CN108772836B - Spine type multi-legged robot based on CPG and bionic motion control method thereof - Google Patents
Spine type multi-legged robot based on CPG and bionic motion control method thereof Download PDFInfo
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- CN108772836B CN108772836B CN201810431373.2A CN201810431373A CN108772836B CN 108772836 B CN108772836 B CN 108772836B CN 201810431373 A CN201810431373 A CN 201810431373A CN 108772836 B CN108772836 B CN 108772836B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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 invention discloses a spine multi-legged robot based on CPG and a bionic motion control method thereof, wherein the spine multi-legged robot is provided with a control system, a spine and robot legs symmetrically distributed on two sides of the spine, and at least two robot legs are arranged on each side; the control system is provided with a CPG oscillator aiming at the spine and each robot leg, and the CPG oscillators are coupled to form a whole CPG network; the control system utilizes a five-CPG network to generate periodic signals, the signals are converted into motion track control functions of the spine and leg joints of the robot through function mapping, and control parameters are adjusted through feedback, so that the spine and leg motions of the robot are coordinated. Compared with the prior art, the invention has the characteristics of simple calculation and convenient control, and ensures that the robot can keep certain spine and leg coordination in different environments.
Description
Technical Field
The invention relates to a motion control technology of a multi-legged robot, and belongs to the technical field of bionic motion control of robots.
Background
The quadruped robot is increasingly concerned by researchers because of the advantages of the bionic foot type motion, but in most of the previous quadruped robot researches, a rigid body model is adopted, and the function of a spinal joint is ignored. More and more researchers show that the quadruped robot with the active or passive spine joint has the characteristics of low energy consumption, high speed and the like compared with the similar robot with a rigid body. For the passive spine joint that does not swing independently along with the motion of robot limbs, the motion of initiative spine joint can be controlled, makes the motion of robot more nimble, more presses close to animal nature reality. On the other hand, the active spinal joint increases the degree of freedom of the robot, making control complicated. Therefore, the control of the active spinal joint mostly adopts a model-based method, although the control is simple, the movement of the spinal joint of the robot cannot adapt to the changing environment due to the fixed control model, and the coordination of the spine and the legs is not ideal.
Disclosure of Invention
The technical problem is as follows: the invention aims to overcome the defects of the prior art and provide a robot with an active spinal joint and a bionic control method thereof.
The technical scheme is as follows: the purpose of the invention can be realized by the following technical scheme:
a spine type multi-legged robot based on CPG comprises a control system, an active yawing spine joint (05) in the middle position and a plurality of robot legs symmetrically arranged on two sides of the active yawing spine joint (05), wherein each side of the active yawing spine joint (05) is provided with at least two robot legs, each robot leg is provided with a leg joint, and the leg joints comprise a hip joint and a knee joint; the control system is respectively provided with a CPG oscillator aiming at the active yawing spine joint (05) and each robot leg, the CPG oscillators are coupled together to form a whole CPG network, and the CPG network can output periodic phase signals with fixed phase difference; the control system can convert rhythm signals output by each CPG oscillator in the CPG network into joint motion track control signals, automatically control the corresponding joint to move according to the joint motion track control signals, and simultaneously can feed back the position signals of the corresponding joints to the control system.
Preferably, the CPG oscillator is built using a Kuramoto model, expressed as:
wherein i and j represent the ith and jth CPG oscillators, phiiRepresenting the rhythm signal output by the ith CPG oscillator, ω representing the oscillator frequency, kijDenotes the coupling coefficient, Δ, between the ith and jth CPG oscillatorsijRepresenting a fixed phase difference between the ith and jth CPG oscillators.
Preferably, the control system performs function transformation on the periodic phase signals output by the CPG network through a function mapping part, maps the periodic phase signals into motion track control signals of spine joints and hip joints of the robot, and maps the motion track control signals of the hip joints into knee joint motion track control signals; the motion trail control signals of the hip joint, the knee joint and the spine joint are expressed as follows:
wherein theta ish、θk、θsRespectively representing hip, knee and spine joint motion control signals of the robot, phi is a rhythm output signal of a CPG oscillator, T is an oscillator period, and T is 2 pi/omega, Ah、Ak、AsRespectively representing the swing amplitude of hip, knee and spine joints.
Preferably, the control system varies the fixed phase difference Δ between the i, j CPG oscillatorsijTo change the phase relationship between the i-th and j-th knee joints and change Ah、Ak、AsTo change the amplitude of the joint oscillation and to change the oscillator period T and the oscillator frequency co to change the speed of movement.
Preferably, there are two robot legs per side of the active yaw spine joint (05).
