CN108931988A - A kind of gait planning method of the quadruped robot based on central pattern generator (cpg) - Google Patents
A kind of gait planning method of the quadruped robot based on central pattern generator (cpg) Download PDFInfo
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Abstract
The invention discloses a kind of gait planning methods of quadruped robot based on central pattern generator (cpg), include the following steps: B1, are correspondingly adjusted to its reference oscillator signal for different joints；The attitude angle of trunk, angular speed, position in quadruped robot motion process are measured, and generates feedback signal accordingly；According to oscillator signal adjusted and feedback signal, the control signal in each joint is exported；It wherein, include oscillator signal in the control signal of side-sway joint；To hip joint to different with the control signal in standing phase motion process in swing phase；Control signal to knee joint in standing phase is adjusted, to adjust knee angle；B2, control signal control quadruped robot are diagonal gait, i.e. its left front leg and right rear leg acts together, and right front leg and left back leg act together.Different adjustment is carried out to different joints, pitch angle, roll angle when reduction quadruped robot moves improve the stability of quadruped robot during the motion.
Description
Technical field
The present invention relates to quadruped robot field more particularly to a kind of quadruped robots based on central pattern generator (cpg)
Gait planning method.
Background technique
It is constantly progressive as human society is continued to develop with scientific and technical, the area of activities of the mankind sharply increases, to not
Know the world seek be intended to it is also growing day by day.However, being difficult and even impossible to reach on the earth simply by virtue of the strength of mankind itself
The place of many complicated topographical conditions.Current mainstream means of transport is based on wheeled and crawler type, it has to be said, they play
Extremely important effect.However, the wheeled and crawler type vehicles have a significant deficiency, that is, require ground even and have compared with
Good hardness, and the fact is, tellurian overwhelming majority land are all uneven non-structured, this also just great limits
The use of these tools is made.In nature, the mankind and higher mammal almost can be easily some rugged and rough or even dangerous
The place walking wanted, while can guarantee the stabilization of displacement, typical example, such as some kinds of goat antelope can be in cliffside
Upper easily free walking.As one as a result, the idea of bionical foot formula delivery vehicle is come into being, it is now arranged in research hotspot
Mainly bionical legged type robot, divides according to the number of robot leg, can be classified as 2 major class: monopodia robot and
Multi-foot robot, wherein in multi-foot robot based on quadruped robot (see Fig. 1), this is because on the one hand from bionic
Angle considers that high mammal is nearly all four-footed, on the other hand, from the point of view of the control angle to legged type robot,
Quadruped robot moves more steady while more simpler than polypody (leg is more than four) robot control than biped robot.
The gait of quadruped robot determines the mode of its movement, therefore the gait planning of quadruped robot seems very heavy
It wants.In general, mainly having two major classes method currently used for quadruped robot gait planning, one kind is based on classical kinematics foot
Method for planning track is held, another kind of is based on bionics method, that is, the central mode for imitating control biorhythmic movement occurs
Device (CPG).
Currently, the output of Hopf oscillator is passed through simple change by central pattern generator (cpg), meanwhile, by quadruped robot body
Body posture merges the two as simple proportion differential feedback signal, and the gait control as final quadruped robot is believed
Number, disadvantage is that the output signal variation of Hopf oscillator is excessively simplified, and causes quadruped robot in motion process
Middle body pitching and tumbling motion are larger, to keep the stability of quadruped robot during the motion low.
Previously the quadruped robot gait control device based on Hopf oscillator as shown in Fig. 2, the gait control device to animal
Diagonal gait moves detailed simulation not enough, so that stability is very poor during the motion for quadruped robot.
Summary of the invention
The purpose of the present invention is to solve the prior arts how to improve the stability of quadruped robot during the motion
The problem of, this application provides a kind of gait planning methods of quadruped robot based on central pattern generator (cpg).
In order to solve the above-mentioned technical problem, the application adopts the following technical scheme that
It is a kind of for controlling the control method of the central pattern generator (cpg) of quadruped robot gait, include the following steps:
A1, for different joints, oscillator signal is adjusted using different methods of adjustment；
A2, feedback signal is generated according to the attitude angle of trunk, angular speed, position in quadruped robot motion process；
A3, based on the feedback signal with oscillator signal adjusted, export each joint of quadruped robot control signal.
Preferably, in step A1, different methods is used to each joint, wherein in the control signal of side-sway joint
Include oscillator signal；It is different with the control signal in standing phase motion process in swing phase to hip joint；It is standing to knee joint
The control signal of phase is adjusted, to adjust knee angle.
