CN110450159A - The foot condition checkout gear of biped robot a kind of and inclined-plane traveling method based on the device - Google Patents
The foot condition checkout gear of biped robot a kind of and inclined-plane traveling method based on the device Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000006243 chemical reaction Methods 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 11
- 230000003044 adaptive effect Effects 0.000 claims abstract description 9
- 210000002683 foot Anatomy 0.000 claims description 47
- 230000005021 gait Effects 0.000 claims description 11
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 6
- 210000000548 hind-foot Anatomy 0.000 claims description 5
- 210000004744 fore-foot Anatomy 0.000 claims description 4
- 241001269238 Data Species 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000012806 monitoring device Methods 0.000 claims 1
- 238000005096 rolling process Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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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 present invention discloses a kind of foot condition checkout gear and inclined-plane traveling method of a kind of biped robot, which includes pressure sensor module, AD conversion module, inertia measuring module, communication module, micro controller module, power module.The foot condition checkout gear can detecte foot angle state on the basis of realizing original foot pressure detection function, realizes and detects to the grade information on locating ground, and for biped robot, on inclined-plane, walking provides feedback.Inclined-plane traveling method of the invention realizes the stability and adaptive capacity to environment that can simply effectively improve biped robot's walking.
Description
Technical field
The present invention relates to technical field of robot control more particularly to the foot condition checkout gears of biped robot a kind of
And the inclined-plane traveling method based on the device.
Background technique
Biped robot is a kind of bionics anthropomorphic robot, can be realized and walks upright and relevant action, has movement
Flexibly, freely, stablize the advantages that, the living environment of the mankind can be well adapted for.Biped robot is expected to that the mankind is helped to solve
Many problems, for example rescue, speedily carry out rescue work, carrying the dangerous operations such as object or repeated labor on the back.
Biped robot is to be applied to various fields, and matter of utmost importance is exactly stabilized walking, this is also that biped robot grinds
One of hot spot studied carefully.Current most of biped robot's systems all use criterion of the ZMP (point of zero moment) as stabilized walking, base
Preferable effect can be obtained by walking in ground grading in this criterion biped robot.Biped robot can install in foot
Pressure sensor carries out calculating the position ZMP, then adjusts gait and ZMP is balanced by constantly detecting pressure sensor data
Point guarantees walking balance in polygonal internal.China Patent No. CN206114175U, CN202075069U description be exactly
This foot condition checkout gear.
However in the actual environment, biped robot is easy to encounter the various injustice such as inclined-plane, step in the process of walking
Smooth ground.China Patent No. CN104331081A proposes a kind of gait planning method of biped robot inclined-plane walking, but should
Method needs to configure bevel angle and direction of travel information.In order to guarantee inclined-plane stabilized walking, this requires biped robot's energy
Bevel angle and direction of travel are detected, this puts forward new requirements the foot detection device of biped robot.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides the foot condition checkout gear of biped robot a kind of and is based on
The inclined-plane traveling method of the device, the detection device are capable of the grade information on ground locating for real-time detection robot, are biped machine
The walking of device people inclined-plane provides feedback.
The purpose of the present invention is realized by following technical solution:
A kind of foot condition checkout gear of biped robot, which is characterized in that the device include pressure sensor module,
AD conversion module, inertia measuring module, communication module, micro controller module, power module, the pressure sensor module packet
Include four pressure sensors for being arranged in foot surrounding, respectively left front S1, it is right before S4 behind S2, left back S3 and the right side, for incuding
The pressure of foot and ground；The inertia measuring module is arranged in the vola middle position of foot, and X-axis forward direction is directed toward sole
Front, Y-axis forward direction be directed toward sole left side, Z axis forward direction vertically upward, for measuring foot tilt angle；The pressure passes
Sensor module is connect with the AD conversion module, the AD conversion module, inertia measuring module, communication module with it is described
Micro controller module connection, the power module be other all module for power supply；The microcontroller is for handling foot
The pressure information and tilt angle at bottom, and data are controlled by the center that the communication module passes to biped robot
Device.
