CN108931988B - Gait planning method of quadruped robot based on central pattern generator, central pattern generator and robot - Google Patents
Gait planning method of quadruped robot based on central pattern generator, central pattern generator and robot Download PDFInfo
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Abstract
The invention discloses a gait planning method of a quadruped robot based on a central pattern generator, which comprises the following steps: b1, adjusting the reference oscillation signal of the joint correspondingly according to different joints; measuring the attitude angle, the angular speed and the position of the trunk of the quadruped robot in the motion process, and generating a feedback signal according to the attitude angle, the angular speed and the position; outputting control signals of each joint according to the adjusted oscillation signals and feedback signals; wherein, the control signal of the sidesway joint comprises an oscillation signal; the control signals of the hip joint pair in the motion process of the swing phase and the standing phase are different; adjusting the control signal of the knee joint in the standing phase so as to adjust the knee joint angle; b2, the control signal controls the quadruped robot to be in diagonal gait, namely the left front leg and the right rear leg of the quadruped robot act together, and the right front leg and the left rear leg of the quadruped robot act together. Different joints are adjusted differently, so that the pitch angle and the roll angle of the quadruped robot during movement are reduced, and the stability of the quadruped robot in the movement process is improved.
Description
Technical Field
The invention relates to the field of quadruped robots, in particular to a gait planning method of a quadruped robot based on a central pattern generator.
Background
With the continuous development of human society and the continuous progress of science and technology, the activity field of human beings is increased sharply, and the exploration desire of the unknown world is increased day by day. However, it is difficult or even impossible to reach many places on the earth where the terrain conditions are complex, simply by the human's own power. The current mainstream transport vehicles are based on wheels and tracks, which have to be said to play an extremely important role. However, wheeled and tracked vehicles have a significant drawback in that they require a flat ground surface and a good stiffness, while the fact that most of the land on earth is not flat unstructured greatly limits the use of these vehicles. In nature, human beings and higher animals can walk on rugged or dangerous places easily, and can ensure the stability of self movement, and typical examples, such as certain species of antelope, can walk on cliffs easily and freely. As a result, the idea of a bionic legged vehicle has been brought forward, and the research focus is now mainly bionic legged robots, which are classified by the number of robot legs and can be classified into 2 categories: a single-legged robot and a multi-legged robot, among which the multi-legged robot is mainly a four-legged robot (see fig. 1), because, on the one hand, tall mammals are almost four-legged from the viewpoint of bionics, and, on the other hand, the four-legged robot moves more smoothly than a two-legged robot and is simpler to control than a multi-legged (more than four legs) robot from the viewpoint of control over a legged robot.
The gait of the quadruped robot determines the movement mode of the quadruped robot, so the gait planning of the quadruped robot is very important. Generally speaking, there are two main types of methods currently used for gait planning of quadruped robots, one is based on classical kinematics foot end trajectory planning, and the other is based on a biomimetic method, i.e. a Central Pattern Generator (CPG) that mimics the movements that control biorhythmicity.
At present, the central mode generator simply changes the output of a Hopf oscillator, simultaneously uses the body posture of the quadruped robot as a simple proportional differential feedback signal, fuses the Hopf oscillator and the Hopf oscillator to be used as a final gait control signal of the quadruped robot, and has the biggest defect that the change of the output signal of the Hopf oscillator is over simplified, so that the pitching and rolling motions of the body of the quadruped robot are large in the motion process, and the stability of the quadruped robot in the motion process is low.
The prior gait controller of the quadruped robot based on the Hopf oscillator is shown in figure 2, and the gait controller does not simulate the diagonal gait motion details of animals enough, so that the quadruped robot has poor stability during the motion process.
Disclosure of Invention
The invention aims to solve the problem of how to improve the stability of a quadruped robot in the motion process in the prior art, and provides a gait planning method of the quadruped robot based on a central pattern generator.
In order to solve the technical problem, the following technical scheme is adopted in the application:
a control method for a central pattern generator for controlling the gait of a quadruped robot, comprising the steps of:
a1, aiming at different joints, adjusting the oscillation signals by adopting different adjusting methods;
a2, generating feedback signals according to the attitude angle, the angular velocity and the position of the trunk in the moving process of the quadruped robot;
and A3, outputting control signals of each joint of the quadruped robot according to the feedback signals and the adjusted oscillation signals.