Preferably, in step A1, the oscillator signal includes 8 tunnels, is divided into four groups, and each group includes two paths of signals, respectively
For the control base signal of one leg, wherein oscillator signal is for controlling hip joint movement all the way, and another way oscillator signal is for controlling
Side-sway joint processed and motion of knee joint.
Preferably, in step A3, control signal control quadruped robot is diagonal gait, i.e. its left front leg and right rear leg one
Movement is played, right front leg and left back leg act together.
Preferably, the control signal of the hip joint of the left front leg is believed based on the first oscillator signal in swing phase
Number, increase the variable sinusoidal signal of amplitude on it as control signal；It is control letter with the first oscillator signal in standing phase
Number.
Preferably, the control signal of the side-sway joint of the left front leg is control letter with the second oscillator signal in swing phase
Number；In standing phase, controls signal and be set as 0.
Preferably, the kneed control signal of the left front leg is believed based on the second oscillator signal in swing phase
Number, increase offset signal on it as control signal；In standing phase, with signal of the control signal of swing phase after delay
To control signal.
Preferably, the kneed control signal of the right rear leg is believed in swing phase with the kneed control of left front leg
Number reverse signal be control signal.
Preferably, the right front leg of the quadruped robot, left back leg, right rear leg three joints control method with it is described
The control method of left front leg is identical.
A kind of central pattern generator (cpg) device has computer program, and described program is for running method above-mentioned.
A kind of gait planning method of the quadruped robot based on central pattern generator (cpg) is sent out based on the central mode
The control signal that raw device device issues, controls the gait of quadruped robot.
A kind of quadruped robot based on central pattern generator (cpg), including central pattern generator (cpg), opf oscillator, inertia
Measuring unit, GPS device, quadruped robot ontology, the Hopf oscillator are surveyed for generating 8 road oscillator signals, the inertia
Amount unit is used to measure the attitude angle and angular speed of quadruped robot ontology, and the GPS device is for positioning quadruped robot sheet
The position of body；The central pattern generator (cpg) controls four-footed machine according to the output control signal of method described in claim 1-9
The gait of people.
Compared with prior art, the invention has the benefit that
The gait planning method of a kind of quadruped robot based on central pattern generator (cpg) of the invention, by giving four-footed machine
Increase oscillator signal in the side-sway joint control signal of device people, using side-sway joint as active joint, changes in the prior art
There was only the control mode of feedback signal in the control signal of side-sway joint, the movement of quadruped robot is made to meet the practical fortune of animal
It is dynamic.
Further, asymmetric control signal is applied by the hip joint to quadruped robot, reduces quadruped robot and exists
Rolling amplitude in motion process.
Further, quadruped robot knee joint is mutually given to similar control signal with standing in its swing phase, effectively
Reduce pitching amplitude and rolling amplitude of the four-footed machine people during advance.
Further, alignment sensor GPS is added as feedback signal, is conducive to reduce yaw angle；
Further, it is adjusted, different joints is carried out different for the oscillation reference signal of oscillation network output
Adjustment, reduce pitch angle when quadruped robot movement, roll angle, improve quadruped robot stabilization during the motion
Property.
Detailed description of the invention
Fig. 1 is structure quadruped robot schematic diagram in the prior art；
Fig. 2 is the structural schematic diagram of quadruped robot gait control device in the prior art；
Fig. 3 is the structural schematic diagram of quadruped robot gait control device of the embodiment of the present invention；
Fig. 4 is the experiment comparison schematic diagram of pitch angle of the embodiment of the present invention；
Fig. 5 is the experiment comparison schematic diagram of roll angle of the embodiment of the present invention；
Fig. 6 is the experiment comparison schematic diagram of yaw angle of the embodiment of the present invention.
Specific embodiment
With reference to embodiment and compares attached drawing the present invention is described in further details.It is emphasized that
Following the description is only exemplary, the range and its application being not intended to be limiting of the invention.
On the one hand, it is contemplated that the quadruped mammal in nature is good to most terrain adaptabilities, if imitated
Their gait control methods, may greatly improve quadruped robot in the adaptability of irregular terrain profiles；On the other hand, it can be used existing
The model of the similar biology CPG of some, the controller such as generated using Hopf oscillator as the gait of quadruped robot.
