CN109202901A - A kind of biped robot's stair climbing gait planning method, apparatus and robot - Google Patents
A kind of biped robot's stair climbing gait planning method, apparatus and robot Download PDFInfo
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- CN109202901A CN109202901A CN201810998127.5A CN201810998127A CN109202901A CN 109202901 A CN109202901 A CN 109202901A CN 201810998127 A CN201810998127 A CN 201810998127A CN 109202901 A CN109202901 A CN 109202901A
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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
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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 kind of biped robot's stair climbing gait planning method, apparatus and robots, its method includes: during stair climbing, trajectory planning is carried out to gait to preceding using elongated Single Inverted Pendulum model, the motion profile of ankle-joint is constrained according to preset constraint condition and trajectory planning is carried out to lateral gait using first-order linear inverted pendulum model, realizes biped robot's stair climbing；Process are as follows: when facing the first stair, control centre of body weight is moved to left；Right crus of diaphragm of leading leg is lifted, right crus of diaphragm is enabled to fall on stair；Centre of body weight is transferred to right crus of diaphragm, and lifts left foot of leading leg, left foot is enabled to fall on stair；Above step is repeated until the first stair are afterbody stair；Judge whether center of gravity has fallen in stability region；If so, terminating walking；It is drawn close if it is not, then controlling two legs, returns to starting state.Based on the present invention, it can be achieved that a kind of efficient robotic walking manner application, walks on stair freely so that the machine portrait mankind are the same.
Description
Technical field
The present invention relates to field in intelligent robotics more particularly to a kind of biped robot's stair climbing gait planning methods, dress
It sets and robot.
Background technique
Apery biped robot should realize following three features: can locating for people environmental work, be able to use people
The tool of class and shape with people.Although anthropomorphic robot possesses the biped similar with the mankind, due to joint freedom degrees
Limitation, cannot complete many exceedingly difficult movements as the mankind.Referring to the NAO robot that a French company releases, gather around in total
There are 25 freedom degrees, may be implemented to play soccer, play Tai Ji, many compound movements such as play golf.In order to promote apery biped machine
Can the application of device people in daily life, robot freely walk in many complicated landforms in real life with regard to change
It is of crucial importance.
Many scholars are made that tremendous contribution in terms of apery biped robot walks stair: Matthew J.Powell et al.
A kind of development approach of robotic control technology for the behavior of doing more physical exercises is proposed, Chen Guanglong et al. is proposed
A kind of new method of planning walking and control and desired ZMP stair two-foot walking robot: it is obtained from iteration optimal algorithm
Optimal ZMP not only has enough stability margins and meets actuator specification, but also can be used for realization and energy conservation, then, mentions
Go out a kind of controller with power sensitivity and variable impedance, can perceive and compensate well environmental disturbances.
Stair even more need pointedly to cook up the feasible of gait planning as landform the most common in daily life
Scheme.So far, robot can not still walk on stair, so planning that a kind of effective walking manner is applied in these spies
Just become most important on different ground.
Summary of the invention
It, can be with the object of the present invention is to provide a kind of biped robot's stair climbing gait planning method, apparatus and robot
Realize a kind of efficient robotic walking manner application so that the machine portrait mankind are the same to be walked in special ground uplink freely.
In order to achieve the above object, the technical solution of biped robot's stair climbing gait planning method provided by the invention is such as
Under:
Establish biped robot lead leg and the geometrical model of crucial gait of supporting leg during walking stair；Its
In, the key gait include starting gait, in state and halt gait step by step；State includes preceding to gait and side step by step in described
To gait；
During stair climbing, trajectory planning is carried out to gait to preceding using elongated Single Inverted Pendulum model, according to default
Constraint condition constraint ankle-joint motion profile and using first-order linear inverted pendulum model to lateral gait carry out track rule
It draws, realizes biped robot's stair climbing；
Wherein, the process of stair climbing are as follows:
When facing the first stair, control centre of body weight is moved to left；
Right crus of diaphragm of leading leg is lifted with the constraint condition control of ankle-joint, right crus of diaphragm is enabled to fall on stair；
Centre of body weight is transferred to right crus of diaphragm, and lifts left foot of leading leg with the constraint condition control of ankle-joint again, is enabled
Left foot is fallen on stair；
Above step is repeated until the first stair are afterbody stair；
Judge whether center of gravity has fallen in stability region；
If so, terminating walking；
It is drawn close if it is not, then controlling two legs, returns to starting state.