Further, the pressure sensor is the pressure sensor that full-bridge circuit is formed using resistance strain gage；Institute
The AD conversion module stated uses 24 A/D conversion chip HX711, and the inertia measuring module includes three-axis gyroscope and three axis
Accelerometer is connected to microcontroller by I2C interface using MPU6050 chip；The microprocessor uses
STM32F103C8T6 chip.
A kind of inclined-plane traveling method of biped robot, which is characterized in that foot of this method based on above-mentioned any one
State monitoring apparatus realizes that this method specifically comprises the following steps:
Step 1: biped robot's walking process lead leg decline during, adjustment ankle-joint be parallel to the horizontal plane,
4 pressure sensor datas leading leg are detected to carry out judgement of stopping over: when detecting any one pressure sensor data > threshold
Value Y, thinking to lead leg at this time just lands；
Step 2: the pressure sensor data led leg when landing obtained according to step 1 carries out the adaptive of ankle-joint
It should adjust, the foot led leg is allowed to land completely；
Step 3: reading the gyroscope and accelerometer data of inertia measuring module, be calculated sole pitch angle and
Roll angle, and then tilt angle a and robot direction of advance opposed facets angle b when front bevel is calculated, take towards
Direction when inclined-plane to the right is the forward direction of horizontal direction, and the b is the positive folder of robot direction of advance and horizontal direction
Angle；
Step 4: according to a and b, configuring gait parameter, is fallen based on linear inverted pendulum model planning next step gait
Pin point and center of mass point, then online gait adjusting is carried out based on inverse kinematics；Then supporting leg, which is switched to, leads leg, and leading leg becomes
Supporting leg repeats step 1 to four, into the walking of next step, to realize the adaptive walking under slope environment.
Further, threshold value Y=(0.01-0.05) the * G in the step one, wherein G is robot gravity.
Further, the step two specifically:
It according to pressure sensor data when just landing, can determine whether that forefoot or hind paw first land, and be left side
Or right side first lands, and then adjusts corresponding joint according to following table:
| Initially contact sensor | Robot up/down slope | Regulative mode |
| Left front S1 | It goes up a slope | Pitch is to negative moment, and roll is to positive moment |
| S2 before the right side | It goes up a slope | Pitch is to negative moment, and roll is to negative moment |
| Left front S1, it is right before S2 | It goes up a slope | Pitch is to negative moment |
| Left back S3 | Descending | Pitch is to positive moment, and roll is to positive moment |
| S4 behind the right side | Descending | Pitch is to positive moment, and roll is to negative moment |
| Left back S3, it is right after S4 | Descending | Pitch is to positive moment |
| Left front S1, left back S3 | Along slope surface walking in a horizontal state | Roll is to positive moment |
| S2 before the right side, it is right after S4 | Along slope surface walking in a horizontal state | Roll is to negative moment |
| 3 and 3 or more sensors | Walking in a horizontal state | Without adjusting |
Further, the calculation formula of a and b is as follows in the step three:
Wherein,Indicate the pitch angle being calculated by inertia measuring module, θ expression is obtained by inertia measuring module
Roll angle.
Further, the foothold and center of mass point and horizontal plane of the biped robot inclined-plane walking in the step four
The relationship of walking is as follows:
Wherein, pland,0And pcm,0Respectively foothold and the center of mass point planning of horizontal plane, plandAnd pcmRespectively slope
Foothold and center of mass point planning.
Beneficial effects of the present invention are as follows:
The foot condition checkout gear can detecte foot angle on the basis of realizing original foot pressure detection function
State realizes and detects to the grade information on locating ground that walking provides feedback on inclined-plane for biped robot.Of the invention is oblique
Face traveling method realizes the stability and adaptive capacity to environment that can simply effectively improve biped robot's walking.
Detailed description of the invention
Fig. 1 is the circuit structure diagram of foot condition checkout gear mainboard in the present invention；
Fig. 2 is foot condition checkout gear structure and pressure sensor, IMU schematic view of the mounting position in the present invention；
Fig. 3 is the schematic diagram that biped robot walks along some direction of inclined-plane in certain example in the present invention；
Fig. 4 is the flow chart that inclined-plane traveling method is carried out using the foot condition checkout gear in the present invention；
Fig. 5 is the schematic diagram of coordinate transform involved in the present invention；
Fig. 6 is the biped robot inclined-plane walking movement planning schematic diagram in the present invention based on linear inverted pendulum model.
