CN110502857A - Inequality On-line Estimation method towards quadruped robot - Google Patents
Inequality On-line Estimation method towards quadruped robot Download PDFInfo
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- CN110502857A CN110502857A CN201910800870.XA CN201910800870A CN110502857A CN 110502857 A CN110502857 A CN 110502857A CN 201910800870 A CN201910800870 A CN 201910800870A CN 110502857 A CN110502857 A CN 110502857A
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Abstract
A kind of inequality On-line Estimation method towards quadruped robot, (1) by the sufficient motion profile of swing of quadruped robot be divided at the uniform velocity ascent stage, swing foot and be rocked to target forward and fall the surface stage of foot point and swing foot and drop down onto and encounter ground stage three phases；(2) quadruped robot is defined as a gait cycle according to the movement of taking a step that selected sequence of taking a step is sequentially completed four foots, by them‑sA gait cycle is tomIn a gait cyclem t i Standard deviation m σ t Average value as quadruped robotm+ 1 gait cycle crosses the rugged degree estimated value of landformR m+1, and obtainmThe estimated value of inequality variation tendency walked to robot in+1 gait cyclep m+1 ；(3) the lift foot height that foot is swung in the first stage is adjusted.This method is not against landform awareness apparatus, it can be achieved that quadruped robot effectively improves the terrain adaptability of robot to the real-time estimation of walked inequality.
Description
Technical field
The present invention relates to one kind for carrying out On-line Estimation inequality method towards quadruped robot, can make four-footed
Robot is realized not against any landform awareness apparatus to the real-time estimation of walked inequality in the process of walking, is belonged to
Robot control field.
Background technique
In order to further increase the ability by rugged topography, quadruped robot allows for obtaining institute in the process of walking
The information for landform of walking, and related gait parameter is adjusted according to acquired terrain information, with the variation of the rugged degree of adaptation to the ground.
Quadruped robot generally gets the terrain information of walked landform by its own landform awareness apparatus carried.
《Onboard perception-based trotting and crawling with the hydraulic
quadruped robot(HyQ)》(2013IEEE/RSJ International Conference on Intelligent
Robots and Systems.IEEE, 2013:6052-6057) it is to obtain landform using airborne depth camera (Kinect) to believe
Breath."Terrain mapping with a pan and tilt stereo camera for locomotion on a
quadruped robot》(ICRA14 Workshop on Modelling,Estimation,Perception and
Control of All Terrain Mobile Robots (WMEPC14)) in propose terrain information using binocular camera
Acquisition and analysis method.In Ph.D. Dissertation's " vision classification of landform and quadruped robot gait planning technique study and application "
The image of walking landform is obtained using visual apparatus, realizes the feature extraction and classifying of landform walked to quadruped robot.It is rich
It gives in bachelorship paper " perception of quadruped robot landform and the research of quiet gait planning based on TOF camera " based on optical transport
The landform perception algorithm of time (Time Of Flight, TOF) three-dimensional laser camera.
In these above-mentioned methods, by the terrain information for obtaining institute's walking landform, except need for quadruped robot outfit it is sharp
Outside the visual apparatus such as photoscanner, depth camera, higher requirement also is proposed to robot hardware's performance, to be located in reason in time
The terrain information largely obtained by visual apparatus.Therefore, the complexity of robot system itself is increased.
Summary of the invention
The present invention in order to solve the above-mentioned deficiency of existing method, propose it is a kind of using quadruped robot in the process of walking
Swing the method that the contact time information of foot carries out On-line Estimation to inequality, this method not against landform awareness apparatus,
It can be to the real-time estimation of walked inequality.