Preferably, in step a1, different methods are used for each joint, wherein the control signal for the contralateral swing joint comprises an oscillation signal; the control signals of the hip joint in the motion process of the swing phase and the standing phase are different; and adjusting the control signal of the knee joint in the standing phase so as to adjust the knee joint angle.
Preferably, in step a1, the oscillation signals include 8 paths, which are divided into four groups, each group including two paths of signals, which are control base signals of one leg, respectively, where one path of oscillation signals is used to control the movement of the hip joint, and the other path of oscillation signals is used to control the movement of the lateral swing joint and the knee joint.
Preferably, in step a3, the control signals control the quadruped robot to be in a diagonal gait, i.e. with its left front leg and right rear leg acting together and its right front leg and left rear leg acting together.
Preferably, the control signal of the hip joint of the left front leg is a control signal obtained by adding a sinusoidal signal with variable amplitude to a first oscillation signal as a base signal in a swing phase; and in the standing phase, the first oscillation signal is used as a control signal.
Preferably, the control signal of the lateral swing joint of the left front leg takes the second oscillation signal as the control signal in the swing phase; in the standing phase, the control signal is set to 0.
Preferably, the control signal of the knee joint of the left front leg is based on the second oscillation signal in the swing phase, and a bias signal is added to the control signal as the control signal; in the standing phase, a signal obtained by delaying the control signal of the swinging phase is used as the control signal.
Preferably, the control signal of the knee joint of the right rear leg takes a reverse signal of the control signal of the knee joint of the left front leg as the control signal in the swing phase.
Preferably, the control method of the three joints of the right front leg, the left rear leg and the right rear leg of the quadruped robot is the same as the control method of the left front leg.
A central pattern generator device having a computer program for running the aforementioned method.
A gait planning method of a quadruped robot based on a central pattern generator is characterized in that the gait of the quadruped robot is controlled based on a control signal sent by a central pattern generator device.
A quadruped robot based on a central pattern generator comprises the central pattern generator, an opf oscillator, an inertia measuring unit, a GPS device and a quadruped robot body, wherein the Hopf oscillator is used for generating 8 paths of oscillation signals, the inertia measuring unit is used for measuring the attitude angle and the angular velocity of the quadruped robot body, and the GPS device is used for positioning the position of the quadruped robot body; the central pattern generator outputs control signals to control the gait of the quadruped robot according to the method of claims 1-9.
Compared with the prior art, the invention has the beneficial effects that:
according to the gait planning method of the quadruped robot based on the central pattern generator, the oscillating signal is added into the control signal of the side swing joint of the quadruped robot, the side swing joint is used as the active joint, the control mode that only the feedback signal exists in the control signal of the side swing joint in the prior art is changed, and the movement of the quadruped robot is in accordance with the actual movement of an animal.
Further, by applying an asymmetric control signal to the hip joint of the quadruped robot, the rolling amplitude of the quadruped robot in the motion process is reduced.
Further, similar control signals are given to the knee joint of the quadruped robot in the swinging phase and the standing phase, so that the pitching amplitude and the rolling amplitude of the quadruped robot in the advancing process are effectively reduced.
Furthermore, a positioning sensor GPS is added as a feedback signal, which is beneficial to reducing the yaw angle;
furthermore, the control method adjusts the oscillation reference signals output by the oscillation network, performs different adjustments on different joints, reduces the pitch angle and the roll angle of the quadruped robot during movement, and improves the stability of the quadruped robot in the movement process.
Drawings
FIG. 1 is a schematic diagram of a prior art quadruped robot configuration;
FIG. 2 is a schematic diagram of a prior art quadruped robot gait controller;
FIG. 3 is a schematic structural diagram of a gait controller of a quadruped robot in an embodiment of the invention;
FIG. 4 is a schematic diagram of experimental comparison of pitch angles for an embodiment of the present invention;
FIG. 5 is a schematic diagram of experimental comparison of roll angles for an embodiment of the present invention;
FIG. 6 is a schematic diagram of experimental comparison of yaw angles according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
On one hand, considering that the quadruped mammals in nature have good adaptability to most terrains, if a gait control method of the quadruped mammals is simulated, the adaptability of the quadruped robot to irregular terrains can be greatly improved; alternatively, existing biological CPG-like models can be employed, such as a hopplev oscillator as a controller for gait generation of a quadruped robot.