It is preferably, described to lift right crus of diaphragm of leading leg with the constraint condition control of ankle-joint, further includes:
Control, which is led leg, to be left ground and sets foot on the instantaneous velocitys of stair close to 0, and at the highest point lifted of leading leg
Height is higher than the height of the stair, and is smoothed with spline interpolation to the motion track led leg.
Preferably, the biped robot is NAO robot, and the geometrical model of the key gait is based on NAO robot
Physical structure and parameter carry out Kinematic Model generation.
Preferably, the initial position of the biped robot is parallel with stair, and world coordinate system is kept in walking process
Constant, i.e. the y-axis of world coordinate system is parallel with stair always；Then further include:
When the biped robot reaches in front of stair, the line and Y of the both feet by calculating the biped robot
The angle of axis obtains the line of the both feet of biped robot and the angle of stair, to adjust the biped robot and stair
Position.
Further, the embodiment of the invention also provides a kind of biped robot's stair climbing gait planning devices, comprising:
Geometrical model establishes unit, for establish biped robot lead leg and pass of supporting leg during walking stair
The geometrical model of key gait；Wherein, the crucial gait include starting gait, in state and halt gait step by step；The middle step
Gait includes preceding to gait and lateral gait；
Stair climbing planning unit, for during stair climbing, using elongated Single Inverted Pendulum model to it is preceding to gait into
Row trajectory planning constrains the motion profile of ankle-joint according to preset constraint condition and using first-order linear inverted pendulum model pair
Lateral gait carries out trajectory planning, realizes biped robot's stair climbing；
Wherein, stair climbing planning unit specifically includes:
Center of gravity moves to left module, for when facing the first stair, control centre of body weight to be moved to left；
Right leg control module lifts right crus of diaphragm of leading leg for the constraint condition control with ankle-joint, right crus of diaphragm is enabled to fall on building
On ladder；
Left leg control module is controlled for centre of body weight to be transferred to right crus of diaphragm, and again with the constraint condition of ankle-joint
Left foot of leading leg is lifted, left foot is enabled to fall on stair；
Center of gravity judgment module, for judging whether center of gravity has fallen in stability region；If so, terminating walking；
It is drawn close if it is not, then controlling two legs, returns to starting state.
Preferably, the right leg control module is specifically used for:
Control, which is led leg, to be left ground and sets foot on the instantaneous velocitys of stair close to 0, and at the highest point lifted of leading leg
Height is higher than the height of the stair, and is smoothed with spline interpolation to the motion track led leg.
Preferably, the biped robot is NAO robot, and the geometrical model of the key gait is based on NAO robot
Physical structure and parameter carry out Kinematic Model generation.
Preferably, the initial position of the biped robot is parallel with stair, and world coordinate system is kept in walking process
Constant, i.e. the y-axis of world coordinate system is parallel with stair always；Then further include:
Adjustment unit, for passing through the calculating biped robot's when the biped robot reaches in front of stair
Both feet line and Y-axis angle come obtain biped robot both feet line and stair angle, to adjust the biped
The position of robot and stair.
The embodiment of the invention also provides a kind of robot, including processor, memory and it is stored in the memory
In and be configured as the computer program executed by the processor, the processor includes upper when executing the computer program
The biped robot's stair climbing gait planning method stated.
