this method is difficult to allow robot to make the action specified, such as in the most of joint of designated robot whole body
Angle after, this method is just less applicable.And due to robot whole body part need to be employed, this method computation complexity
It is larger, but by then passing through the control of negative-feedback realization, the method need to take precautions against reforming phenomena.
The content of the invention
Balance control problem when standing, stand on one leg to solve class humanoid robot in both feet, walking, the present invention carries
The control method balanced for a species humanoid robot, technical scheme is as follows：
The control method of one species humanoid robot balance, comprises the following steps：The machine obtained according to sensor
The angle and the known robot components size of people's general joint bending, calculate the center of gravity and joint of lower extremity of the robot
Position；The desired angle of balance is maintained according to the state computation ankle-joint and/or hip joint of the robot；Use the ankle-joint
And/or hip joint maintains the angle that sensor is obtained in the desired angle replacement step 1 balanced ankle-joint and/or hip joint are bent
Degree.
It is described to maintain the desired angle of balance to include according to the state computation ankle-joint and/or hip joint of the robot,
When the robot both feet are stood, the angle that ankle-joint should be bent in fore-and-aft direction, left and right directions, or the robot list are calculated
Immediately, the angle and hip joint that calculating ankle-joint should be bent in fore-and-aft direction, left and right directions should be bent feet station in the lateral direction
Angle, or the pin that is lifted in walking of the robot is when just landing, and calculates the ankle-joint of both feet on left and right, fore-and-aft direction
The angle that should be bent.
The angle that ankle-joint should be bent when the pin that the robot is lifted in walking just lands, is in robot lift
The distance on the bottom surface of the pin risen to ground be 0.5~1.5 robot anklebone to the bottom surface of pin apart from when be predicted.
The beneficial effects of the present invention are：Remain to preferably control to put down after the most of body joints angle of designated robot
Weighing apparatus.By the present invention, robot can maintain balance dynamically, in realtime, and computation complexity is smaller.
Brief description of the drawings
Fig. 1 is the schematic diagram to the example of humanoid robot balance control method based on joint angles；
Fig. 2 is the schematic diagram of each artis of class humanoid robot's lower limb and position of centre of gravity；
When Fig. 3 is class humanoid robot both feet standing, the signal of joint of lower extremity and centre of body weight relative position after abstract
Figure；
Fig. 4 is that class humanoid robot both feet are stood and right leg is when preceding, the schematic diagram of the left view of lower limb；
Fig. 5 is that class humanoid robot both feet are stood and right leg is when preceding, schematic diagram of the right leg section left view after abstract；
Fig. 6 is that class humanoid robot both feet are stood and right leg is when rear, the schematic diagram of the left view of lower limb；
Fig. 7 is that class humanoid robot both feet are stood and right leg is when rear, schematic diagram of the right leg section left view after abstract；
Fig. 8 is class humanoid robot when both feet are stood, the schematic diagram of the front view of lower limb；
Fig. 9 is class humanoid robot when both feet are stood, the schematic diagram of the front view of right leg section after abstract；
When Figure 10 is that class humanoid robot's right crus of diaphragm stands on one leg, the schematic diagram of joint of lower extremity and centre of body weight relative position；
When Figure 11 is that class humanoid robot's left foot stands on one leg, the schematic diagram of the left view of lower limb；
When Figure 12 is that class humanoid robot's left foot stands on one leg, schematic diagram of the left leg section left view after abstract；
When Figure 13 is that class humanoid robot's left foot stands on one leg, the schematic diagram of lower limb；
When Figure 14 is that class humanoid robot's left foot stands on one leg, hip joint, ankle-joint are after abstract in the lateral direction
Schematic diagram；
When Figure 15 is class humanoid robot walking, to the prediction schematic diagram for posterior joint point of stopping over before stopping over；
When Figure 16 is class humanoid robot walking, the schematic diagram of pattern switching.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is that, based on schematic diagram of the joint angles to the example of humanoid robot balance control method, the present invention is main
