CN110262510A - A kind of anthropomorphic robot centroid trajectory planing method reducing walking energy consumption - Google Patents
A kind of anthropomorphic robot centroid trajectory planing method reducing walking energy consumption Download PDFInfo
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- 238000005265 energy consumption Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 23
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 23
- 210000004394 hip joint Anatomy 0.000 claims abstract description 16
- 210000000629 knee joint Anatomy 0.000 claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims abstract description 4
- 210000001699 lower leg Anatomy 0.000 claims description 4
- 210000000689 upper leg Anatomy 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 2
- 238000005457 optimization Methods 0.000 abstract description 4
- 210000002414 leg Anatomy 0.000 description 10
- 210000002683 foot Anatomy 0.000 description 6
- 239000013598 vector Substances 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000005021 gait Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 210000003423 ankle Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The invention discloses a kind of anthropomorphic robot centroid trajectory planing methods for reducing walking energy consumption, according to knee joint pitch angle θknee, ankle-joint pitch angle θankleWith hip joint pitch angle θhip, under the constraint condition of mass center, calculate separately out height of center of mass when revolving speed, the angular acceleration minimalization of knee joint, ankle-joint and hip joint；The height of center of mass that processing is optimized is weighted to the height of center of mass solved.Centroid trajectory when technical solution of the present invention can be by optimization robot ambulation solves the high energy consumption issues of robot ambulation movement.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of anthropomorphic robot centroid trajectory for reducing walking energy consumption
Planing method.
Background technique
Anthropomorphic robot is expected to apply to many occasions, it is therefore desirable to have multi-motion mode.High speed walking ability
It is a most basic locomitivity of multi-modal anthropomorphic robot.But when realizing the high speed walking of multi-modal anthropomorphic robot
The biggish joint revolving speed and torque, joint that leg needs need relatively high power motor, and it is suitable to be difficult to find on the market again
Motor needs voluntarily to research and develop.If reducing joint revolving speed, torque by the optimization of the track of robot mass center, institute, robot
Energy consumption is needed to reduce, choice of electrical machine difficulty reduces, and robot researches and develops cost and reduces.
A kind of biped robot gait energy efficiency optimization method in the prior art.Biped robot is obtained by planning first
The run trace of lower limb, then optimize to obtain the ideal gait of robot based on efficiency, it is controlled finally by simple joint controller
Robot can reduce machine under conditions of keeping and stablizing to solve the high energy consumption issues in biped robot walking process
Device people walking energy consumption.But the program is only used for reducing robot upper body energy consumption, as long as and robot ambulation energy consumption is lower limb, institute
Limitation is reduced with energy consumption.
In addition, a kind of low-power consumption two-foot walking mobile system and its walking control method.A set of double feet walking is devised to move
Dynamic system detects robot walking states using logic state judging unit, so that control is mounted on kneed brake apparatus
Opening and closing, while at hip joint apply one it is intermittent, parametrization open loop vibrate torque so that swing thigh drive
It swings shank to take a step forward naturally, makes full use of biped walking passive characteristic and self-stable characteristic, gait natural energy-saving.But
Robot foot section is arc-shaped in this method, can not voluntarily be stood, and robot can not carry out standing at work, and application is relatively limited to
A kind of walking mechanism of two feet walking robots.The invention include foreleg, back leg, front foot, the rear foot, one can be two-way
Driving motor, cam, preceding unidirectional runner and the rear unidirectional runner of rotation.The walking mechanism structure letter of two feet walking robot
List can mitigate robot weight, can be reduced energy consumption.But the design is only able to achieve walking function, application is relatively limited to.
A kind of stiffness variable flexible joint design.The invention mainly includes variable flexibility joint driver, 2D differential driving
Articulation mechanism, structure is simple, is easily installed, and can be distributed according to human energy consumption and realize that driving moment is reallocated.But for having
The robot modeling of compliant mechanism and control difficulty are higher, and algorithm is more complex.
Summary of the invention
In order to solve deficiency in the prior art, a kind of anthropomorphic robot centroid trajectory rule for reducing walking energy consumption are proposed
The method of drawing, centroid trajectory when by optimization robot ambulation solve the high energy consumption issues of robot ambulation movement.
The technical solution adopted in the present invention is as follows:
A kind of anthropomorphic robot centroid trajectory planing method reducing walking energy consumption, comprising the following steps:
According to knee joint pitch angle θknee, ankle-joint pitch angle θankleWith hip joint pitch angle θhip, in mass center
Under constraint condition, mass center when calculating separately out revolving speed, the angular acceleration minimalization of knee joint, ankle-joint and hip joint is high
Degree；The height of center of mass that processing is optimized is weighted to the height of center of mass solved.