The biped robot's stair climbing gait planning method, apparatus and robot that inventive embodiments provide are, it can be achieved that one kind
Efficient robotic walking manner application so that the machine portrait mankind are the same to be walked in special ground uplink freely.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, attached drawing needed in embodiment will be made below
Simply introduce, it should be apparent that, the accompanying drawings in the following description is only one embodiment of the present invention,
Fig. 1 walks stair process for a kind of biped robot's stair climbing gait planning method provided in an embodiment of the present invention
Figure.
Fig. 2 is a kind of supporting leg mould of biped robot's stair climbing gait planning device provided in an embodiment of the present invention
Type.
Fig. 3 is a kind of mould of leading leg of biped robot's stair climbing gait planning device provided in an embodiment of the present invention
Type.
Fig. 4 is that a kind of elongated single order of biped robot's stair climbing gait planning device provided in an embodiment of the present invention falls
Vertical pendulum model.
Fig. 5 is a kind of fortune of the ankle-joint of biped robot's stair climbing gait planning device provided in an embodiment of the present invention
Dynamic locus model.
Fig. 6 is a kind of Single Inverted Pendulum of biped robot's stair climbing gait planning device provided in an embodiment of the present invention
Model.
Fig. 7 is a kind of lateral movement of biped robot's stair climbing gait planning device provided in an embodiment of the present invention
Adjust joint angles model.
Fig. 8 be a kind of biped robot's stair climbing gait planning device provided in an embodiment of the present invention when going upstairs not
Crucial gait screenshot in the same time.
Fig. 9 be a kind of biped robot's stair climbing gait planning device provided in an embodiment of the present invention when going downstairs not
Crucial gait screenshot in the same time.
Figure 10 is a kind of reality of going upstairs of biped robot's stair climbing gait planning device provided in an embodiment of the present invention
Border gait screenshot.
Figure 11 is a kind of reality of going downstairs of biped robot's stair climbing gait planning device provided in an embodiment of the present invention
Border gait screenshot.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Based on the embodiments of the present invention, those of ordinary skill in the art institute without creative efforts
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Referring to Fig. 1, first embodiment of the invention provides a kind of biped robot's stair climbing gait planning method, packet
It includes:
Establish biped robot lead leg and the geometrical model of crucial gait of supporting leg during walking stair；Its
In, the key gait include starting gait, in state and halt gait step by step；State includes preceding to gait and side step by step in described
To gait；
During stair climbing, trajectory planning is carried out to gait to preceding using elongated Single Inverted Pendulum model, according to default
Constraint condition constraint ankle-joint motion profile and using first-order linear inverted pendulum model to lateral gait carry out track rule
It draws, realizes biped robot's stair climbing；
Wherein, the process of stair climbing are as follows:
When facing the first stair, control centre of body weight is moved to left；
Right crus of diaphragm of leading leg is lifted with the constraint condition control of ankle-joint, right crus of diaphragm is enabled to fall on stair；
Centre of body weight is transferred to right crus of diaphragm, and lifts left foot of leading leg with the constraint condition control of ankle-joint again, is enabled
Left foot is fallen on stair；
Above step is repeated until the first stair are afterbody stair；
Judge whether center of gravity has fallen in stability region；
If so, terminating walking；
It is drawn close if it is not, then controlling two legs, returns to starting state.
Wherein, the inverted pendulum model assumes that all quality of anthropomorphic robot all concentrate on mass center, by two legs
Regard two massless, telescopic swing rod as, establish the linear inverted pendulum model of anthropomorphic robot, and sets out corresponding step
State parameter, the method by establishing and solving kinematical equation, the motion profile for obtaining desired mass center and leading leg.
It is preferably, described to lift right crus of diaphragm of leading leg with the constraint condition control of ankle-joint, further includes:
Control, which is led leg, to be left ground and sets foot on the instantaneous velocitys of stair close to 0, and at the highest point lifted of leading leg
Height is higher than the height of the stair, and is smoothed with spline interpolation to the motion track led leg.