Inequality On-line Estimation method towards quadruped robot of the invention, comprising the following steps:
(1) the swing foot motion profile of quadruped robot is divided at the uniform velocity ascent stage, swing foot and is rocked to target forward
It falls the surface stage of foot point and swings foot and drop down onto and encounter ground stage three phases；
(2) quadruped robot is defined as a step according to the movement of taking a step that selected sequence of taking a step is sequentially completed four foots
In the state period, foot is swung in m-th of gait cycle as vertical drop stage initial time to time used in the moment of contacting to earth ismti(i∈
[1,2,3,4]), it obtains in m-th of gait cyclemtiStandard deviationmσt；
By m-s (s >=1) a gait cycle into m-th of gait cyclemtiStandard deviationmσtAverage value as four-footed
Robot crosses the rugged degree estimated value R of landform in the m+1 gait cyclem+1；
According to inequality estimated value, obtains inequality walked to robot in the m+1 gait cycle and become
The estimated value p of change trendm+1；
(3) the lift foot height that foot is swung in the first stage is adjusted according to the estimated result of inequality.
At the uniform velocity ascent stage in the step (1), sufficient edge of the swing of quadruped robotFThe direction z at the uniform velocity climb hF,
Obtain swinging the equation of motion of sufficient motion profile are as follows:
Wherein, tFThe run duration of foot is swung for the first stage.
Foot is swung in the step (1) and is rocked to the surface stage that target falls foot point forward, it is assumed that swings sufficient expectation
Fall foot point and starting point edgeFX andFDistance on the direction y is respectivelyFSxWithFSy, obtain swinging sufficient edgeFX andFMovement on the direction y
Equation of locus are as follows:
Wherein, tSThe run duration of foot is swung for second stage；tFThe run duration of foot is swung for the first stage.
Foot is swung in the step (1) and is rocked to the surface stage that target falls foot point forward, is swung foot and is existedFOn the direction z
Motion profile be to be planned based on parabola, hsTo swing the maximum height lifted enough, the equation of motion in the stage are as follows:
Wherein,FS=FSxOrFS=FSy。
Foot is swung in the step (1) and is dropped down onto and encounters the ground stage, it is assumed that swinging the run duration of foot at this stage is
tT, to guarantee to exist when swing foot expectation falls foot point heightFWhen low compared with initial point on the direction z, touching can be fallen to always by swinging foot
To ground, increase penalty coefficient δ, δ >=1, then the stage swings the run duration of foot are as follows:
tT=δ tF,
According to the swing foot run duration in the first two stage, obtain swinging time T used in the entire vola track of foot completionR
Are as follows:
TR=tF+tS+tT,
In this stage, sufficient edge is swungFThe direction z is by the movement velocity setFvzIt at the uniform velocity moves downward, obtains swinging foot
The equation of motion profile at this stage:
In the step (2) in m-th of gait cyclemtiStandard deviationmσtAre as follows:
The m+1 gait cycle crosses the rugged degree estimated value R of landform in the step (2)m+1Are as follows:
By the rugged degree estimated value calculating formula of the above landform, inequality estimated value R is obtainedm+1Value range are as follows:
tTTo swing foot in the run duration of phase III.
In the step (2) in the m+1 gait cycle inequality variation tendency walked to robot estimation
pm+1Are as follows:
Wherein, Δ t is the interval time of two adjacent gait cycles, RmWith Rm+1Respectively m and the m+1 gait week
Interim quadruped robot crosses the estimated value of inequality；
By the estimation calculating formula of inequality variation tendencyObtain Pm+1Value range are as follows:
The detailed process of the sufficient height of lift of foot is swung in the step (3) in the adjustment first stage are as follows:
According to the rugged degree estimated value R of the m+1 gait cycle mesorelief of estimationm+1And inequality variation tendency is estimated
Evaluation Pm+1, provide and swing foot raising height in the first stage in the m+1 gait cycleCalculation formula:
Wherein, hminFor the preset minimum value for swinging sufficient raising height, β and γ are weight coefficient, and β >=0, γ
≥0。
The present invention respectively swings the information of contacting to earth of foot using quadruped robot in the process of walking, carries out rugged to walked landform
Rugged degree real-time estimation steps the real-time estimation of walked inequality using the result of inequality estimation to foot is swung
Step height is carried out from main modulation, to guarantee the result of inequality assessment.The invention has the characteristics that:
1. having planned a kind of sufficient motion profile of height-adjustable swing, quadruped robot can be helped in unknown terrain information
In the case where by rugged topography, and height of taking a step can be adjusted flexibly；
2., according to sufficient contact time information is swung, four-footed machine can be realized not against landform awareness apparatus
Real-time estimation of the device people to walked inequality；
2. giving oneself for swinging height of taking a step enough according to the inequality estimated result of robot in the process of walking
Homophony adjusting method effectively improves the terrain adaptability of robot, guarantees the result of inequality estimation.