Specific embodiment
Below according to attached drawing and preferred embodiment the present invention is described in detail, the objects and effects of the present invention will become brighter
It is white, it should be understood that the specific embodiments described herein are merely illustrative of the present invention, is not intended to limit the present invention.
As shown in Figure 1, biped robot's foot condition checkout gear of the invention, comprising:
Pressure sensor module: using the pressure sensor module of resistance strain gage composition full-bridge circuit, there is sampling essence
Degree is high, the characteristics of being quick on the draw, for obtaining the pressure of installation point and ground.The pressure sensor module includes being arranged in foot
Four pressure sensors of surrounding, respectively left front S1, it is right before S4 behind S2, left back S3 and the right side, for incuding foot and ground
Pressure.
AD conversion module: the simulation letter data for exporting pressure sensor is acquired and converts, and is transmitted to micro-control
Device processed.As one of embodiment, AD conversion module uses 24 A/D conversion chip HX711, with high sampling precision and by force
Jamproof advantage.
Inertia measuring module (IMU): including three-axis gyroscope and three axis accelerometer, for measuring the inclination of foot bottom plate
Angle.The inertia measuring module is arranged in the vola middle position of foot, and X-axis forward direction is directed toward in front of sole, and Y-axis is positive
It is directed toward the left side of sole, Z axis forward direction is vertically upward.As one of embodiment, 6 axis IMU use MPU6050 chip, pass through
I2C interface is connected to microcontroller.
Communication module: for realizing foot condition checkout gear and external communication.As one of embodiment, use
RS485 bus communication interface, 485 chips use MAX485, while having reserved RS232, CAN interface and bluetooth channel radio
Letter mode.
Indicating module: showing the state of system, shows that power supply power supply, red LED indicate system using green LED lamp
System is abnormal.
Power module: for providing steady dc voltage to system modules.As one of embodiment, system
For power source in external power supply 16V, power interface and RS485 totally one interface, include VCC, GND, 485+, 485-；Lead to respectively
It crosses DC-DC chip TPS561201DDCR, AMS1117-3.3 and is converted into 5V, 3.3V.
Micro controller module: pass through communication mould for reading and handling foot pressure sensor and IMU data, and by data
Block passes to the central controller of biped robot.As one of embodiment, microprocessor uses STM32F103C8T6 core
Piece, dominant frequency 72MHz have interface abundant.
As shown in Fig. 2, foot condition checkout gear is mounted on robot foot bottom position: foot pressure detection in the present embodiment
Device mainboard is fixed among vola, and 4 pressure sensors are fixed using cantilever fashion, one end of which is fixed on vola quadrangle,
The other end passes through foot nail and ground face contact.IMU arranges among mainboard that X-axis forward direction is directed toward in front of sole, and Y-axis forward direction is directed toward foot
The left side of the palm, Z axis forward direction is vertically upward.
Fig. 3 gives some example that this foot condition checkout gear is applied to the walking of biped robot inclined-plane, this slope
Tilt angle is a=10 °, and direction of travel angle is b=100 °.
A kind of inclined-plane traveling method of biped robot, this method realized based on above-mentioned foot state monitoring apparatus,
This method specifically comprises the following steps (as shown in Figure 4):
Step 1: biped robot's walking process lead leg decline during, adjustment ankle-joint be parallel to the horizontal plane,
4 pressure sensor datas leading leg are detected to carry out judgement of stopping over: when detect any one pressure sensor data Si >
Threshold value Y, thinking to lead leg at this time just lands；
Preferably, threshold value Y=(0.01-0.05) the * G, wherein G is robot gravity.