Wherein, the spline interpolation is a kind of number that a smooth curve Jing Guo series of points is made with variable batten
Method, specifically: be made of some multinomials, each multinomial be determined by two adjacent data points, and
Obtained arbitrary two adjacent multinomials and their derivative are all continuous at tie point.
Preferably, the biped robot is NAO robot, and the geometrical model of the key gait is based on NAO robot
Physical structure and parameter carry out Kinematic Model generation.
Wherein, the NAO robot is the programmable anthropomorphic robot of height 57cm, and main contents are as follows: having fuselage
25 degree of freedom degrees (DOF), the critical component of motor and actuator；A series of sensors: 2 cameras, 4 microphones, 1 super
Sound wave range sensor, 2 infrared transmitters and receiver, 1 inertia plate, 9 touch sensors and 8 pressure sensors；
Equipment for self-expression: speech synthesizer, LED light and 2 high-quality loudspeakers；One CPU (being located at robot head),
Linux kernel is run, and supports the proprietary middleware of ALDEBARAN oneself；Second CPU (being located inside robot trunk)；
One 55 watts of battery can provide 1.5 hours even for more time；The vision technique of NAO, using two high-definition cameras,
Valid pixel is up to 9,200,000, and 30 frame per second has taken the horizontal screen of front wherein a camera is located at the forehead of robot
Curtain；Another is located in the mouth, for the environment around scanning.All there are four pressure sensors for detecting ground for every foot of NAO
Face.As are shown in figure 1.2, length of the NAO from center of gravity to neck is 12.65cm, is 10cm to the joint of shoulder, is to buttocks
8.5cm is 10cm to thigh.It is 10.75cm from knee to ankle, the height of foot is 4.51cm, the length of neck and shoulder joint
Degree is 9.8cm, and the width of hand is 1.59cm.
The pelvic joint of the NAO robot includes the preceding joint of right hip and the joint left hip preceding joint Liang Ge, the two joints
Around the intermediate rotation of Y-axis and Z axis, the same motor is shared, so two joints are unable to independent control；By taking right crus of diaphragm as an example, NAO's
Foot is made of five joints, the stern that the buttocks comprising rotating left and right around X-axis rolls joint, is moved forward and backward around Y direction
Preceding joint, around Y-axis rotation the preceding joint of knee, around Y direction from the preceding joint of ankle moved below to front, around X-axis
The ankle from left to right rotated rolls joint；
Further, according to the spin matrix between D-H matrix parameter method and coordinate system, obtain the two neighboring coordinate of left leg it
Between homogeneous transform matrix it is as follows,
Wherein, the corresponding model of the D-H matrix is that each joint of anthropomorphic robot is set a reference coordinate
Then system by certain transformation relation, realizes the transformation between joint (coordinate)；For example, to obtain the transformation in n-th of joint
Matrix ((4 rank square matrix), it is necessary to shift the 1st coordinate, the 2nd coordinate onto since basis coordinates up to n-th of coordinate, finally will
N-1 transformation before combines the transformation matrices for just having obtained n-th of joint.
The homogeneous transform matrix of each connecting rod is successively multiplied, so that it may obtain the corresponding total transformation matrix of left leg of NAO:
Preferably, the initial position of the biped robot is parallel with stair, and world coordinate system is kept in walking process
Constant, i.e. the y-axis of world coordinate system is parallel with stair always；Then further include:
When the biped robot reaches in front of stair, the line and Y of the both feet by calculating the biped robot
The angle of axis obtains the line of the both feet of biped robot and the angle of stair, to adjust the biped robot and stair
Position.
Wherein, the angle of corresponding code calculating and y-axis is carried out by the program to NAO robot to adjust and stair
Position, to realize the correct adjustment of motion process position.
