CN110834685B - Method for quadruped robot to dynamically cross concave obstacle - Google Patents

Method for quadruped robot to dynamically cross concave obstacle Download PDF

Info

Publication number
CN110834685B
CN110834685B CN201910933086.6A CN201910933086A CN110834685B CN 110834685 B CN110834685 B CN 110834685B CN 201910933086 A CN201910933086 A CN 201910933086A CN 110834685 B CN110834685 B CN 110834685B
Authority
CN
China
Prior art keywords
obstacle
robot
concave
information
foot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910933086.6A
Other languages
Chinese (zh)
Other versions
CN110834685A (en
Inventor
许�鹏
苏波
江磊
姚其昌
党睿娜
许威
蒋云峰
慕林栋
降晨星
邓秦丹
梁振杰
汪建兵
郭亮
卢玉传
赵建新
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China North Vehicle Research Institute
Original Assignee
China North Vehicle Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China North Vehicle Research Institute filed Critical China North Vehicle Research Institute
Priority to CN201910933086.6A priority Critical patent/CN110834685B/en
Publication of CN110834685A publication Critical patent/CN110834685A/en
Application granted granted Critical
Publication of CN110834685B publication Critical patent/CN110834685B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces

Abstract

The invention discloses a method for a quadruped robot to dynamically cross concave obstacles, and belongs to the technical field of robot motion control. The method comprises the following implementation steps: firstly, detecting a foot falling safety region of a robot facing a concave obstacle, secondly, re-planning a swing leg track, and finally, establishing a robot dynamic crossing concave obstacle stabilizing controller by using a terrain attitude angle as an input. The invention realizes the crossing of concave obstacles by establishing the robot dynamic obstacle crossing stable controller and improves the walking efficiency of the quadruped robot to the complex obstacle pavement.

Description

Method for quadruped robot to dynamically cross concave obstacle
Technical Field
The invention relates to the technical field of robot motion control, in particular to a method for a quadruped robot to dynamically cross a concave obstacle.
Background
Four-footed robot compares in traditional wheeled, tracked vehicle, and the discrete swing leg of accessible selection falls foot point, consequently adaptable plateau, complicated topography such as mountain region, and at present, four-footed robot mainly focuses on the body control based on self sensing, and the stride amplitude of swing leg is set for according to manual remote control's speed, consequently, to the concave barrier of large-span: 1) the operator is used for remotely controlling the robot to select the detour; 2) the swing track of the swing leg is manually adjusted by judging the size of the concave obstacle by an operator to cross the concave obstacle. The former can successfully avoid concave obstacles, but the efficiency is low; the latter may lead to the robot being trapped in a concave obstacle and even to the risk of overturning due to inaccuracies in the judgement of the concave obstacle by the operator. Although research on autonomous walking of the robot is carried out by part of colleges and universities and research institutions, the research is mainly focused on autonomous behaviors such as personnel following and the like, and the research on local foot-falling autonomous planning is relatively deficient.
Disclosure of Invention
In view of the above, the invention provides a method for a quadruped robot to dynamically cross a concave obstacle, which realizes crossing of the concave obstacle by establishing a robot dynamic obstacle crossing stability controller, and improves walking efficiency of the quadruped robot on a complex obstacle road surface.
A method for a quadruped robot to dynamically cross concave obstacles comprises the following implementation steps:
the method comprises the steps of firstly, detecting a foot falling safety region of a robot facing a concave obstacle;
step two, re-planning the swing leg track;
and step three, establishing a robot dynamic obstacle crossing stable controller.
Further, the specific implementation process of the step one is as follows:
step 1: establishing a height chart of the foot falling area by adopting multi-sensor fusion, and acquiring height information of the foot falling area;
step 2: calculating topographic relief information of the foot falling area;
and step 3: setting a topographic relief information threshold value, and comparing the topographic relief information threshold value with the current relief information;
and 4, step 4: setting a terrain elevation information threshold value, comparing the terrain elevation information threshold value with current elevation information, and considering that a foot falls in a safe area when the current elevation information is smaller than the elevation information setting threshold value and the current elevation information is larger than the elevation information setting threshold value, otherwise, the foot falls in the dangerous area.
Further, the specific implementation process of the second step is as follows:
step 1: and establishing a virtual obstacle according to the actual obstacle size information.
Step 2: and replanning the cubic spline track curve according to the virtual obstacle corner points and the foot falling points.
Further, the third step is realized as follows:
step 1: and establishing a virtual servo controller of the machine body, and distributing the virtual servo controller to the feet through a target optimization method.
Step 2: a bottom compliant servo controller is established.
Has the advantages that:
1. the invention can effectively judge the safety of crossing the concave obstacle and falling the foot by adopting the topographic relief information and the elevation information.
2. The invention replans the foot-falling point according to the position of the virtual concave obstacle, can effectively span the concave obstacle, adopts the spline algorithm to plan the swing track, and is stable and reliable.
3. The invention adopts a virtual servo and bottom layer compliance control method, and can improve the stability and compliance of the robot in dynamic crossing concave obstacles.
4. The invention can realize the dynamic self-adaptation of the quadruped robot in a complex environment and improve the walking efficiency of the quadruped robot under a concave obstacle road surface.
Drawings
FIG. 1 is a flow chart of the steps implemented by the method for a quadruped robot to dynamically cross a concave obstacle;
FIG. 2 is a schematic diagram of a four-legged robot foot-placement point safety zone detection;
FIG. 3 is a schematic diagram of swing leg trajectory re-planning for a quadruped robot;
fig. 4 is a schematic diagram of dynamic obstacle crossing stability control of the quadruped robot.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a method for a quadruped robot to dynamically cross concave obstacles, which comprises the following steps:
step 1, detecting a foot falling safety region of the robot caused by the concave obstacle. The method specifically comprises the following steps:
step 11: the height map of the foot falling area is built through fusion of multiple sensors such as an airborne camera and a laser radar, and height information x of the foot falling area is obtained, as shown in the attached figure 2.
Step 12: and calculating topographic relief information sigma of the foot falling area according to the height information of the foot falling area, wherein the sigma is calculated as follows:
Figure BDA0002220767070000031
where N is the number of elevation grids, xiIs the elevation value of the ith grid,
Figure BDA0002220767070000032
the elevation average of the N grids.
Step 13: setting a topographic relief information threshold σ*And compared with the current undulation information sigma.
Step 14: setting a terrain elevation information threshold x*And compared with the current relief information x.
The current undulation information sigma is smaller than the set threshold sigma*And the current terrain elevation information x is larger than a set threshold value x*It is considered to be a foot-safe area, and conversely a dangerous area.
As shown in fig. 3 and 4, step 2, swing leg trajectory re-planning. The method specifically comprises the following steps:
step 21: establishing a virtual obstacle according to the information such as the size of the actual obstacle, including the length L of the concave obstacle and the depth H of the concave obstacle, setting a distance threshold Delta H between the virtual concave obstacle and the actual concave obstacle, and acquiring the size of the virtual concave obstacle, including the depth H of the concave obstaclevLength of concave obstacle LvAnd key corner information P2v、P4v。
Step 22: replanning cubic spline track curve according to the corner points and the foot falling points of the virtual obstacles, and setting a safety threshold L of the starting pointfPlanning the starting point P of the swing leg1vPlanning the highest point P of the swing track3vPlanning the foot-falling position P according to the safety area of the foot-falling point5vAnd planning the swing track of the swing leg by adopting a spline interpolation algorithm.
As shown in fig. 3, step 3, the robot dynamic obstacle crossing stability controller is established. The method specifically comprises the following steps:
step 31: establishing a virtual servo controller of the machine body, and distributing the virtual servo controller to the feet through a target optimization method, wherein the virtual servo controller is established as follows:
Figure BDA0002220767070000041
in the formula, Mm、FmThe moment vector and the virtual resultant force vector of the engine body are taken as the virtual resultant force moment vector and the virtual resultant force vector of the engine body; k is a radical ofpIs a positive definite gain matrix; q is the actual pose vector of the fuselage; q. q.sdAn expected pose vector for the fuselage; k is a radical ofvIs a positive definite differential coefficient matrix;
Figure BDA0002220767070000042
is the actual pose velocity vector of the fuselage,
Figure BDA0002220767070000043
for the desired pose velocity vector, k, of the fuselageffIs a positive constant velocity feedforward coefficient matrix, m is the robot mass, and g is the gravitational acceleration.
Establishing an objective optimization function F by setting constraint conditions＝f(Mm,Fm) Solving a set of solutions which satisfy constraint conditions and enable the objective function to obtain a minimum value, wherein the constraint conditions are as follows:
s.t.
Figure BDA0002220767070000044
Figure BDA0002220767070000045
in the above formula, the first and second carbon atoms are,
Figure BDA0002220767070000051
normal force at the ith contact point;
Figure BDA0002220767070000052
the tangential force at the ith contact point; μ is a sliding friction coefficient.
Step 32: the bottom layer compliant servo controller was built with the force of the distributed foot as input, and the joint controller was designed as follows.
Figure BDA0002220767070000053
In the formula: k is a radical ofpθ、kvθThe rigidity and damping coefficient of the controller are set; thetadA desired joint angle; θ is the actual joint angle;
Figure BDA0002220767070000054
a desired joint angular velocity;
Figure BDA0002220767070000055
actual joint angular velocity; tau isff＝-JTFdIs a joint force feedforward term; fdA desired force for the foot end; j is a joint force Jacobian matrix; u is the joint controller input.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (2)