It is " point coordinates projective transformation and position prediction " and the content of " key angles degree is solved in triangle " part.This method is first
The joint angles of robot are obtained by sensor, with reference to known robot components size, according to direct kinematics principle, meter
Body joint point coordinate and barycentric coodinates needed for calculating.When being stood further according to both feet, projection of the center of gravity on ground will be in the ankle of robot two
Artis this principle on the line of floor projection, using the coordinate of each artis and center of gravity, calculates the angle of ankle-joint；Root
According to when standing on one leg, the projection of center of gravity to ground and the projection of ankle-joint point to ground are close to overlapping this principle, using each
The coordinate of artis and center of gravity, calculates the angle of angle and hip joint in left and right directions of ankle-joint；During according to walking, lift
When pin will land, each artis of body can approximately regard that the ankle-joint point around support feet is made to rotate this thinking, prediction as
The moment of pin landing, the coordinate of various body joints point, so that ankle when computational methods when being balanced using both feet go to calculate pin landing
The angle that joint should be bent.Then change the angle of these joint angles, make robot center of gravity fall maintain balance should position
Put, robot, which just shows one, can maintain the posture of balance.This method is counted by the Mass Distribution thus according to robot
The crucial joint angles of robot are calculated, therefore can remain to preferably control to put down after the most of body joints angle of robot is specified
Weighing apparatus, and computation complexity is smaller.
Illustrate a kind of mathematical method first, in 3 points of the known coordinate triangles constituted, solving in space
The method of any interior angle.This measure, can be in the hope of in it simply to illustrate that the triangle that 3 points of known coordinate are constituted in space
Angle, but method is not limited to this one kind.
Known three point coordinates is respectively：(x1, y1, z1)、(x2, y2, z2)、(x3, y3, z3), by distance between two points formula：
Wherein l is distance between two points, a1、a2、b1、b2、c1、c22 points of x, y, z axial coordinate, can be tried to achieve respectively in space
Distance between any two points, is designated as l respectively1、l2、l3.Again by：
The angle of triangle interior angle can be tried to achieve.
Such as Fig. 3, robot of the present invention in lower limb, right hip joint point 2, right ankle-joint point 4, left hip joint point 6,
Left ankle-joint point 8 should at least two frees degree, the motion of achievable fore-and-aft direction and left and right directions；Right knee joint point 3, left knee
Artis 7 answers at least one free degree, and the motion of fore-and-aft direction can be achieved.
Fig. 2 be class humanoid robot both feet stand when, the schematic diagram of each joint of lower limb and center of gravity relative position, through taking out
As rear such as Fig. 3.Fig. 3 interior joints 5 are the projection that robot center of gravity node 1 arrives ground.To ensure that robot maintains balance not fall down,
Projection of the center of gravity on ground must be on bipod and its line.To simplify calculating, ensureing stability, the present invention is reduced to：
Projection of the center of gravity on ground will be in the ankle-joint point of robot two on the line of floor projection.
According to direct kinematics, i.e., each pass can be calculated by the size of each joint angles of known robot and each part
The coordinate of section.If the weight and center of gravity of each part are also, it is known that utilizing：
The coordinate position of the overall center of gravity of robot can be calculated.Wherein, the positive direction of x-axis may be designated as robot just
Front direction, the positive direction of y-axis may be designated as the front-left of robot to.So far, the angle, each in each joint of robot can be obtained
The coordinate of the coordinate in joint, overall center of gravity.
Fig. 4 is that class humanoid robot both feet are stood and right leg is when preceding, the schematic diagram of the left view of lower limb.After abstract,
Schematic diagram such as Fig. 5 of right leg section left view.Fig. 5 interior joints 10 are that center of gravity projection node 5 is crossing the front and back of right ankle node 4
To straight line on projection.Right crus of diaphragm is preceding, therefore projection node 10 is in the dead astern of right ankle node 4.So the x of projection node 10
Axial coordinate is identical with the x-axis coordinate of center of gravity node 1, and the y-axis coordinate for projecting node 10 is identical with the y-axis coordinate of right ankle-joint point 4,
The z-axis coordinate for projecting node 10 is 0.