Particularly, for the side-sway joint of quadruped robot (Lateral Swing Joint), prior method is only simple
It is considered as passive joint (Passive Joint), result of this is that during quadruped robot is constantly walked, body
The yaw angular displacement of body constantly accumulates, and it is more serious to finally result in yaw problem；For the hip joint (Hip of quadruped robot
Joint), can find out from the control signal provided, previous method think hip joint in swing phase (Swing Phase) and
Standing phase (Stance Phase) motion process is full symmetric, this ignores the depth to the movement of animal hip joint to a certain extent
Enter research, so that tumbling motion amplitude is very big during the motion for quadruped robot；As for knee joint (Knee Joint), previously
Hypothesis think that it at standing phase (Stance Phase), keeps knee angle invariable, which results in four-footeds to be moved through
Cheng Zhong, not only tumbling motion amplitude increases, and pitching movement amplitude also further increases.
Specific embodiment one
The gait planning method of the quadruped robot based on central pattern generator (cpg) of the present embodiment is as shown in figure 3, in figure
3 tunnel signal streams of left front leg are only depicted, it is similar for the signal stream of other legs.
Quadruped robot system includes quadruped robot ontology, Inertial Measurement Unit sensor, alignment sensor, wherein
Inertial Measurement Unit IMU (Inertial Measurement Unit) sensor and alignment sensor GPS (Global
Position System) it is mounted on quadruped robot body mass center, for measuring the body of quadruped robot during the motion
Attitude angle, angular speed and specific location, attitude angle includes pitch angle, yaw angle and roll angle, to realize that robot is transporting
During dynamic, each periodically variable mean value of attitude angle is as closely as possible to 0, and amplitude is as small as possible, therefore by above-mentioned each appearance
The zero of state angle and requirement is made difference and is negated, and weighted sum later is a part of feedback signal.Similarly, positioning is obtained to pass
The feedback signal of sensor.
Central pattern generator (cpg) is the control system composed by nerve cell and specific connection of animal rhythmic movement
System, hopf oscillator is a kind of simple analog to the control system, specifically, if not knowing central pattern generator (cpg)
Construction under the premise of, by analyzing its output signal, artificial constructs a kind of control system, makes itself and central pattern generator (cpg)
There is similar output, is taken as the simulation to it.Inertial Measurement Unit is mainly used for measuring the posture in four-footed motion process
(body pitching etc.), GPS determine the position of four-footed during the motion, the two sensors provide reference for feedback signal.
The movement of four legs of quadruped robot has certain relevance, central pattern generator (cpg) in time and space
(CPG) using Hopf (Hopf) oscillators of four couplings, i.e. oscillation network expresses this relevance, according to four-footed machine
People's side-sway joint (Lateral Swing Joint), hip joint (Hip Joint), the three classes joint knee joint (Knee Joint)
Different characteristics be applied to each joint, wherein to side-sway by the oscillator signal of oscillation network output by corresponding adjustment
It include oscillator signal in the control signal in joint；Not to control signal of the hip joint in swing phase and standing phase motion process
Together；Control signal to knee joint in standing phase is adjusted, to adjust knee angle；For three classes joint using three kinds not
Same method constructs their driving signal.
In the present embodiment, for the diagonal gait of quadruped robot, i.e., its left front leg and right rear leg act together, remaining
Two legs are similar, and because each sufficient movement has similitude, the present embodiment is said by taking three joint control signals of left front leg as an example
Bright, the control signal of remaining tripodia is analogized.
The method that oscillation reference signal based on oscillation network is adjusted the control signal in generation three classes joint is as follows:
One, 8 road oscillation reference signals of oscillation network output are divided into four groups, and each group includes two-way oscillation reference signal,
Control corresponding to one leg.Wherein, in each group of oscillation reference signal, the first via is the oscillation reference signal of hip joint,
Second tunnel is side-sway joint and knee joint oscillation reference signal；
Two, the reference signal in each joint is adjusted respectively:
2.1, the control signal of side-sway joint is divided into two stages:
In swing phase, directly taking the second road oscillation reference signal is driving signal；
In standing phase, setting control signal is set as 0.
2.2, the control signal of hip joint is equally divided into two stages:
In swing phase, on first via oscillation reference signal, the sinusoidal signal of the lesser variable amplitude of increasing degree is carried out
Adjustment, this is because by observation animal walking, find the leg of animal within a period of motion, leg when in swing phase
Flutter rate is mutually faster in standing than it, i.e., its leg angle (referring to Hip Angle) changes simultaneously asymmetric in one cycle,
Thus simulate this hip joint kinetic characteristic by increasing the sinusoidal signal of variable amplitude, using above-mentioned signal adjusted as
Hip joint driving signal.
In standing phase, take first via oscillation reference signal as its driving signal.