Step 2: the pressure sensor data led leg when landing obtained according to step 1 carries out the adaptive of ankle-joint
It should adjust, the foot led leg is allowed to land completely；
Specifically, according to pressure sensor data when just landing, it can differentiate biped robot's ambulatory status: if 1) front foot
Pressure sensor prior data at the palm is to go up a slope, and the pressure sensor prior data at hind paw is biped robot's descending；
If forefoot and hind paw there are data simultaneously, illustrate that biped robot walks along horizontal direction.If 2) pressure on the left of sole
Sensor prior data illustrates that biped robot walks along inclined-plane right direction；If the pressure sensor on the right side of sole first has number
According to, illustrate biped robot along inclined-plane left direction walk；If forefoot and hind paw there are data simultaneously, illustrate biped robot
It walks along slope level direction.Then corresponding joint is adjusted according to following table:
| Initially contact sensor | Robot up/down slope | Regulative mode |
| Left front S1 | It goes up a slope | Pitch is to negative moment, and roll is to positive moment |
| S2 before the right side | It goes up a slope | Pitch is to negative moment, and roll is to negative moment |
| Left front S1, it is right before S2 | It goes up a slope | Pitch is to negative moment |
| Left back S3 | Descending | Pitch is to positive moment, and roll is to positive moment |
| S4 behind the right side | Descending | Pitch is to positive moment, and roll is to negative moment |
| Left back S3, it is right after S4 | Descending | Pitch is to positive moment |
| Left front S1, left back S3 | Along slope surface walking in a horizontal state | Roll is to positive moment |
| S2 before the right side, it is right after S4 | Along slope surface walking in a horizontal state | Roll is to negative moment |
| 3 and 3 or more sensors | Walking in a horizontal state | Without adjusting |
Step 3: reading the gyroscope and accelerometer data of inertia measuring module, be calculated sole pitch angle and
Roll angle, and then tilt angle a and robot direction of advance opposed facets angle b when front bevel is calculated, take towards
Direction when inclined-plane to the right is the forward direction of horizontal direction, and the b is the positive folder of robot direction of advance and horizontal direction
Angle；
Specific calculating process is as follows:
As shown in figure 5, wherein XrYrZrFor horizontal coordinates Σ r, XaYaZaFor middle coordinate system Σ a, water can be passed through
Flat coordinate system Σ r rotates around x axis angle a and obtains, XbYbZbFor inclined-plane coordinate system Σ b, angle can be rotated around x axis by ∑ a
B is obtained.Therefore horizontal coordinates ∑ r goes to the spin matrix of inclined-plane coordinate system ∑ b and is
Assuming that the Eulerian angles of inclined-plane coordinate system areWhereinθ can be by the gyroscope and acceleration information solution of IMU
It obtains, the art common method can be used in calculation method.Then horizontal coordinates ∑ r goes to the rotation of inclined-plane coordinate system ∑ b
Torque battle array are as follows:
According to R=Rab, it obtains:
Therefore it can obtain:
Wherein,Indicate the pitch angle being calculated by inertia measuring module, θ expression is obtained by inertia measuring module
Roll angle.
Step 4: according to a and b, configuring gait parameter, is fallen based on linear inverted pendulum model planning next step gait
Pin point and center of mass point, then online gait adjusting is carried out based on inverse kinematics；Then supporting leg, which is switched to, leads leg, and leading leg becomes
Supporting leg repeats step 1 to four, into the walking of next step, to realize the adaptive walking under slope environment.Fig. 6 be based on
The biped robot inclined-plane walking movement of linear inverted pendulum model plans schematic diagram, it is preferable that the biped in the step four
The relationship that foothold and center of mass point and the horizontal plane of the walking of robot inclined-plane are walked is as follows:
Wherein, foothold p of the biped robot when horizontal plane is walkedland,0With center of mass point pcm,0Planning can be using this
Technical field common method, specially known to those skilled in the art；plandAnd pcmThe respectively foothold and matter of slope
The planning of heart point.
In conclusion the foot condition checkout gear of the invention is also supported on the basis of detecting foot pressure
Foot bottom plate angle is detected, can be used for the tilt angle and direction of travel detection on inclined-plane locating for biped robot, be biped machine
People provides feedback in inclined-plane walking, effectively improves the stability and adaptive capacity to environment of biped robot's walking.
It will appreciated by the skilled person that being not used to limit the foregoing is merely the preferred embodiment of invention
System invention, although invention is described in detail referring to previous examples, for those skilled in the art, still
It can modify to the technical solution of aforementioned each case history or equivalent replacement of some of the technical features.It is all
Within the spirit and principle of invention, modification, equivalent replacement for being made etc. be should be included within the protection scope of invention.