Supporting leg model described in detail below based on above-mentioned biped robot's stair climbing gait planning method, i.e., refering to
Fig. 2 and Fig. 3:
The supporting leg model of Fig. 2 is established, wherein L1It is the lower-leg length of NAO, L2It is the thigh length of NAO, L3It is supporting leg
Ankle-joint C1To same side hip joint A1Between length, L4It is the ankle-joint C to lead leg2To same side hip joint A2Between length,
ZCHFor the mass center P of NAOCOMLength with two hip line midpoint K along Z axis, XCOMWith ZCOMIt is that robot mass center exists respectivelyIn x
Axial coordinate value and y-axis coordinate value, XANKLEAnd ZANKLEIt is the ankle-joint C that NAO leads leg2?In x-axis coordinate value and z-axis sit
Scale value；
According to geometrical-restriction relation therein, inverse kinematics, available A are carried out to robot supporting leg1To C1's
Distance L3And A1C1With the angle of Z axisAre as follows:
In Δ A1B1C1In, it can support the joint sequence of foot according to the cosine law of triangle are as follows:
Further, the swing of biped robot's stair climbing gait planning method is discussed in detail based on above-mentioned supporting leg model
Leg model, i.e., refering to Fig. 3:
Establish the model of leading leg of Fig. 3, wherein parameter refering to supporting leg model model introduction, further according to several in Fig. 3
What relationship, carries out inverse kinematics to leading leg for robot, available
In Δ A2B2C2In, it is according to the available joint angle sequence led leg of the cosine law of triangle
Elongated Single Inverted Pendulum mould described in detail below based on above-mentioned biped robot's stair climbing gait planning method
Type, i.e., refering to Fig. 4:
The elongated Single Inverted Pendulum model of Fig. 4 is established, wherein PCOMFor the mass center of NAO, C1The center of supporting leg ankle-joint, C2
It leads leg the center of ankle-joint, L3For middle step section initial time PCOMTo C1Distance, L4For middle step section initial time PCOMIt arrives
C2Distance, LstepFor the width of stair, H is the height of stair；
By PCOMTo C2Pendulum length of the distance as inverted pendulum, l (t) is denoted as, C2As pendulum point；Assuming that the foothold of both legs
The center of stair, middle step section initial time P are in the contact point of stairCOMOn the extended line on the vertical boundary of stair；
According to its corresponding geometrical relationship, can obtain:
If θ (t) is mass center PCOMWith the angle of the line Z axis for ankle-joint of leading leg, it is known that inverted pendulum equation is as follows:
Since l (t) is varied less, it is possible to be reduced to constant, enable l (t)=l1, the second order differential equation of above formula can be obtained
General solution:
As t=0, it is initial time, has:
As t=T, it is end time, has:
It can thus be concluded that the pivot angle θ (t) of elongated Single Inverted Pendulum are as follows:
Enabling this long change rate of handstand swing rod is a constant, then the pendulum length l (t) of this inverted pendulum are as follows:
The propulsion track of the mass center of NAO can be obtained by above-mentioned two formula are as follows:
XCOM(t)=l (t) sin θ (t)
ZCOM(t)=l (t) cos θ (t)
The motion profile of ankle-joint described in detail below based on above-mentioned biped robot's stair climbing gait planning method
Model, i.e., refering to Fig. 5:
The ankle motion locus model of Fig. 5 is established, wherein the movement of the ankle-joint of NAO can be divided into two parts, respectively
It is that upwardly and forwardly, i.e., respectively Z axis forward direction and X-axis are positive；
It is the planning of the ankle-joint propulsion track about NAO first, in a walking period, positive to X-axis
Amount of movement is Lstep, meanwhile, in order to which the walking process of robot is more steady, it should make to lead leg and leave ground and set foot on stair
Instantaneous velocity close to 0；
The planning that track is followed by moved upwards about the ankle-joint of NAO, is collided in order not to allow lead leg with stair
The case where, it leads leg the highest point C lifted in NAO3The height at place has to the height H higher than stair, so assuming C herein3Place
Z axis coordinate be H+0.01 (m), and reach C at the t=T/2 moment3Point；
After three key points that ankle motion has been determined, for the flatness and the building motion process Zhong Buyu for guaranteeing track
Ladder collides, wherein determines the key point of the motion profile of ankle-joint as shown in the grey dot of Fig. 5；
Finally, being smoothed using spline interpolation to track.