2.3, kneed control signal is equally divided into two stages:
In swing phase, on the second road oscillation reference signal, increases by an offset signal and be adjusted, this is because passing through
Mathematical formulae derives, and by taking left front leg and right rear leg as an example, when its hip joint all moves to positive maximum, the hip of this two legs is closed
Save liftoff vertical height be it is different, cause four-footed trunk tilt, if in knee joint driving signal addition biasing letter
Number, it can reduce this difference in height to a certain extent, facilitate four-footed motion stabilization, using above-mentioned signal adjusted as knee
Joint drive signal；
In standing phase, phase control signal will be swung and be used as driving signal after the delay of certain time.Although four-footed machine
In the diagonal gait of device people, left front leg and right rear leg act together, and right front leg and left back leg act together, but before having after all
Difference afterwards, the control signal or distinguishing applied, for example, by taking left front leg and right rear leg are in swing phase as an example, it is left
The knee angle of foreleg should first increases and then decreases, and the knee joint of right rear leg should be first reduce to increase afterwards, therefore right rear leg drive
Dynamic signal needs reversed.
Three, aforementioned control signals are based entirely on the output signal of Hopf oscillation network, and there is no consider four-footed body
The situation of change of posture, i.e. above controller are an open-cycle controllers.In order to adjust the output signal of oscillation network, to maintain
The dynamic equilibrium of quadruped robot during the motion, attitude angle of the quadruped robot measured by IMU during moving ahead and
The function of angular speed is measured the specific location of quadruped robot by alignment sensor as the adjustment signal of Hopf oscillation network,
As another adjustment signal, i.e., be reference with desired path (this refers to take the air line), the position obtained by GPS with
Compare and make poor, weighted sum later, by choosing suitable weight coefficient, obtain final feedback signal.
Aforementioned driving signal and feedback signal signal after being added are exactly the final control letter in each joint of quadruped robot
Number.
Specific embodiment two
The gait planning method of the quadruped robot based on central pattern generator (cpg) of the present embodiment, the control in three classes joint
Signal difference is as follows:
1, side-sway joint signal:
Wherein, θlsiIndicate the side-sway joint driving signal of i-th leg, AiIt is a constant, sign (ζ) is a symbol
Function, and when i-th leg indicates left front or left back leg, ζ≤0, yiIndicate the output original all the way of hopf oscillation network
Signal.Number 1,2,3,4 respectively indicates left front leg, right front leg, left back leg, right rear leg.
Note: yi≤ 0, indicate that the leg is in swing phase.
2, hip joint signal:
Wherein, xiIt is the output all the way of hopf oscillation network (with the y in side-sway joint signaliDo not go the same way), kiIt is one normal
Amount, determines swing speed of the every leg upper limb of quadruped robot in swing phase, AhiIt is also a constant, it affects leg and is putting
Overshoot when dynamic, θhiIndicate the driving signal of i-th leg hip joint, last T is the period of motion of every leg.Number 1,2,3,4
Respectively indicate left front leg, right front leg, left back leg, right rear leg.
Note: yi≤ 0, indicate that the leg is in swing phase.
3, eval signal:
θki=-Akisign(φ)|yi|+siI=1,2,3,4
Wherein, AkiIt is a constant, determines the amplitude that lower limb are swung, siIt is the offset signal of driving signal, sign (φ)
It is sign function, when i indicates left front or right rear leg, φ≤0, last θkiIndicate the knee joint driving signal of the i-th leg.Number
1,2,3,4 left front leg, right front leg, left back leg, right rear leg are respectively indicated.
Above-mentioned three classes joint signal, different adjustment is carried out to different joints, along with the signal after feedback is to four
Each joint of biped robot is controlled, can reduce quadruped robot movement when pitch angle, roll angle, improve quadruped robot exist
Stability in motion process.
Under gazebo simulated environment (being based on ROS=Robot Operating System), based on prior method and change
Into under method, quadruped robot is in trotting (with verbal description result) under the comparing result such as figure of body posture angle:
Wherein, Fig. 4 be using the prior art when this technology figure compared with pitch angle, it can be seen from the figure that this technology
The variation amplitude of pitch angle can be reduced.
Fig. 5 be using the prior art when this technology figure compared with roll angle, it can be seen from the figure that this technology can subtract
The variation amplitude of small roll angle.
Fig. 6 be using the prior art when this technology figure compared with yaw angle, it can be seen from the figure that this technology can subtract
The variation amplitude of small yaw angle is not apparent compared with pitching and rolling angular amplitude although it reduces amplitude.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those skilled in the art to which the present invention belongs, it is not taking off
Under the premise of from present inventive concept, several equivalent substitute or obvious modifications can also be made, and performance or use is identical, all answered
When being considered as belonging to protection scope of the present invention.