Claims (7)
1. the foot condition checkout gear of biped robot a kind of, which is characterized in that the device includes pressure sensor module, AD
Conversion module, inertia measuring module, communication module, micro controller module, power module, the pressure sensor module include
Be arranged in four pressure sensors of foot surrounding, respectively left front S1, it is right before S4 behind S2, left back S3 and the right side, for incuding foot
The pressure in portion and ground；The inertia measuring module is arranged in the vola middle position of foot, before X-axis forward direction is directed toward sole
Side, Y-axis forward direction be directed toward sole left side, Z axis forward direction vertically upward, for measuring foot tilt angle；The pressure sensing
Device module is connect with the AD conversion module, the AD conversion module, inertia measuring module, communication module with it is described
Micro controller module connection, the power module are other all module for power supply；The microcontroller is for handling vola
Pressure information and tilt angle, and data are passed to the central controller of biped robot by the communication module.
2. the foot condition checkout gear of biped robot according to claim 1, which is characterized in that the pressure passes
Sensor is the pressure sensor that full-bridge circuit is formed using resistance strain gage；The AD conversion module is using 24 A/D conversions
Chip HX711, the inertia measuring module include that three-axis gyroscope and three axis accelerometer are passed through using MPU6050 chip
I2C interface is connected to microcontroller；The microprocessor uses STM32F103C8T6 chip.
3. the inclined-plane traveling method of biped robot a kind of, which is characterized in that foot shape of this method based on above-mentioned any one
State monitoring device realizes that this method specifically comprises the following steps:
Step 1: biped robot's walking process lead leg decline during, adjustment ankle-joint be parallel to the horizontal plane, detect
4 pressure sensor datas leading leg carry out judgement of stopping over: when detecting any one pressure sensor data > threshold value Y,
Think to lead leg at this time and just land.
Step 2: the pressure sensor data led leg when landing obtained according to step 1 carries out the adaptive tune of ankle-joint
Section, allows the foot led leg to land completely；
Step 3: reading the gyroscope and accelerometer data of inertia measuring module, and pitch angle and the rolling of sole is calculated
Angle, and then tilt angle a and robot direction of advance opposed facets angle b when front bevel is calculated, it takes towards inclined-plane
When direction to the right be horizontal direction forward direction, the b is the positive angle of robot direction of advance and horizontal direction；
Step 4: according to a and b, configuring gait parameter, plans next step gait foothold based on linear inverted pendulum model
And center of mass point, then online gait adjusting is carried out based on inverse kinematics；Then supporting leg, which is switched to, leads leg, and leading leg becomes supporting
Leg repeats step 1 to four, into the walking of next step, to realize the adaptive walking under slope environment.
4. inclined-plane traveling method according to claim 3, which is characterized in that the threshold value Y=in the step one
(0.01-0.05) * G, wherein G is robot gravity.
5. inclined-plane traveling method according to claim 3, which is characterized in that the step two specifically:
According to pressure sensor data when just landing, can determine whether that forefoot or hind paw first land, and be left side or
Right side first lands, and then adjusts corresponding joint according to following table:
6. inclined-plane traveling method according to claim 3, which is characterized in that the calculation formula of a and b in the step three
It is as follows:
Wherein,Indicate the pitch angle being calculated by inertia measuring module, θ expression is turned over by what inertia measuring module obtained
Roll angle.
7. inclined-plane traveling method according to claim 3, which is characterized in that the biped robot in the step four is oblique
The relationship that foothold and center of mass point and the horizontal plane of face walking are walked is as follows:
Wherein, pland,0And pcm,0Respectively foothold and the center of mass point planning of horizontal plane, plandAnd pcmRespectively slope is fallen
Pin point and center of mass point planning.
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| CN112224303A (en) * | 2020-10-23 | 2021-01-15 | 之江实验室 | Biped motion data acquisition system based on inertia measurement unit group |
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| CN112937721A (en) * | 2021-04-18 | 2021-06-11 | 北京工业大学 | Design of seven-connecting-rod biped robot and hybrid control method based on ZMP and CPG |
| CN113119102A (en) * | 2019-12-31 | 2021-07-16 | 深圳市优必选科技股份有限公司 | Humanoid robot modeling method and device based on floating base flywheel inverted pendulum |
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