Specifically, for the side-sway Joint (proportional Swing Joint) of the quadruped robot, the prior method is only simply regarded as a Passive Joint (Passive Joint), and as a result, the deviation of the yaw angle of the quadruped robot is accumulated continuously during the continuous walking process, and finally the yaw problem is serious; for Hip joints (Hip joints) of the quadruped robot, as can be seen from given control signals, the prior method considers that the Hip joints are completely symmetrical in the movement process of a Swing Phase (Swing Phase) and a standing Phase (Stance Phase), which neglects deep research on the movement of the Hip joints of animals to a certain extent, so that the rolling movement amplitude of the quadruped robot is large in the movement process; as for the Knee Joint (Knee Joint), the previous assumption holds that it is in the Stance Phase, keeping the Knee Joint angle constant, which results in that not only the amplitude of the rolling motion is increased, but also the amplitude of the pitching motion is further increased during the movement of the four feet.
Detailed description of the invention
The gait planning method of the quadruped robot based on the central pattern generator of the embodiment is shown in fig. 3, wherein only the 3-way signal flow of the left foreleg is drawn, and the signal flows of other legs are similar.
The quadruped robot system comprises a quadruped robot body, an inertial Measurement unit sensor and a positioning sensor, wherein the inertial Measurement unit IMU (inertial Measurement unit) sensor and the positioning sensor GPS (global Position system) are installed in the center of mass of the quadruped robot body and are used for measuring the attitude angle, the angular velocity and the specific Position of the quadruped robot body in the motion process, the attitude angle comprises a pitch angle, a yaw angle and a roll angle, in order to realize that the mean value of the periodic change of each attitude angle of the robot is as close to 0 as possible in the motion process of the robot, the amplitude value is as small as possible, each attitude angle is subtracted from the required zero value and is inverted, and then the weighted sum is part of a feedback signal. Likewise, a feedback signal of the positioning sensor is obtained.
The central pattern generator is a control system consisting of nerve cells and specific connections for rhythmic movement of animals, and the hopf oscillator is a simple simulation of the control system, and particularly, if the structure of the central pattern generator is unknown, a control system is artificially constructed to have similar output with the central pattern generator by analyzing the output signal of the central pattern generator, so that the control system is considered to be simulated. The inertial measurement unit is mainly used for measuring the postures (body pitching and the like) of the four feet in the motion process, the GPS determines the positions of the four feet in the motion process, and the two sensors provide reference for feedback signals.
The motion of four legs of the quadruped robot has certain relevance in time and space, a Central Pattern Generator (CPG) adopts four coupled Hopf oscillators, namely an oscillation network to express the relevance, and oscillation signals output by the oscillation network are correspondingly adjusted and applied to each Joint according to different characteristics of three joints, namely a side Swing Joint (late Swing Joint), a Hip Joint (Hip Joint) and a Knee Joint (Knee Joint), of the quadruped robot, wherein control signals of the side Swing Joint comprise oscillation signals; the control signals of the hip joint in the motion process of the swing phase and the standing phase are different; adjusting the control signal of the knee joint in the standing phase so as to adjust the knee joint angle; three different methods are used to construct their drive signals for the three classes of joints.
In the present embodiment, regarding the diagonal gait of the quadruped robot, that is, the left front leg and the right rear leg of the quadruped robot act together, the remaining two legs are similar, and because the motions of the respective feet have similarities, the present embodiment takes three joint control signals of the left front leg as an example for explanation, and the control signals of the remaining three feet are analogized.
The method for generating the control signals of the three types of joints by adjusting based on the oscillation reference signals of the oscillation network comprises the following steps:
the first, 8 oscillation reference signals that the oscillation network outputs, divide into four groups, every group includes two ways of oscillation reference signals, control corresponding to a leg. In each group of oscillation reference signals, the first path is an oscillation reference signal of a hip joint, and the second path is oscillation reference signals of a lateral swing joint and a knee joint;
secondly, adjusting the reference signals of each joint respectively:
2.1, control signals of the lateral swing joint are divided into two stages:
directly taking the second path of oscillation reference signal as a driving signal in the swing phase;
in the standing phase, the set control signal is set to 0.