Further, the knee joint pitch angle θkneeIt indicates are as follows:Wherein, A is thigh length, and B is lower-leg length, zcFor robot
Height of center of mass, t are the time,The linear distance between hip joint and ankle-joint, rzFor mass center to sole in the side z
To vertical range, rz=zc-zankle, zankleFor the height of ankle-joint to sole, ryFor mass center at a distance from ankle-joint
Vertical range in direction of advance, and zankleAnd ryIt is known planning value.
Further, the ankle-joint pitch angle θankleIt indicates are as follows:
Wherein,
Further, the hip joint pitch angle θhipAre as follows:
Further, the constraint condition are as follows: z0≤zc≤zmax, wherein z0For the height of center of mass of robot initial state,
zmaxFor robot in the case that inverse kinematics can solution can raised highest height of center of mass.
Further, height of center of mass when calculating revolving speed, the angular acceleration minimalization of knee joint, ankle-joint and hip joint
Method are as follows: When height of center of mass, be followed successively by as z1、z2、z3、z4、z5、z6, corresponding Wherein, z0For robot
The height of center of mass of original state, zmaxFor robot in the case that inverse kinematics can solution can raised highest height of center of mass.
Further, the method that the height of center of mass is weighted processing are as follows:
Wherein, K1、K2、K3、K4、K5、K6For weight, and Ki=fi(i=1,2 ... 6)；β is according to the joint motor specifically chosen
Revolving speed and torque relationship carry out value.
Beneficial effects of the present invention:
It is concentrated mainly on the non-upper body in leg for Humanoid Robot Based on Walking high energy consumption issues, the present invention reduces robot ambulation
When leg energy consumption.For the present invention by the track in the directly adjustment direction mass center z, method is simple, calculates time-consuming small.It is dropped from software aspects
Low energy consumption is not required to additional machinery innovative design, save the cost.For the walking energy consumption for driving multi-modal movement anthropomorphic robot entirely
Problem, guarantee robot have other locomitivities (such as creep, roll, fall down after climbed, hand operation) in the case where
Reduce its energy consumption of walking.
Detailed description of the invention
Fig. 1 is robot model and world coordinate system definition；
Fig. 2 is knee angle calculation specifications figure；
Fig. 3 is ankle-joint angle calculation specifications figure；
Fig. 4 is joint torque-motor speed figure of robot before height of center of mass is adjusted；
Fig. 5 is joint torque-motor speed figure of robot after height of center of mass is adjusted.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, the specific embodiments are only for explaining the present invention, not
For limiting the present invention.
In conjunction with robot dynamics formula:
Wherein, θ is each joint angle vector of robot,For each joint angular velocity vector of robot,For each joint of robot
Angular acceleration vector,For robot mass matrix, G (θ) is robot gravitational vectors,For robot coriolis force
Vector, τ are each joint moment vector of robot.
In conjunction with robot dynamics formula and robot model shown in FIG. 1, by reducing robot leg hip, knee, ankle
The revolving speed and angular acceleration in the pitching joint of three parts can effectively reduce the joint torque of robot, to effectively reduce machine
People leg energy consumption.Since during robot ambulation, remaining joint revolving speed and torque are smaller, the energy of pitching joint generation is compared
Consumption is negligible, therefore the present invention does not consider robot leg except the abarticular joint revolving speed of pitching and torque.
The pitch angle of knee joint, ankle-joint and hip joint is write out respectively, and expression is as follows:
Such as Fig. 2, by robot leg inverse kinematics (not considering left and right directions), knee joint pitch angle θkneeAre as follows:
Wherein, A is thigh length, and B is lower-leg length, zcFor robot height of center of mass, t is the time,For
Linear distance between hip joint and ankle-joint, rzVertical range for mass center to sole in the direction z, rz=zc-zankle, zankleFor
Height of the ankle-joint to sole, zankleFor the height of ankle-joint to sole, ryAdvancing at a distance from ankle-joint for mass center
Vertical range on direction, and zankleAnd ryIt is known planning value.
Such as Fig. 3, ankle-joint pitch angle θ is obtainedankleAre as follows:
Wherein,
Hip joint pitch angle θhipAre as follows:
In order to keep robot leg pitching joint revolving speed, angular acceleration small as far as possible, in z0≤zc≤zmaxConstraint condition under
It solves respectively
When height of center of mass, be followed successively by as z1、z2、z3、z4、z5、z6, corresponding Wherein, z0For the height of center of mass of robot initial state, zmaxFor machine
Device people in the case that inverse kinematics can solution can raised highest height of center of mass.Then obtain final height of center of mass are as follows:
Wherein, K1、K2、K3、K4、K5、K6For weight and Ki=fi(i=1,2 ... 6)；β can also be according to the joint specifically chosen
Motor speed and torque relationship carry out value, in the present embodiment β=1.