Distance, the distance of right hip joint point 2 to right ankle-joint point 4 of right knee endoprosthesis point 3 to right hip joint point 2 are
Know, 12 angle can be obtained by wireless senser in Fig. 5, therefore with right hip joint point 2, right knee endoprosthesis point 3, right ankle-joint point
In 4 triangle for three end points, in Fig. 5 14 angle can be tried to achieve.With right hip joint point 2, projection node 10, right ankle-joint
Point 4 is in the triangle of end points, three extreme coordinates is, it is known that in Fig. 5 13 angle can be tried to achieve.Calculate：
π-(∠13+∠14) (4)
The angle 15 that right ankle should be bent in the longitudinal direction can be obtained.
Fig. 6 is that class humanoid robot both feet are stood and right leg is when rear, the schematic diagram of the left view of lower limb.After abstract,
Schematic diagram such as Fig. 7 of right leg section left view.Artis 10 is center of gravity projection node 5 before and after right ankle node 4 is crossed in Fig. 7
Projection on the straight line in direction.Right crus of diaphragm is rear, therefore projection node 10 is in the front of right ankle node 4.Therefore the x of projection node 10
Axial coordinate is identical with the x-axis coordinate of center of gravity node 1, and the y-axis coordinate for projecting node 10 is identical with the y-axis coordinate of right ankle node 4,
The z-axis coordinate for projecting node 10 is 0.
It is similar to the method in the case of Fig. 5.Right knee endoprosthesis point 3 is arrived to the distance of right hip joint point 2, right hip joint point 2
The distance of right ankle-joint point 4 is, it is known that 12 angle can be obtained by wireless senser in Fig. 7, therefore with right hip joint point 2, right
In the triangle of knee endoprosthesis point 3, right ankle-joint point 4 for three end points, in Fig. 7 14 angle can be tried to achieve.With right hip joint
Point 2, projection node 10, right ankle-joint point 4 is in the triangle of end points, three extreme coordinates are, it is known that in Fig. 7 13 angle can be tried to achieve
Degree.13 are made the difference with 14, you can try to achieve the angle 15 that right ankle should be bent in the longitudinal direction.
When right ankle node 4 is overlapped with subpoint 10, then the condition stood on one leg is reached in the longitudinal direction, be can refer to
The method of FIG. 12 below calculates the angle that right ankle should be bent in the longitudinal direction.
Fig. 8 is class humanoid robot when both feet are stood, the schematic diagram of the front view of lower limb.After abstract, right leg can be obtained
The schematic diagram 9 of partial front view.Artis 11 is that center of gravity projection node 5 is crossing the left and right directions of right ankle node 4 in Fig. 9
Projection on straight line.The y-axis coordinate for projecting node 11 is identical with the y-axis coordinate that center of gravity projects node 5, projects the x-axis of node 11
Coordinate is identical with the x-axis coordinate of right ankle node 4, and the z-axis coordinate of projection node 11 is 0.With right hip joint point 2, right ankle
Node 4, projection node 11 in the triangle of end points, three extreme coordinates, it is known that in Fig. 9 16 angle can be tried to achieve, then by：
π/2-∠16 (5)
Obtain the angle that right ankle should be bent in the lateral direction.For herein strict, artis 2 should be replaced with
Point 2 arrived a little 4 subpoint with putting 11 and face perpendicular to the ground, to calculate the angle at angle 16, but in order to simple, had done approximate
Processing.
When right ankle-joint point 4 is overlapped with projection node 11, then the condition stood on one leg is reached in the lateral direction, can be joined
According to the method for FIG. 14 below.
When both feet are stood, the computational methods of left ankle angle of bend in back and forth and right and left directions are similar to right crus of diaphragm, this
Place is repeated no more.
When robot stands on one leg, such as Figure 10, to ensure the balance of robot, robot entirety center of gravity arrives ground
Subpoint should load-bearing that pin in the face of floor projection.To simplify calculating, increase precision, the present invention is reduced to：
Center of gravity is approached and overlapped to the projection on ground and the projection of ankle-joint point to ground.