Detailed description of the invention
Fig. 1 is the simulation model figure of ten two degrees of freedom four-leg bionic robots.
Fig. 2 be swing whole end coordinate systemFO } schematic diagram.
Fig. 3 is to swing sufficient curve movement schematic diagram.
Fig. 4 is the contact time for swinging foot imtiSchematic diagram.
Specific embodiment
By taking ten two degrees of freedom quadruped robots as shown in Figure 1 as an example, to the landform of the invention towards quadruped robot
Rugged degree On-line Estimation method is described in detail.
Set a vola coordinate systemFO }, origin is the contact point for swinging foot before being lifted away from ground with groundFP, such as
Shown in Fig. 2.As shown in figure 3, the swing foot motion profile of ten two degrees of freedom quadruped robots, can be classified as three phases, under
Face swings the equation of sufficient motion profile three parts by providing respectively:
(1) first stage swings sufficient Movement Locus Equation
In this stage, the swing foot edge of quadruped robotFThe direction z at the uniform velocity rises a certain distance hF(as shown in Figure 3),
Maintain a certain distance swing foot its sufficient end during striding forward with ground, to guarantee to swing sufficient sufficient end forward
Barrier when striding forward not with landform protrusions collides, and keeps quadruped robot suitable in the case where unknown terrain information
Benefit passes through rugged topography.
In in this stage, sufficient edge is swungFThe movement of the direction z, then can obtain swinging sufficient motion profile in first part
The equation of motion:
Wherein, tFThe run duration of foot is swung for the stage.
(2) second stage swings sufficient Movement Locus Equation
Swing foot is rocked to forward target and falls foot point edge in this stageFThe surface in the direction z, if robot swings foot
It is expected that falling foot point and starting pointFThe edge PFX andFDistance on the direction y is respectivelyFSxWithFSy.It can thus be concluded that swinging sufficient edgeFX andFThe side y
Upward Movement Locus Equation:
Wherein, tSThe run duration of foot is swung for the stage.
Foot is swung to existFMotion profile on the direction z is planned based on parabola, the equation of motion are as follows:
Wherein,FS=FSxOrFS=FSy。
(3) phase III swings sufficient Movement Locus Equation
If swinging the run duration of foot at this stage is tT, to guarantee to exist when swing foot expectation falls foot point heightFOn the direction z
When low compared with initial point, swinging foot can fall always, until the sensor that contacts to earth detects that swing foot touches ground, then at sufficient end
Increase penalty coefficient δ (δ >=1) in the equation of motion of track Part III, set the run duration of stage swing foot are as follows:
tT=δ tF
According to the swing foot run duration in the first two stage, can obtain swinging foot completion entire rectangle vola track institute's used time
Between TRAre as follows:
TR=tF+tS+tT
In this stage, sufficient edge is swungFThe direction z is by the movement velocity setFvzIt at the uniform velocity moves downward, thus can arrive pendulum
The equation of action spot motion profile at this stage are as follows:
Quadruped robot is defined as a gait according to the movement of taking a step that selected sequence of taking a step is sequentially completed four foots
Period, entire motion process can be divided into multiple gait cycles.Note swings foot by the vertical drop stage in m-th of gait cycle
Initial time is to the time used in the moment of contacting to earthmti(i ∈ [1,2,3,4]), as shown in Figure 3.