Illustrate technical effect brought by the present invention in order to clearer, be illustrated below in conjunction with experimental data:
With the data instance of the robot BHR6 walking 3km/h of this laboratory development.By the symmetrical of robot ambulation posture
Property and periodicity, only compare right three, four, five joint of leg of a walking cycle inner machine people joint torque and motor speed.By
Fig. 4, Fig. 5 can be seen that main movement joint when robot ambulation, i.e., three, four, five joints, revolving speed be substantially reduced, torque is omited
There is reduction, therefore energy consumption of walking reduces.
Above embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
It is within the scope of the present invention according to equivalent variations made by disclosed principle, mentality of designing or modification.
Claims (7)
1. a kind of anthropomorphic robot centroid trajectory planing method for reducing walking energy consumption, which is characterized in that according to knee joint pitching
Angle, θknee, ankle-joint pitch angle θankleWith hip joint pitch angle θhip, under the constraint condition of mass center, calculate separately out
Height of center of mass when knee joint, the revolving speed of ankle-joint and hip joint, angular acceleration minimalization；To the height of center of mass solved into
Row weighting handles the height of center of mass optimized.
2. a kind of anthropomorphic robot centroid trajectory planing method for reducing walking energy consumption according to claim 1, feature
It is, the knee joint pitch angle θkneeIt indicates are as follows:Wherein, A
For thigh length, B is lower-leg length, zcFor robot height of center of mass, t is the time,For hip joint and ankle-joint
Between linear distance, rzVertical range for mass center to sole in the direction z, rz=zc-zankle, zankleFor ankle-joint to sole
Height, ryFor vertical range of the mass center at a distance from ankle-joint in a forward direction, and zankleAnd ryIt is known planning value.
3. a kind of anthropomorphic robot centroid trajectory planing method for reducing walking energy consumption according to claim 1, feature
It is, the ankle-joint pitch angle θankleIt indicates are as follows:Its
In,
4. a kind of anthropomorphic robot centroid trajectory planing method for reducing walking energy consumption according to claim 1, feature
It is, the hip joint pitch angle θhipAre as follows:
5. a kind of anthropomorphic robot centroid trajectory planing method for reducing walking energy consumption according to claim 1, feature
It is, the constraint condition are as follows: z0≤zc≤zmax, wherein z0For the height of center of mass of robot initial state, zmaxFor robot
In the case that inverse kinematics can solution can raised highest height of center of mass.
6. a kind of anthropomorphic robot centroid trajectory planing method for reducing walking energy consumption according to claim 1, feature
It is, the method for height of center of mass when calculating revolving speed, the angular acceleration minimalization of knee joint, ankle-joint and hip joint are as follows:When
Height of center of mass is followed successively by as z1、z2、z3、z4、z5、z6, corresponding Wherein, z0For the height of center of mass of robot initial state, zmaxFor machine
Device people in the case that inverse kinematics can solution can raised highest height of center of mass.
7. a kind of anthropomorphic robot centroid trajectory planing method of reduction walking energy consumption according to claim 1 or 6, special
Sign is, the method that the height of center of mass is weighted processing are as follows:
Wherein, K1、K2、K3、K4、K5、K6For weight, and Ki=fi, i=1,2 ... 6；β is according to the joint motor revolving speed specifically chosen
Value is carried out with torque relationship.
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| PCT/CN2020/077552 WO2021004075A1 (en) | 2019-07-11 | 2020-03-03 | Method for planning center of mass path capable of reducing energy consumed when humanoid robot is moving |
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| CN113093780A (en) * | 2021-04-06 | 2021-07-09 | 中山大学 | Robot balance control method and device based on reduced pole allocation method |
| WO2021208917A1 (en) * | 2020-04-14 | 2021-10-21 | 腾讯科技（深圳）有限公司 | Method and device for determining barycenter position, legged robot, and storage medium |
| WO2022126433A1 (en) * | 2020-12-16 | 2022-06-23 | 深圳市优必选科技股份有限公司 | Human-like gait control method and apparatus for humanoid robot, device, and storage medium |
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| CN114625129B (en) * | 2022-02-22 | 2023-09-12 | 中国科学院自动化研究所 | Motion control method and system of position control leg-foot robot |
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