When Figure 11 is that class humanoid robot's left foot stands on one leg, the schematic diagram of the left view of lower limb.After abstract, left leg
Divide schematic diagram such as Figure 12 of left view.In Figure 12, in the triangle being made up of left hip joint 6, left knee joint 7, left ankle-joint 8,
Three extreme coordinates are, it is known that therefore can obtain 18 angle.In three be made up of center of gravity node 1, left hip node 6, left ankle-joint point 8
In angular, three end points are, it is known that 19 angle can be tried to achieve.By
π/2-(∠18-∠19) (6)
It can calculate, robot is when standing on one leg, the angle 20 that ankle should be bent in the longitudinal direction.
When Figure 13 is that class humanoid robot's left foot stands on one leg, the schematic diagram of lower limb.After abstract, hip in the lateral direction
Joint, schematic diagram such as Figure 14 of ankle-joint.
Calculate left and right directions on angle when, do in vertical line, therefore Figure 14 two 21 from hip joint 6, ankle-joint 8 respectively
Angle is in alternate interior angle.Reference picture 14, can obtain in figure two 21 jiaos it is equal, and can be by：
π/2+∠21 (7)
It is readily available the angle 22 that the hip joint and ankle-joint of robot should be bent in the lateral direction.And with center of gravity section
Point 1, hip joint 6, left ankle-joint 8 is in the triangle of end points, three extreme coordinates are, it is known that the angle at angle 21 can be tried to achieve.
When class humanoid robot is stood on one leg with right crus of diaphragm, hip joint, the computational methods of ankle flexion angle with a left side
Pin stands on one leg similar, repeats no more.
So far, the complete robot of by the agency of is in the case of both feet, single pin, the method for calculating key angles degree.Below, it is situated between
Continue relevant robot ambulation when, calculate joint angles with maintain balance method.
Robot is when walking, similar with people's walking, the state that robot will stand in both feet first, now using double
The balance of feet station immediately maintains method.Then, robot will lift a pin, now will utilize list in the state that stands on one leg
Feet station maintains the method for balance to maintain the balance in this stage immediately.Then, the body of robot will gradually lean forward, simultaneously
Robot gradually puts the pin lifted earthward, but is due to be under single pin pattern, and robot can still be in poised state.
Such as Figure 15, the pin lifted when robot is to the distance on ground, i.e., distance 23 in figure, is 0.5~1.5 robot anklebone to pin
When 0.5~1.5 times of distance 25 in the distance of bottom surface, i.e. figure, this method will be carried out each artis position when will be fallen earthward to pin
Prediction.Prediction is the ankle-joint 8 in such as 15, the lower limb of calculating robot by setting the ankle of robot support feet as rotating shaft
After each artis rotates around the shaft, the coordinate of the pin of robot each artis when can just fall earthward.It is each in rotary course
The relative position of artis will be approximate constant.Using the body joint point coordinate predicted, goniometer when maintaining both feet balance is brought into
Calculation method, you can when predicting the pin that robot lifts and falling earthward, the angle that two ankle-joints should be bent.After the completion of prediction, machine
Device people adjusts ankle-joint, shows the angle of bend of prediction.At this moment, robot will around support feet ankle rotate, center of gravity to
Before, the pin lifted will land, and maintain balance.The position in each joint, realizes cutting for state when this method is stopped over by prediction
Change, so that robot keeps balance when walking forward.
The free degree of the robot that this method is related to before and after ankle portion has with left and right both direction, therefore robot exists
It is parallel with y-axis around the axle of rotation when stopping over.In case of Figure 15, when robot right crus of diaphragm will be fallen, rotation
Axle crosses artis 8.The coordinate for remembering artis 8 is (x4, y4, z4), the coordinate of note artis 4 is (x5, y5, z5).Then rotary shaft can
It is expressed asThe distance of artis 4 to rotary shaft can pass through formula：
Calculate the distance that artis 4 arrives rotary shaft.