Thus, in m-th of gait cycle,mtiStandard deviationmσtAre as follows:
By m-s (s >=1) a gait cycle into m-th of gait cyclemtiStandard deviationmσtAverage value, as four
Biped robot crosses the rugged degree R of landform in the m+1 gait cyclem+1Estimation, it may be assumed that
Calculating formula is estimated by the above inequality, inequality estimated value R can be obtainedm+1Value range are as follows:
tTTo swing foot in the run duration of phase III.
According to inequality estimated value, provides inequality walked to robot in the m+1 gait cycle and become
The estimation p of change trendm+1Are as follows:
Wherein, Δ t is the interval time of two adjacent gait cycles, RmWith Rm+1Respectively m and the m+1 gait week
Interim quadruped robot crosses the estimated value of inequality.
By the estimation calculating formula of inequality variation tendencyP can be obtainedm+1Value range are as follows:
Quadruped robot is in course of a step, if swinging foot, lift foot height is excessive in the first phase, can not only extend
The time of entire course of a step, to influence the average movement velocity of robot, and unnecessary energy can be consumed；If pendulum
It is too small that action spot lifts foot height in the first stage, it is possible to make to swing the sufficient barrier touched in course of a step in landform, lead
The failure taken a step is caused, the result of inequality estimation is influenced.It therefore must be according to the estimated result of inequality reasonably
The lift foot height of foot is swung in the adjustment first stage.
According to estimation in the rugged degree estimated value R of the m+1 gait cycle mesoreliefm+1And inequality variation tendency
Pm+1Estimated value, provide and swing foot raising height in the first stage in the m+1 gait cycleCalculation formula:
Wherein, hminFor the preset minimum value for swinging sufficient raising height, β and γ are weight coefficient, and β >=0, γ
≥0。
Claims (9)
1. a kind of inequality On-line Estimation method towards quadruped robot, it is characterized in that:
(1) the swing foot motion profile of quadruped robot is divided at the uniform velocity ascent stage, swing foot to be rocked to target forward and fall foot
The surface stage of point and swing foot drop down onto and encounter ground stage three phases；
(2) quadruped robot is defined as a gait week according to the movement of taking a step that selected sequence of taking a step is sequentially completed four foots
Phase, foot is swung in m-th of gait cycle as vertical drop stage initial time to time used in the moment of contacting to earth ismti(i∈[1,2,
3,4]), obtain in m-th of gait cyclemtiStandard deviationmσt；
By m-s (s >=1) a gait cycle into m-th of gait cyclemtiStandard deviationmσtAverage value as four-footed machine
People crosses the rugged degree estimated value R of landform in the m+1 gait cyclem+1；
According to inequality estimated value, obtains inequality variation walked to robot in the m+1 gait cycle and become
The estimated value p of gesturem+1；
(3) the lift foot height that foot is swung in the first stage is adjusted according to the estimated result of inequality.
2. the inequality On-line Estimation method according to claim 1 towards quadruped robot, it is characterized in that:
At the uniform velocity ascent stage in the step (1), sufficient edge of the swing of quadruped robotFThe direction z at the uniform velocity climb hF, obtain
Swing the equation of motion of sufficient motion profile are as follows:
Wherein, tFThe run duration of foot is swung for the first stage.
3. the inequality On-line Estimation method according to claim 1 towards quadruped robot, it is characterized in that:
Foot is swung in the step (1) and is rocked to the surface stage that target falls foot point forward, it is assumed that is swung sufficient expectation and is fallen foot
Point and starting point edgeFX andFDistance on the direction y is respectivelyFSxWithFSy, obtain swinging sufficient edgeFX andFMotion profile on the direction y
Equation are as follows:
Wherein, tSThe run duration of foot is swung for second stage；tFThe run duration of foot is swung for the first stage.