Claims (12)
1. a kind of for controlling the control method of the central pattern generator (cpg) of quadruped robot gait, which is characterized in that including such as
Lower step:
A1, for different joints, oscillator signal is adjusted using different methods of adjustment；
A2, feedback signal is generated according to the attitude angle of trunk, angular speed, position in quadruped robot motion process；
A3, based on the feedback signal with oscillator signal adjusted, export each joint of quadruped robot control signal.
2. control method according to claim 1, which is characterized in that in step A1, use different sides to each joint
Method, wherein in the control signal of side-sway joint include oscillator signal；To hip joint in swing phase and standing phase motion process
Control signal it is different；Control signal to knee joint in standing phase is adjusted, to adjust knee angle.
3. control method according to claim 1, which is characterized in that in step A1, the oscillator signal includes 8 tunnels, point
It is four groups, each group includes two paths of signals, respectively the control base signal of one leg, wherein oscillator signal is for controlling all the way
Hip joint movement, another way oscillator signal is for controlling side-sway joint and motion of knee joint.
4. control method according to claim 1, which is characterized in that in step A3, control signal controls quadruped robot
For diagonal gait, i.e. its left front leg and right rear leg acts together, and right front leg and left back leg act together.
5. control method according to claim 4, which is characterized in that the control signal of the hip joint of the left front leg,
Swing phase is basic signal with the first oscillator signal, increases the variable sinusoidal signal of amplitude on it as control signal；It is standing
Vertical phase is control signal with the first oscillator signal.
6. control method according to claim 4, which is characterized in that the control signal of the side-sway joint of the left front leg,
It is control signal with the second oscillator signal in swing phase；In standing phase, controls signal and be set as 0.
7. control method according to claim 4, which is characterized in that the kneed control signal of the left front leg,
Swing phase is basic signal with the second oscillator signal, increases offset signal on it as control signal；In standing phase, with pendulum
Signal of the control signal of dynamic phase after delay is control signal.
8. control method according to claim 7, which is characterized in that the kneed control signal of the right rear leg,
Swing phase is control signal with the reverse signal of the kneed control signal of left front leg.
9. control method according to claim 1, which is characterized in that the right front leg of the quadruped robot, left back leg, the right side
The control method in three joints of back leg is identical as the control method of the left front leg.
10. a kind of central pattern generator (cpg) device, which is characterized in that there is computer program, described program is for running with reality
Apply the method as described in claims 1 to 9.
11. a kind of gait planning method of the quadruped robot based on central pattern generator (cpg), which is characterized in that wanted according to right
The control signal that central pattern generator (cpg) device described in asking 10 issues, controls the gait of quadruped robot.
12. a kind of quadruped robot based on central pattern generator (cpg), which is characterized in that including central pattern generator (cpg), hopf
Oscillator, Inertial Measurement Unit, GPS device, quadruped robot ontology, the hopf oscillator are used to generate 8 road oscillator signals,
The Inertial Measurement Unit is used to measure the attitude angle and angular speed of quadruped robot ontology, and the GPS device is for positioning four
The position of biped robot ontology；The central pattern generator (cpg) is according to the output control signal of method described in claim 1-9, control
The gait of quadruped robot processed.
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| 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 |
| CN110588833A (en) * | 2019-10-16 | 2019-12-20 | 上海大学 | High-load three-section leg structure suitable for electric foot type robot |
| CN110742619A (en) * | 2019-11-05 | 2020-02-04 | 吉林大学 | Modeling method based on imitated goat leg foot structure design |
| CN110909859A (en) * | 2019-11-29 | 2020-03-24 | 中国科学院自动化研究所 | Bionic robot fish motion control method and system based on antagonistic structured control |
| CN112882485A (en) * | 2021-01-25 | 2021-06-01 | 河南大学 | Geometric calculation method for inverse kinematics of biped robot |
| CN113093779A (en) * | 2021-03-25 | 2021-07-09 | 山东大学 | Robot motion control method and system based on deep reinforcement learning |
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| 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 |
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| CN112882485A (en) * | 2021-01-25 | 2021-06-01 | 河南大学 | Geometric calculation method for inverse kinematics of biped robot |
| CN113093779A (en) * | 2021-03-25 | 2021-07-09 | 山东大学 | Robot motion control method and system based on deep reinforcement learning |
| CN113093779B (en) * | 2021-03-25 | 2022-06-07 | 山东大学 | Robot motion control method and system based on deep reinforcement learning |
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