Single Inverted Pendulum described in detail below based on above-mentioned biped robot's stair climbing gait planning method and lateral
The adjustment joint angles model of movement, i.e., refering to Fig. 6, Fig. 7:
The Single Inverted Pendulum model of Fig. 6 is established, wherein C1For the center of supporting leg ankle-joint, PCOMFor the mass center of NAO, with C1
To put point, by PCOMTo C1Distance be denoted as pendulum length, pivot angle is θ ' (t)；
It can be obtained by Single Inverted Pendulum equation:
Solve two boundary conditions of the differential equation are as follows:
As t=0, it is initial time, has:
As t=T/2, have:
It is available by above formula:
It can thus be concluded that the azimuth path of the mass center of NAO are as follows:
YCOM(t)=L5 sinθ′(t)
ZCOM(t)=L5 cosθ′(t)
During entire lateral movement, the biped of NAO robot is without departing from ground, so the position of ankle-joint is not
Become；
Further, the adjustment joint angles model based on the lateral movement for establishing Fig. 7, it is known that, θ7=θ8=θ9=θ10=
θ11=θ12, these joint angles can be acquired are as follows:
Further, the embodiment of the invention also provides a kind of biped robot's stair climbing gait planning devices, comprising:
Geometrical model establishes unit, for establish biped robot lead leg and pass of supporting leg during walking stair
The geometrical model of key gait；Wherein, the crucial gait include starting gait, in state and halt gait step by step；The middle step
Gait includes preceding to gait and lateral gait；
Stair climbing planning unit, for during stair climbing, using elongated Single Inverted Pendulum model to it is preceding to gait into
Row trajectory planning constrains the motion profile of ankle-joint according to preset constraint condition and using first-order linear inverted pendulum model pair
Lateral gait carries out trajectory planning, realizes biped robot's stair climbing；
Wherein, stair climbing planning unit specifically includes:
Center of gravity moves to left module, for when facing the first stair, control centre of body weight to be moved to left；
Right leg control module lifts right crus of diaphragm of leading leg for the constraint condition control with ankle-joint, right crus of diaphragm is enabled to fall on building
On ladder；
Left leg control module is controlled for centre of body weight to be transferred to right crus of diaphragm, and again with the constraint condition of ankle-joint
Left foot of leading leg is lifted, left foot is enabled to fall on stair；
Center of gravity judgment module, for judging whether center of gravity has fallen in stability region；If so, terminating walking；
It is drawn close if it is not, then controlling two legs, returns to starting state.
Preferably, the right leg control module is specifically used for:
Control, which is led leg, to be left ground and sets foot on the instantaneous velocitys of stair close to 0, and at the highest point lifted of leading leg
Height is higher than the height of the stair, and is smoothed with spline interpolation to the motion track led leg；
Preferably, the biped robot is NAO robot, and the geometrical model of the key gait is based on NAO robot
Physical structure and parameter carry out Kinematic Model generation.
Preferably, the initial position of the biped robot is parallel with stair, and world coordinate system is kept in walking process
Constant, i.e. the y-axis of world coordinate system is parallel with stair always；Then further include:
Adjustment unit, for passing through the calculating biped robot's when the biped robot reaches in front of stair
Both feet line and Y-axis angle come obtain biped robot both feet line and stair angle, to adjust the biped
The position of robot and stair.