4. the inequality On-line Estimation method according to claim 1 towards quadruped robot, it is characterized in that:
Foot is swung in the step (1) and is rocked to the surface stage that target falls foot point forward, is swung foot and is existedFMovement on the direction z
Track is planned based on parabola, hsTo swing the maximum height lifted enough, the equation of motion in the stage are as follows:
Wherein,FS=FSxOrFS=FSy。
5. the inequality On-line Estimation method according to claim 1 towards quadruped robot, it is characterized in that:
Foot is swung in the step (1) and is dropped down onto and encounters the ground stage, it is assumed that swinging the run duration of foot at this stage is tT, it is
Guarantee to exist when swing foot expectation falls foot point heightFWhen low compared with initial point on the direction z, swing sufficient can fall to always and touch ground
Face increases penalty coefficient δ, and δ >=1, then the stage swings the run duration of foot are as follows:
tT=δ tF,
According to the swing foot run duration in the first two stage, obtain swinging time T used in the entire vola track of foot completionRAre as follows:
TR=tF+tS+tT,
In this stage, sufficient edge is swungFThe direction z is by the movement velocity setFvzIt at the uniform velocity moves downward, obtains swinging sufficient movement
The equation of track at this stage:
6. the inequality On-line Estimation method according to claim 1 towards quadruped robot, it is characterized in that: described
In step (2) in m-th of gait cyclemtiStandard deviationmσtAre as follows:
7. the inequality On-line Estimation method according to claim 1 towards quadruped robot, it is characterized in that: described
The m+1 gait cycle crosses the rugged degree estimated value R of landform in step (2)m+1Are as follows:
By the rugged degree estimated value calculating formula of the above landform, inequality estimated value R is obtainedm+1Value range are as follows:
tTTo swing foot in the run duration of phase III.
8. the inequality On-line Estimation method according to claim 1 towards quadruped robot, it is characterized in that: described
In step (2) in the m+1 gait cycle inequality variation tendency walked to robot estimation pm+1Are as follows:
Wherein, Δ t is the interval time of two adjacent gait cycles, RmWith Rm+1Four in respectively m and the m+1 gait cycle
Biped robot crosses the estimated value of inequality；
By the estimation calculating formula of inequality variation tendencyObtain Pm+1Value range are as follows:
9. the inequality On-line Estimation method according to claim 1 towards quadruped robot, it is characterized in that: described
The detailed process of the sufficient height of lift of foot is swung in step (3) in the adjustment first stage are as follows:
According to the rugged degree estimated value R of the m+1 gait cycle mesorelief of estimationm+1And inequality variation tendency estimated value
Pm+1, provide and swing foot raising height in the first stage in the m+1 gait cycleCalculation formula:
Wherein, hminFor the preset minimum value for swinging sufficient raising height, β and γ are weight coefficient, and β >=0, γ >=0.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113467445A (en) * | 2021-06-17 | 2021-10-01 | 南京蔚蓝智能科技有限公司 | Four-legged robot swing leg obstacle avoidance method based on vision and path planning |
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| CN107065867A (en) * | 2017-03-28 | 2017-08-18 | 浙江大学 | A kind of quadruped robot motion planning method towards unknown rugged topography |
| CN107807655A (en) * | 2017-10-27 | 2018-03-16 | 山东大学 | Quadruped robot balance and stability control method based on gait adjustment in three dimensions |
| US20190053074A1 (en) * | 2017-08-10 | 2019-02-14 | Tata Consultancy Services Limited | System and method for assisted link prediction mechanism in robotic communications |
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| CN104267720A (en) * | 2014-10-24 | 2015-01-07 | 山东大学 | Method for generating free gaits for four-footed bionic robot |
| CN106695791A (en) * | 2017-01-11 | 2017-05-24 | 山东科技大学 | Generation method of continuous free tread of four-foot biomimetic robot |
| CN107065867A (en) * | 2017-03-28 | 2017-08-18 | 浙江大学 | A kind of quadruped robot motion planning method towards unknown rugged topography |
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