A bionic motion control method of the spine multi-legged robot based on the CPG comprises the following steps:
the method comprises the following steps: the control center of the spine multi-legged robot adjusts the motion parameters according to the manual control requirements and sends a control instruction to the CPG network;
step two: the CPG network generates a periodic phase signal with a fixed phase difference according to the received control instruction;
step three: mapping the periodic phase signals output by the CPG network in the second step into control signals of the motion tracks of the spine and leg joints of the robot by adopting a mapping function;
step four: the spine and leg joints of the robot move according to the spine and leg joint movement track control signals sent out in the third step; meanwhile, the position signals of all joints are used as feedback signals to be fed back to a control center of the robot;
and step five, the control center repeats the steps one to four according to the received feedback signals, adjusts the motion trail control signals of the spinal column and the leg joints, and coordinates the spinal column and leg motions of the robot.
Has the advantages that: compared with the prior art, the invention adopts a bionic CPG method to control the spine and leg joints of the robot with the active spine joint, improves the coordination of the movement of the spine and leg joints, and has the characteristics of simple calculation, convenient control and strong environmental applicability.
Drawings
FIG. 1 is a schematic diagram of the control architecture of the present invention;
fig. 2 is a schematic structural diagram of the quadruped robot with the active spinal joint.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The invention discloses a spine type multi-legged robot based on CPG, which comprises a control system, an active yawing spine joint (05) positioned in the middle position and a plurality of robot legs symmetrically arranged on two sides of the active yawing spine joint (05), wherein each side of the active yawing spine joint (05) is provided with at least two robot legs, each robot leg is provided with a leg joint, and the leg joints comprise hip joints and knee joints; the control system is respectively provided with a CPG oscillator aiming at the active yawing spine joint (05) and each robot leg, the CPG oscillators are coupled together to form a whole CPG network, and the CPG network can output periodic phase signals with fixed phase difference; the control system can convert rhythm signals output by each CPG oscillator in the CPG network into joint motion track control signals, automatically control the corresponding joint to move according to the joint motion track control signals, and simultaneously can feed back the position signals of the corresponding joints to the control system. Fig. 2 shows an embodiment of the present invention, which discloses a robot-spine type multi-legged robot, comprising four hip joints (01, 02, 03, 04), four knee joints (06, 07, 08, 09) and one active spinal joint (05) in the yaw direction.
As shown in figure 1, the invention changes the traditional control thought and provides a method for controlling a quadruped robot with an active spine joint based on CPG. The control structure of the specific implementation of the invention can be divided into three layers:
the first layer is the control layer. The robot can adjust the motion speed, the amplitude of the spinal joint swing and the like by changing control parameters according to environmental feedback and practical requirements.
The second layer is the planning layer. Five CPG oscillators in the CPG network correspond to four leg hip joints and one spine joint of the robot, and FL, FR, LR, RR and SP respectively represent the left front, right front, left rear, right rear leg and spine joint of the robot. The oscillation signal output of the CPG can control the corresponding joint through modulation.
A Kuramoto phase model is adopted as a CPG oscillator to generate a rhythm signal, and the expression is as follows:
wherein i and j represent the ith and jth CPG oscillators, phiiDenotes the rhythm signal output of the ith CPG oscillator, ω denotes the oscillator frequency, kijDenotes the coupling coefficient, Δ, between the ith and jth CPG oscillatorsijRepresenting a fixed phase difference between the ith and jth CPG oscillators.
The function mapping part performs function transformation on the periodic output waveform output by the CPG network, maps the periodic output waveform into motion track signals of the spine and hip joints of the robot, and maps the hip joint motion control signals into knee joint control signals. The expression of the control signal of the hip, knee and spine joint motion trail is as follows
Wherein theta ish、θk、θsRespectively representing hip, knee and spine joint motion control signals of the robot, phi is a rhythm output signal of a CPG oscillator, T is an oscillator period, and T is 2 pi/omega, Ah、Ak、AsRespectively representing the swing amplitude of hip, knee and spine joints.
The control layer may be controlled by varying ΔijTo change the phase relationship between the joints, change Ah、Ak、AsTo change the amplitude of the joint oscillation and to change T and ω to change the speed of movement.
The third layer is an execution layer. And each joint of the robot moves according to the mapping signal output by the planning layer. Meanwhile, signals such as joint return torque, angle and the like are transmitted into the control layer as feedback, and the control layer adjusts parameters of the CPG network and the motion track function in time according to the signals.
