CN110802593A - Lower limb joint zero calibration method of humanoid robot - Google Patents

Lower limb joint zero calibration method of humanoid robot Download PDF

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CN110802593A
CN110802593A CN201911080702.4A CN201911080702A CN110802593A CN 110802593 A CN110802593 A CN 110802593A CN 201911080702 A CN201911080702 A CN 201911080702A CN 110802593 A CN110802593 A CN 110802593A
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CN110802593B (en
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孟立波
黄强
余张国
陈学超
蔡兆旸
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Beijing Institute of Technology BIT
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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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
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Abstract

The invention discloses a lower limb joint zero position calibration method of a humanoid robot, which comprises the following steps of qx, qy and fzWhether the sum Sv of the squares of the change rates reaches the minimum value or not is judged, whether the 4 th joint reaches the zero position or not is judged, and after the 4 th joint reaches the zero position, the angle of the 1 st joint is adjusted to enable the 1 st joint to reach the zero position; the 2 nd, 6 th and 3 rd, 5 th joints are then adjusted so that the 2 nd, 6 th and 3 rd, 5 th joints reach a null position. Parameters qx, qy, f in the calibration method of the inventionzThe robot is obtained by an attitude sensor arranged on the trunk and a six-dimensional force/torque sensor fixed on the ankle joint respectively, zero calibration is completed by the robot without the help of other devices, the speed is high, the accuracy is high, and the cost is saved.