2.2, control signals of the hip joint, which are also divided into two stages:
in the swing phase, a sinusoidal signal with a variable amplitude with a smaller amplitude is added to the first oscillation reference signal for adjustment, because it is found that the swing speed of the leg of the animal is faster than that of the leg in the standing phase when the leg of the animal is in the swing phase by observing the walking of the animal, namely the leg angle (the angle of the hip joint) changes asymmetrically in one period, so that the characteristic of the hip joint motion is simulated by adding the sinusoidal signal with the variable amplitude, and the adjusted signal is used as a hip joint driving signal.
And in the standing phase, taking the first path of oscillation reference signal as a driving signal of the first path of oscillation reference signal.
2.3, control signals of the knee joint are also divided into two stages:
in the swing phase, adding a bias signal to the second path of oscillation reference signal for adjustment, because, by taking the left front leg and the right rear leg as an example through derivation of a mathematical formula, when the hip joints of the two legs move to the maximum positive direction, the vertical heights of the hip joints of the two legs from the ground are different, so that the trunk of the four feet inclines, if the bias signal is added to the knee joint driving signal, the height difference can be reduced to a certain extent, the four feet can be stabilized, and the adjusted signal is taken as the knee joint driving signal;
in the standing phase, the swing phase control signal is delayed for a certain time to be used as a driving signal. Although the four-legged robot has a diagonal gait in which its left front leg and right rear leg act together and its right front leg and left rear leg act together, there is a difference between the front and rear and the control signals applied thereto, for example, in the case where the left front leg and right rear leg are in the swing phase, the knee joint angle of the left front leg should increase first and then decrease, and the knee joint of the right rear leg should decrease first and then increase, so the right rear leg drive signal needs to be reversed.
And thirdly, the control signal is completely based on an output signal of the Hopf oscillation network, and the change situation of the body postures of the four feet is not considered, namely the controller is an open-loop controller. In order to adjust the output signal of the oscillation network to maintain the dynamic balance of the quadruped robot in the motion process, the attitude angle and angular velocity of the quadruped robot in the forward process, which are measured by the IMU, are used as the adjusting signal of the Hopf oscillation network, the specific position of the quadruped robot is measured by the positioning sensor as another adjusting signal, namely, the position obtained by the GPS is compared with the required path (which is a walking line) as a reference, and then the position is subjected to subtraction, and then the final feedback signal is obtained by weighting and summing, and selecting a proper weight coefficient.
The signal obtained by adding the driving signal and the feedback signal is the final control signal of each joint of the quadruped robot.
Detailed description of the invention
In the gait planning method of the quadruped robot based on the central pattern generator, the control signals of the three joints are respectively as follows:
1. lateral swing joint signals:
wherein, thetalsiRepresents the yaw joint drive signal of the ith leg, AiIs a constant, sign (ζ) is a sign function, and when the ith leg represents the front left or the back left leg, ζ ≦ 0, yiRepresenting one raw output signal of the hopf oscillation network. Numbers 1, 2, 3, and 4 respectively represent the left front leg, the right front leg, the left rear leg, and the right rear leg.
Note: y isi≦ 0, indicating that the leg is in the swing phase.
2. Hip joint signaling:
wherein x isiIs one output of the hopf oscillation network (and y in the sidesway joint signal)iDifferent ways), kiIs a constant quantity, determines the swing speed of the upper limb of each leg of the quadruped robot in the swing phase, AhiIs also a constant which influences the overshoot of the leg during oscillation, thetahiRepresenting the drive signal for the ith leg hip joint, and finally T is the motion cycle for each leg. Numbers 1, 2, 3, and 4 respectively represent the left front leg, the right front leg, the left rear leg, and the right rear leg.
Note: y isi≦ 0, indicating that the leg is in the swing phase.
3. Knee joint signals:
θki＝-Akisign(φ)|yi|+si i＝1,2,3,4
wherein A iskiIs a constant that determines the amplitude of the lower limb swing, siIs a bias signal for the drive signal, sign (phi) is a sign function, phi is less than or equal to 0 when i represents the left front or right rear leg, and theta is finallykiRepresents the knee joint drive signal of the ith leg. Numbers 1, 2, 3, and 4 respectively represent the left front leg, the right front leg, the left rear leg, and the right rear leg.
The three joint signals carry out different adjustments on different joints, and in addition, the fed-back signals control all joints of the quadruped robot, so that the pitch angle and the roll angle of the quadruped robot during movement can be reduced, and the stability of the quadruped robot in the movement process is improved.