Point 26 is the drop points of artis 4 that predict, and 26 coordinate of setting up an office is (x6, y6, z6), therefore point 26 to rotary shaft away from
From also be l4.Distance between figure midpoint 4 and point 26 can be approximately distance of the robot foot bottom to ground, i.e. distance 23.Therefore, by
Point 4 arrives the vertical line of rotary shaft at this 2 points with the line of point 26 and respectively, in the triangle that this three lines are constituted, three length of sides point
Wei not l4、l4With distance 23, the anglec of rotation can be calculated by formula (2), be designated as ω.
Known rotary shaft, the anglec of rotation, the object of rotation are point 4, you can try to achieve postrotational point 26.Specific method for solving
For mathematical problem, one kind is enumerated herein.Solved using spin matrix, each body joint point coordinate relation is as follows：
Solve the postrotational coordinate of other artis, such as Figure 15 midpoints 3, point 2,7 postrotational coordinates of point, it is also possible to this
The method of kind.After the completion of solution, you can predict that pin falls the position of rear each artis, computational methods when being balanced using both feet, i.e.,
The angle that various body joints should be bent when can calculate the landing of robot right crus of diaphragm, it is flat when maintaining the robot right crus of diaphragm just to land with this
Weighing apparatus.When robot is that left foot will be fallen, computational methods are similar to the method that right crus of diaphragm is fallen, and here is omitted.Work as machine
After the pin of people is fallen, you can continue to go ahead according to the loop structure shown in Figure 16.
Claims (3)
1. the control method of species humanoid robot balance, it is characterised in that comprise the following steps：
Angle and the known robot components that step 1, the robot general joint obtained according to sensor are bent
Size, calculates center of gravity and the joint of lower extremity position of the robot；
Step 2, the desired angle for maintaining to balance according to the state computation ankle-joint and/or hip joint of the robot；
Step 3, the ankle with sensor acquisition in the desired angle replacement step 1 of the ankle-joint and/or hip joint maintenance balance
Joint and/or the angle of hip joint bending.
2. the control method of class humanoid robot balance according to claim 1, it is characterised in that：It is described according to the machine
The state computation ankle-joint and/or hip joint of device people maintains the desired angle of balance to include,
When the robot both feet are stood, the angle that double-legged ankle-joint should be bent in fore-and-aft direction, left and right directions is calculated, or
When the robot stands on one leg, the angle that its ankle-joint of pin stood should be bent in fore-and-aft direction, left and right directions is calculated
The angle that should be bent in the lateral direction with hip joint, or
When the pin that the robot is lifted in walking just lands, the ankle-joint for calculating both feet should be curved on left and right, fore-and-aft direction
Bent angle.
3. the control method of class humanoid robot balance according to claim 2, it is characterised in that：The robot is expert at
The angle that ankle-joint should be bent when the pin lifted in walking just lands, be the pin lifted in the robot bottom surface to ground away from
It is predicted during from for a distance from 0.5~1.5 robot anklebone to the bottom surface of pin.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112129457A (en) * | 2020-08-26 | 2020-12-25 | 南京昱晟机器人科技有限公司 | Waist-bendable robot balance judgment system and method |
| CN112478015A (en) * | 2021-02-03 | 2021-03-12 | 德鲁动力科技(成都)有限公司 | Four-footed robot foot end touchdown detection method and system |
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| JPH05318341A (en) * | 1992-05-22 | 1993-12-03 | Honda Motor Co Ltd | Emergency stop control device for leg type moving robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112129457A (en) * | 2020-08-26 | 2020-12-25 | 南京昱晟机器人科技有限公司 | Waist-bendable robot balance judgment system and method |
| CN112478015A (en) * | 2021-02-03 | 2021-03-12 | 德鲁动力科技(成都)有限公司 | Four-footed robot foot end touchdown detection method and system |
| CN112478015B (en) * | 2021-02-03 | 2021-04-16 | 德鲁动力科技(成都)有限公司 | Four-footed robot foot end touchdown detection method and system |
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