It should be noted that NAO robot can establish connection by wired or wireless network and PC, software is to be based on
Gentoo Linux simultaneously supports multiple programs language and the Choregraphe based on graphic interface programming, supports
Direct box is established in Choregraphe, and program and virtual NAO robot or true NAO machine are write in Direct box
Device people connection, implantation and downloading program；Local IP and port and the virtual robot NAO phase in webots can also be passed through
Even, the program write can then be emulated, the safety and reliability of test program；Wherein, required realization is main
Program composition has: spline interpolation processes Anklebone track, the planning of lateral mass center, the planning of forward direction mass center, adjusts robot phase
Position for stair and starting function and halt function.
In conclusion biped robot's stair climbing gait planning method, apparatus provided in an embodiment of the present invention and robot,
By carrying out Kinematic Model to robot, in the walking manner for the gait characteristic and the mankind for having understood biped robot itself
Afterwards, further according to stair the characteristics of, the geometrical constraint for walking the crucial gait of stair to robot are analyzed；Then it is fallen by single order
Vertical pendulum model plans the lateral gait of robot, is advised to before robot to gait with elongated Single Inverted Pendulum model
It draws, realizes the starting to robot and halt gait and plan.
The embodiment of the invention also provides a kind of robot, the robot includes double as described in above-mentioned any embodiment
Biped robot stair climbing gait planning method.
In order to facilitate the understanding of the present invention, the result and physical prototyping experimental result that are emulated with one are come below detailed
Illustrate the present invention.
One, Webots is emulated
As shown in figure 8, obtaining robot different moments when going up the stairs when emulating stair height in Webots is 4cm
Screenshot, the screenshot of different moments when Fig. 9 then goes downstairs for robot；Passed through respectively with the stair highly for 4cm and 5cm
Webots is emulated, and simulation result is as shown in table 1:
Table 1
Thus, gait planning method used in the present embodiment is feasible, but still need to advanced optimize to improve
The success rate walked on a bit high stair.
Two, NAO robot physical prototyping is tested
The actual walking pattern screenshot gone upstairs as shown in Figure 10 for NAO, Figure 11 show the actual walking pattern that NAO goes downstairs and cut
Figure；Since NAO robot joint fever can occur, cassette tape, twitch etc. is abnormal, in addition this implementation with the lengthening for using the time
The code that example uses is not optimal state, so causing failure using, by people's whole process protection, avoiding falling down when NAO.
By many experiments, the success rate being derived as when stair height is 4cm is as shown in table 2:
Table 2
| Experiment | It goes upstairs | It goes downstairs |
| Experiment number | 10 | 10 |
| Number of success | 4 | 6 |
| Success rate | 40% | 60% |
Although the invention has been described by way of example and in terms of the preferred embodiments, but it is not for limiting the present invention, any this field
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair
Bright technical solution makes possible variation and modification, therefore, anything that does not depart from the technical scheme of the invention, and according to the present invention
Technical spirit any simple modifications, equivalents, and modifications to the above embodiments, belong to technical solution of the present invention
Protection scope.The foregoing is merely presently preferred embodiments of the present invention, all impartial changes done according to scope of the present invention patent
Change and modify, is all covered by the present invention.
Claims (9)
1. a kind of biped robot's stair climbing gait planning method characterized by comprising
Establish biped robot lead leg and the geometrical model of crucial gait of supporting leg during walking stair；Wherein, institute
State crucial gait include starting gait, in state and halt gait step by step；State includes preceding to gait and lateral step step by step in described
State；
During stair climbing, using elongated Single Inverted Pendulum model to it is preceding to gait carry out trajectory planning, according to it is preset about
The motion profile and use first-order linear inverted pendulum model of beam constraint ankle-joint carry out trajectory planning to lateral gait, real
Existing biped robot's stair climbing；
Wherein, the process of stair climbing are as follows:
When facing the first stair, control centre of body weight is moved to left；
Right crus of diaphragm of leading leg is lifted with the constraint condition control of ankle-joint, right crus of diaphragm is enabled to fall on stair；
Centre of body weight is transferred to right crus of diaphragm, and lifts left foot of leading leg with the constraint condition control of ankle-joint again, enables left foot
It falls on stair；
Above step is repeated until the first stair are afterbody stair；
Judge whether center of gravity has fallen in stability region；
If so, terminating walking；
It is drawn close if it is not, then controlling two legs, returns to starting state.