Under a gazebo simulation environment (based on ROS Operating System), based on the previous method and the improved method, the comparison result of the body posture angle of the quadruped Robot during the diagonal sprint is as shown below (the result is described by characters):
wherein, fig. 4 is a comparison of the pitch angle when the prior art and the present technology are adopted, and it can be seen from the figure that the present technology can reduce the variation amplitude of the pitch angle.
Fig. 5 is a graph comparing the roll angle when the prior art and the present technology are used, and it can be seen from the graph that the present technology can reduce the magnitude of the change in the roll angle.
Fig. 6 is a graph comparing yaw angle using the prior art and the present technique, and it can be seen that the present technique is able to reduce the magnitude of the change in yaw angle, although the reduction is not as significant as the pitch and roll magnitudes.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several equivalent substitutions or obvious modifications can be made without departing from the spirit of the invention, and all the properties or uses are considered to be within the scope of the invention.
Claims (8)
1. A control method for a central pattern generator for controlling the gait of a quadruped robot, comprising the steps of:
a1, aiming at different joints, adjusting the oscillation signals by adopting different adjusting methods;
a2, generating feedback signals according to the attitude angle, the angular velocity and the position of the trunk in the moving process of the quadruped robot;
a3, outputting control signals of each joint of the quadruped robot according to the feedback signals and the adjusted oscillation signals; the control signal controls the quadruped robot to be in diagonal gait, namely the left front leg and the right rear leg of the quadruped robot act together, and the right front leg and the left rear leg of the quadruped robot act together;
wherein the control is performed in any one of the following manners:
a) in the swing phase, a control signal of the hip joint of the left front leg takes a first oscillation signal for controlling the movement of the hip joint as a basic signal, and a sine signal with variable amplitude is added on the basic signal as a control signal; in a standing phase, the first oscillation signal is used as a control signal;
b) the control signal of the lateral swing joint of the left front leg takes a second oscillation signal for controlling the motion of the lateral swing joint and the knee joint as a control signal in a swing phase; in the standing phase, the control signal is set to 0;
c) the control signal of the knee joint of the left front leg takes the second oscillation signal as a basic signal in a swing phase, and a bias signal is added to the control signal as a control signal; in the standing phase, a signal obtained by delaying the control signal of the swinging phase is used as the control signal.
2. The control method according to claim 1, wherein in step a1, different methods are used for each joint, wherein the control signal for the contralateral swing joint comprises an oscillation signal; the control signals of the hip joint in the motion process of the swing phase and the standing phase are different; and adjusting the control signal of the knee joint in the standing phase so as to adjust the knee joint angle.
3. The control method according to claim 1, wherein in step a1, the oscillation signals include 8 paths, which are divided into four groups, each group includes two paths, which are control base signals of one leg, wherein one path of the oscillation signals is used for controlling hip joint movement, and the other path of the oscillation signals is used for controlling lateral swing joint and knee joint movement.
4. The control method according to claim 1, wherein in addition to the control method c), the control signal for the knee joint of the right rear leg is a control signal that is a reverse signal of the control signal for the knee joint of the left front leg in the swing phase.
5. The control method according to claim 1, wherein the control method of the three joints of the right front leg, the left rear leg and the right rear leg of the quadruped robot is the same as the control method of the left front leg.
6. A central pattern generator device, characterized by a computer program operative to perform the method of any of claims 1 to 5.
7. A gait planning method of a quadruped robot based on a central pattern generator, characterized in that the gait of the quadruped robot is controlled according to the control signal sent by the central pattern generator device of claim 6.
8. A quadruped robot based on a central pattern generator is characterized by comprising the central pattern generator, a hopf oscillator, an inertial measurement unit, a GPS device and a quadruped robot body, wherein the hopf oscillator is used for generating 8 paths of oscillation signals, the inertial measurement unit is used for measuring the attitude angle and the angular velocity of the quadruped robot body, and the GPS device is used for positioning the position of the quadruped robot body; the central pattern generator outputs a control signal to control the gait of the quadruped robot according to the method of any one of claims 1 to 5.
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| CN110909859B (en) * | 2019-11-29 | 2023-03-24 | 中国科学院自动化研究所 | Bionic robot fish motion control method and system based on antagonistic structured control |
| CN112882485B (en) * | 2021-01-25 | 2022-04-26 | 河南大学 | Geometric calculation method for inverse kinematics of biped robot |
| 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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