Description

Lower limb joint zero calibration method of humanoid robot
Technical Field
The invention belongs to the field of calibration of humanoid robots, and particularly relates to a lower limb joint zero position calibration method of a humanoid robot.
Background
In recent years, humanoid robots have been developed rapidly, and have increasingly important application prospects in the aspects of home services, national defense safety and the like. The humanoid robot moves in a biped walking mode the same as a human, the position control precision of joints is high, and if expected joint tracks cannot be executed correctly, the robot is easy to be unstable in the walking process and even fall down, so that unnecessary damage is caused.
In the existing method, zero calibration is carried out by adopting a mode that a motor end carries out zero calibration relative to a coded disc and a joint end single-ring absolute coded disc, the mode can increase the electrical complexity of the robot and reduce the walking stability of the robot; or zero calibration is carried out through the Hall element, and an electric element needs to be additionally added, so that the robot is unstable in walking; or the method of marking zero of the joint is carried out through mechanical limit, the method generally only can adopt a manual mode to rotate the joint to the mechanical limit position, the zero position of the robot is marked by taking the position as a reference, the automation degree is low, and the efficiency is insufficient.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a zero calibration method for a lower limb joint of a humanoid robot.
The technical purpose is achieved through the following technical scheme.
A method for calibrating the zero position of a lower limb joint of a humanoid robot comprises the following steps:
step (1), rotating each joint to be near a zero position;
step (2), adjusting the ZMP of the robot to the center of one foot;
step (3), rotating the 4 th joint of the lower limb corresponding to the foot at a constant speed in a reciprocating manner;
step (4), composed of qx, qy, fzWhether the sum Sv of the square of the change rates reaches the minimum value or not is judged, whether the 4 th joint reaches the zero position or not is judged, when the 4 th joint reaches the zero position, the angles of the 2 nd, 3 rd, 5 th and 6 th joints are adjusted to enable qx and qy to be 0, and the angle of the 2 nd joint is continuously adjusted to enable qx to deviate by a certain angle; if the 4 th joint does not reach the zero position, returning to the step (3);
step (5), adjusting the angle of the 1 st joint to enable qy to be 0, and enabling the 1 st joint to reach a zero position;
step (6), adjusting the zero position of the 1 st joint and the 4 th joint of the lower limb corresponding to the other foot, and the same steps as the step (3) to the step (5);
step (7), the robot is recovered to a two-leg standing state;
step (8), adjusting the angles of the 5 th and 6 th joints of the two lower limbs to enable the moments of the two feet, which are borne by the ground, along the x direction and the y direction to be 0; adjusting the angles of the 2 nd and 6 th joints of the two lower limbs to ensure that the ZMP is positioned between the two feet in the left-right direction, and enabling the 2 nd and 6 th joints of the two lower limbs to reach zero positions;
step (9), adjusting the angles of the 3 rd and 5 th joints of the two lower limbs, keeping qx and qy to be 0, and enabling the front and back positions of the ZMP to be moved to the middle position of the bottom of the robot foot, so that the 3 rd and 5 th joints of the two lower limbs reach zero positions;
wherein qx and qy are the pitch angle and roll angle of the robot trunk in the world coordinate system respectively, and fzThe robot is subjected to a force in the z direction from the ground for a single foot.
Further, qx and qy are acquired by a posture sensor installed on the trunk.
Further, f iszObtained by a six-dimensional force/moment sensor fixed at the ankle joint.
Further, the expression of Sv is:
further, the ZMP calculation formula of the robot is as follows:
Figure BDA0002263857760000022
Figure BDA0002263857760000023
wherein p isRxIs the position of the ZMP point of the right foot in the fore-aft direction, pRyIs the position of the ZMP point of the right foot in the left-right direction, pLxIs a ZMP point of the left foot in the front-back directionPosition of (a) pLyThe left foot ZMP point is in the left-right direction.
The invention has the beneficial effects that: according to the invention, the contact force between the robot and the ground is measured through the six-dimensional force sensor fixed on the ankle joint of the robot, and the body posture data is measured through the posture sensor fixed on the upper body of the robot, so that the robot can complete automatic zero calibration, and the robot can realize rapid and accurate motion control. The invention does not depend on absolute code disc of the joint or mechanical limit, and only calibrates the zero position of the joint through the existing sensor of the robot, so that the humanoid robot can finish autonomous zero position calibration, does not depend on artificial calibration, and saves manpower.
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FIG. 1 is a schematic diagram of the configuration of the degree of freedom of a humanoid robot according to the present invention;
FIG. 2 is a flow chart of a method for calibrating zero positions of lower limb joints of a humanoid robot.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
The zero position of the joints of the humanoid robot refers to the position of each joint when the humanoid robot stands in an upright posture.
The lower limb joint zero calibration method is suitable for a humanoid robot, and the humanoid robot is an anthropomorphic intelligent robot with a trunk, a head, two hands and two feet. The humanoid robot senses the self state and external environment information through a sensing system, and comprises a posture sensor arranged on a trunk to acquire the posture angle of a body, a six-dimensional force/torque sensor fixed on an ankle joint to acquire the contact force between the robot and the ground and the like. The drive system is a drive-motor system mounted at each joint of the robot. The sensing system and the driving system are communicated with the upper computer through an EtherCAT communication protocol, and the sensing system transmits the state information of the robot and the external environment information to the upper computer. In order to ensure the real-time performance of communication, the communication frequency of the robot is set to be 1 ms. The upper computer is used for processing the state information acquired by the sensing system and sending the motion instruction of the robot to the driving system, so that the humanoid robot can complete the tasks of movement, operation and the like.