2. biped robot's stair climbing gait planning method according to claim 1, which is characterized in that described to be closed with ankle
Right crus of diaphragm of leading leg is lifted in the constraint condition control of section, further includes:
Control, which is led leg, to be left ground and sets foot on the instantaneous velocitys of stair close to 0, and the height at the highest point lifted of leading leg
The motion track led leg is smoothed higher than the height of the stair, and with spline interpolation.
3. biped robot's stair climbing gait planning method according to claim 1, which is characterized in that the biped machine
Artificial NAO robot, the geometrical model of the key gait carry out kinematics based on the physical structure of NAO robot and parameter and build
Mould generates.
4. biped robot's stair climbing gait planning method according to claim 1, which is characterized in that the biped machine
The initial position of people is parallel with stair, and world coordinate system remains unchanged in walking process, i.e., the y-axis of world coordinate system always with
Stair are parallel；Then further include:
When the biped robot reaches in front of stair, by the line and Y-axis that calculate the both feet of the biped robot
Angle come obtain biped robot both feet line and stair angle, to adjust the position of the biped robot and stair
It sets.
5. a kind of biped robot's stair climbing gait planning device characterized by comprising
Geometrical model establishes unit, for establish biped robot lead leg and key step of supporting leg during walking stair
The geometrical model of state；Wherein, the crucial gait include starting gait, in state and halt gait step by step；State step by step in described
Including preceding to gait and lateral gait；
Stair climbing planning unit, for carrying out rail to gait to preceding using elongated Single Inverted Pendulum model during stair climbing
Mark planning constrains the motion profile of ankle-joint according to preset constraint condition and using first-order linear inverted pendulum model to lateral
Gait carries out trajectory planning, realizes biped robot's stair climbing；
Wherein, stair climbing planning unit specifically includes:
Center of gravity moves to left module, for when facing the first stair, control centre of body weight to be moved to left；
Right leg control module lifts right crus of diaphragm of leading leg for the constraint condition control with ankle-joint, right crus of diaphragm is enabled to fall on stair；
Left leg control module is lifted for centre of body weight to be transferred to right crus of diaphragm, and again with the constraint condition control of ankle-joint
It leads leg left foot, left foot is enabled to fall on stair；
Center of gravity judgment module, for judging whether center of gravity has fallen in stability region；If so, terminating walking；
It is drawn close if it is not, then controlling two legs, returns to starting state.
6. biped robot's stair climbing gait planning device according to claim 5, which is characterized in that the right leg control
Module is specifically used for:
Control, which is led leg, to be left ground and sets foot on the instantaneous velocitys of stair close to 0, and the height at the highest point lifted of leading leg
The motion track led leg is smoothed higher than the height of the stair, and with spline interpolation.
7. biped robot's stair climbing gait planning device according to claim 5, which is characterized in that the biped machine
Artificial NAO robot, the geometrical model of the key gait carry out kinematics based on the physical structure of NAO robot and parameter and build
Mould generates.
8. biped robot's stair climbing gait planning device according to claim 5, which is characterized in that the biped machine
The initial position of people is parallel with stair, and world coordinate system remains unchanged in walking process, i.e., the y-axis of world coordinate system always with
Stair are parallel；Then further include:
Adjustment unit, for passing through the both feet of the calculating biped robot when the biped robot reaches in front of stair
Line and Y-axis angle come obtain biped robot both feet line and stair angle, to adjust the biped machine
The position of people and stair.
9. a kind of robot, which is characterized in that including processor, memory and store in the memory and be configured as
The computer program executed by the processor, the processor realize such as claim 1-4 when executing the computer program
Biped robot's stair climbing gait planning method described in any one.
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