Claims (3)
1. The CPG-based spine multi-legged robot is characterized by comprising a control system, an active yawing spine joint (05) in the middle position and a plurality of robot legs symmetrically arranged on two sides of the active yawing spine joint (05), wherein each side of the active yawing spine joint (05) is provided with at least two robot legs, each robot leg is provided with a leg joint, and the leg joints comprise hip joints and knee joints; the control system is provided with a CPG oscillator respectively aiming at the active yawing spine joint (05) and each robot leg, the CPG oscillators are coupled together to form a whole CPG network, and the CPG network can output periodic phase signals with fixed phase difference; the control system can convert the rhythm signals output by each CPG oscillator in the CPG network into joint motion track control signals, automatically control the corresponding joint motion according to the joint motion track control signals, and simultaneously can control the joint motion
The control system can feed back the position signals of the corresponding joints to the control system, and the control system adjusts the motion trail control signals of the spine and leg joints according to the received position signals of the joints to coordinate the spine and leg motions of the robot;
the CPG oscillator is established by adopting a Kuramoto model and is expressed as follows:
wherein i and j represent the ith and jth CPG oscillators, phi i represents the rhythm signal output by the ith CPG oscillator, omega represents the oscillator frequency, kijRepresents the coupling coefficient between the ith and jth CPG oscillators, and Δ ij represents the fixed phase difference between the ith and jth CPG oscillators;
the control system changes the phase relation between the i-th and j-th knee joints by changing the fixed phase difference delta ij between the i-th and j-th CPG oscillators, changes Ah, Ak and As to change the swing amplitude of the joint, and changes the period T of the oscillator and the frequency omega of the oscillator to change the movement speed;
the control system performs function transformation on the periodic phase signals output by the CPG network through a function mapping part, maps the periodic phase signals into motion track control signals of spine joints and hip joints of the robot, and maps the motion track control signals of the hip joints into knee joint motion track control signals; the motion trail control signals of the hip joint, the knee joint and the spine joint are expressed as follows:
wherein θ h, θ k and θ s respectively represent hip, knee and spine joint motion control signals of the robot, φ is a rhythm output signal of the CPG oscillator, T is an oscillator period, T is 2 π/ω, Ah, Ak and As respectively represent swing amplitudes of hip, knee and spine joints.
2. A CPG-based multi-legged robot according to claim 1, characterized by two robot legs per side of the active yaw spine joint (05).
3. A bionic motion control method of the spine multi-legged robot based on the CPG as claimed in claim 1, comprising the steps of:
the method comprises the following steps: the control center of the spine multi-legged robot adjusts the motion parameters according to the manual control requirements and sends a control instruction to the CPG network;
step two: the CPG network generates a periodic phase signal with a fixed phase difference according to the received control instruction;
step three: mapping the periodic phase signals output by the CPG network in the second step into control signals of the motion tracks of the spine and leg joints of the robot by adopting a mapping function;
specifically, the periodic phase signals output by the CPG network are subjected to function transformation through a mapping function, the mapping function firstly maps the periodic phase signals output by the CPG network into motion track control signals of spine joints and hip joints of the robot, and then maps the motion track control signals of the hip joints into motion track control signals of knee joints; the motion trail control signals of the hip joint, the knee joint and the spine joint are expressed as follows:
wherein θ h, θ k and θ s respectively represent hip, knee and spine joint motion control signals of the robot, φ is a rhythm output signal of the CPG oscillator, T is an oscillator period, T is 2 π/ω, Ah, Ak and As respectively represent swing amplitudes of hip, knee and spine joints;
step four: the spine and leg joints of the robot move according to the spine and leg joint movement track control signals sent out in the third step; meanwhile, the position signals of all joints are used as feedback signals to be fed back to a control center of the robot; the position signals of each joint comprise torque and angle signals of each joint;
and step five, the control center repeats the steps one to four according to the received feedback signals, adjusts the motion trail control signals of the spinal column and the leg joints, and coordinates the spinal column and leg motions of the robot.
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| CN108572553B (en) * | 2018-05-16 | 2020-06-23 | 清华大学深圳研究生院 | Motion closed-loop control method of quadruped robot |
| CN109739241A (en) * | 2019-01-24 | 2019-05-10 | 刘志成 | A kind of Four-feet creeping robot C PG control system of imitative lizard body structure |
| CN112109085B (en) * | 2020-08-31 | 2021-10-22 | 浙江理工大学 | CPG network topology structure control method of humanoid beaver robot |
| CN113682396B (en) * | 2021-08-30 | 2022-11-01 | 浙江大学 | Structurally detachable foot type robot based on central pattern generator and control method |
| CN114019988B (en) * | 2022-01-05 | 2022-04-01 | 季华实验室 | AGV control method and device based on CPG, electronic equipment and storage medium |
| CN114740875A (en) * | 2022-03-31 | 2022-07-12 | 山东大学 | Robot rhythm motion control method and system based on neural oscillator |
| CN115092283B (en) * | 2022-07-25 | 2023-08-01 | 中山大学 | Robot control method based on gradient CPG with vestibular feedback |
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