The humanoid robot generally walks by feet, the accurate control of the joint angle of the lower limb of the robot is an important guarantee for the motion stability of the humanoid robot, and the accurate measurement of the zero position of each joint of the lower limb of the robot is the basis for the accurate control of the angle of the lower limb. Therefore, the invention provides a zero calibration method for a lower limb joint of a humanoid robot, which comprises the following steps:
and (1) establishing a reference coordinate system in the middle of two feet of the robot, wherein the x direction is along the front and back direction of the robot, the y direction is along the left and right direction of the robot, and the z direction is along the vertical direction of the robot. Each joint of the humanoid robot is numbered, and the lower limb of the humanoid robot generally has six degrees of freedom. As shown in fig. 1, the six joints of the left leg and the right leg are respectively numbered in sequence from the connection sequence, and the left leg is: l1, L2, L3, L4, L5, L6, right leg: r1, R2, R3, R4, R5 and R6. The joints L1 and R1 are rotational joints in the Z direction, the joints L2, L6, R2 and R6 are rotational joints in the X direction, and the joints L3, L4, L5, R3, R4 and R5 are rotational joints in the y direction. The lower limb zero position calibration method is suitable for the humanoid robot configured by using the lower limb joints.
And (2) under the condition that the power supply of the humanoid robot is not switched on, motors of all joints are in an disabled state, the robot is difficult to maintain a standing posture, the humanoid robot in the state is usually suspended in the air through a rope or a bracket, motors of all joints of lower limbs of the humanoid robot in the disabled state are enabled under the condition that the lower limbs are vertical, and all the joints are servo-actuated in the vertical state (near a zero position).
And (3) placing the robot on a horizontal ground in a manner that feet contact the ground through a rope, measuring the ground reaction force applied to the robot through a six-dimensional force/moment sensor fixed on the sole of the foot, and measuring the deflection angle of the upper body of the robot in a world coordinate system through a posture sensor. The measured data of the six-dimensional force/moment sensor installed on the left foot is as follows: f. ofLx、fLy、fLz、MLx、MLy、MLzThe left foot of the robot receives forces along the x direction, the y direction and the z direction on the ground and moments along the x direction, the y direction and the z direction. The measured data of the six-dimensional force/moment sensor installed on the right foot are as follows: f. ofRx、fRy、fRz、MRx、MRy、MRzThe left foot of the robot receives forces along the x direction, the y direction and the z direction on the ground and moments along the x direction, the y direction and the z direction. The data measured by the attitude sensor arranged on the robot trunk are as follows: qx, qy are the pitch angle and roll angle of the robot torso in the world coordinate system, respectively.
Step (4), calibrating the lower limb zero position according to the data obtained in the step (3) (as shown in figure 2)
And (4.1) taking the motion trail of the upper body of the robot as a target position, obtaining the angles of all joints of the lower limb by solving inverse kinematics, moving the position of the upper body of the robot to enable the ZMP (zero moment point) of the robot to move to the center of the left foot, and lifting the right foot, wherein the ZMP calculation formula of the robot is as follows:
Figure BDA0002263857760000041
Figure BDA0002263857760000042
wherein p isRxIs the position of the ZMP point of the right foot in the fore-aft direction, pRyIs the position of the ZMP point of the right foot in the left-right direction, pLxIs the position of the ZMP point of the left foot in the fore-aft direction, pLyThe left foot ZMP point is in the left-right direction.
Step (4.2), rotating the joint L4 by an angle d in the clockwise direction1(in this example, d is taken110 °), and then the joint L4 is rotated by an angle 2d in the counter-clockwise direction at a speed v1Recording qx, qy, f during counterclockwise rotationLzCalculates qx, qy, fLzThe square of the rate of change of (c) is taken as qx, qy, fLzSum of squared change rate Sv1The angle of the joint L4 corresponding to the minimum time is the zero position of the joint;
Figure BDA0002263857760000043
adjusting the angles of joints L2, L3, L5 and L6 of the robot to enable qx and qy measured by the attitude sensor to be 0;
step (4.4), adjusting the angle L2 of the joint of the robot to enable qx to deviate by an angle d2(in this example, d is taken210 degrees, qy changes simultaneously, the angle of the joint L1 of the robot is adjusted, the angle of qy becomes zero, and the angle of the joint L1 is the zero position;
step (4.5), the robot is restored to be close to the vertical state, the ZMP of the robot is moved to the center of the right foot by adjusting the position of the upper body of the robot, and the left foot is lifted;
step (4.6), rotating the joint R4 by an angle d in the clockwise direction1(in this example, d is taken110 °), and then the joint R4 is rotated by an angle 2d in the counter-clockwise direction at a speed v1Recording qx, qy, f during counterclockwise rotationRzCalculates qx, qy, fRzThe square of the rate of change of (c) is taken as qx, qy, fRzSum of squared change rate Sv2The angle of the joint R4 corresponding to the minimum time is the zero position of the joint;
adjusting the angles of joints R2, R3, R5 and R6 of the robot to enable qx and qy measured by the attitude sensor to be 0;
step (4.8), adjusting the angle of a joint R2 of the robot to enable qx to deviate by an angle d2(in this example, d is taken210 degrees, qy changes simultaneously, the angle of the joint R1 of the robot is adjusted to enable the angle of qy to be zero, and the angle of the joint R1 is the zero position;
and (4.9) restoring the robot to the two-leg standing state again, and only adjusting the angles of the joints L5, R5, L6 and R6M for making six-dimensional force/torque sensor measureLx、MLy、MRx、MRyWhen the current angle of the joints L2, R2, L6 and R6 is zero, the angles of the joints L2, R2, L6 and R6 are adjusted to enable the six-dimensional force/torque sensor to measure that the position of the ZMP in the y direction is positioned between two feet;
and (4.10) adjusting the angles of the joints L3, L5, R3 and R5, keeping qx and qy to be zero, and simultaneously moving the position of the ZMP in the front and back direction to the middle position of the sole of the robot, wherein the current angles of the joints L3, L5, R3 and R5 are the zero positions of the joints.
It will be appreciated by those skilled in the art that changes may be made in the above embodiments or equivalents may be substituted for elements thereof without departing from the scope of the invention.

Claims (5)

1. A humanoid robot lower limb joint zero position calibration method is characterized by comprising the following steps: the method comprises the following steps:
step (1), rotating each joint to be near a zero position;
step (2), adjusting the ZMP of the robot to the center of one foot;
step (3), rotating the 4 th joint of the lower limb corresponding to the foot at a constant speed in a reciprocating manner;
step (4), composed of qx, qy, fzWhether the sum Sv of the square of the change rates reaches the minimum value or not is judged, whether the 4 th joint reaches the zero position or not is judged, when the 4 th joint reaches the zero position, the angles of the 2 nd, 3 rd, 5 th and 6 th joints are adjusted to enable qx and qy to be 0, and the angle of the 2 nd joint is continuously adjusted to enable qx to deviate by a certain angle; if the 4 th joint does not reach the zero position, returning to the step (3);
step (5), adjusting the angle of the 1 st joint to enable qy to be 0, and enabling the 1 st joint to reach a zero position;
step (6), adjusting the zero position of the 1 st joint and the 4 th joint of the lower limb corresponding to the other foot, and the same steps as the step (3) to the step (5);
step (7), the robot is recovered to a two-leg standing state;
step (8), adjusting the angles of the 5 th and 6 th joints of the two lower limbs to enable the moments of the two feet, which are borne by the ground, along the x direction and the y direction to be 0; adjusting the angles of the 2 nd and 6 th joints of the two lower limbs to ensure that the ZMP is positioned between the two feet in the left-right direction, and enabling the 2 nd and 6 th joints of the two lower limbs to reach zero positions;
step (9), adjusting the angles of the 3 rd and 5 th joints of the two lower limbs, keeping qx and qy to be 0, and enabling the front and back positions of the ZMP to be moved to the middle position of the bottom of the robot foot, so that the 3 rd and 5 th joints of the two lower limbs reach zero positions;
wherein qx and qy are the pitch angle and roll angle of the robot trunk in the world coordinate system respectively, and fzThe robot is subjected to a force in the z direction from the ground for a single foot.
2. The humanoid robot lower limb joint zero calibration method as recited in claim 1, characterized in that: and qx and qy are acquired by a posture sensor arranged on the trunk.
3. The humanoid robot lower limb joint zero calibration method as recited in claim 1, characterized in that: f iszObtained by a six-dimensional force/moment sensor fixed at the ankle joint.
4. The humanoid robot lower limb joint zero calibration method as recited in claim 1, characterized in that: the expression of Sv is:
5. the humanoid robot lower limb joint zero calibration method as recited in claim 1, characterized in that: the ZMP calculation formula of the robot is as follows:
Figure FDA0002263857750000013
wherein p isRxIs the position of the ZMP point of the right foot in the fore-aft direction, pRyIs the position of the ZMP point of the right foot in the left-right direction, pLxIs the position of the ZMP point of the left foot in the fore-aft direction, pLyThe left foot ZMP point is in the left-right direction.
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Cited By (2)

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CN112644599A (en) * 2020-12-30 2021-04-13 乐聚(深圳)机器人技术有限公司 Posture adjustment method, device, equipment and storage medium of biped robot
CN114147725A (en) * 2021-12-21 2022-03-08 乐聚(深圳)机器人技术有限公司 Zero point adjustment method, device, equipment and storage medium for robot

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CN114147725A (en) * 2021-12-21 2022-03-08 乐聚(深圳)机器人技术有限公司 Zero point adjustment method, device, equipment and storage medium for robot
CN114147725B (en) * 2021-12-21 2024-04-02 乐聚(深圳)机器人技术有限公司 Zero point adjustment method, device and equipment for robot and storage medium

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