1. A method for a quadruped robot to dynamically cross concave obstacles is characterized by comprising the following implementation steps:
the method comprises the steps of firstly, detecting a foot falling safety region of a robot facing a concave obstacle;
step two, re-planning the swing leg track;
step three, establishing a robot dynamic crossing concave obstacle stable controller;
the specific implementation process of the first step is as follows:
step 1: establishing a height chart of the foot falling area by adopting multi-sensor fusion, and acquiring height information of the foot falling area;
step 2: calculating topographic relief information of the foot falling area;
and step 3: setting a topographic relief information threshold value, and comparing the topographic relief information threshold value with the current relief information;
and 4, step 4: setting a terrain elevation information threshold value, comparing the terrain elevation information threshold value with current elevation information, and considering that a foot falls in a safe area when the current elevation information is smaller than the elevation information setting threshold value and the current elevation information is larger than the elevation information setting threshold value, otherwise, the foot falls in the dangerous area;
the concrete implementation process of the second step is as follows:
step 1: establishing a virtual obstacle according to the size information of the actual obstacle;
step 2: and replanning the cubic spline track curve according to the virtual obstacle corner points and the foot falling points.
2. The dynamic concave obstacle crossing method of the quadruped robot as claimed in claim 1, wherein the third step is realized by the following steps:
step 1: establishing a virtual servo controller of the machine body, and distributing the virtual servo controller to the feet through a target optimization method;
step 2: a bottom compliant servo controller is established.
CN201910933086.6A 2019-09-29 2019-09-29 Method for quadruped robot to dynamically cross concave obstacle Active CN110834685B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910933086.6A CN110834685B (en) 2019-09-29 2019-09-29 Method for quadruped robot to dynamically cross concave obstacle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910933086.6A CN110834685B (en) 2019-09-29 2019-09-29 Method for quadruped robot to dynamically cross concave obstacle

Publications (2)

Publication Number Publication Date
CN110834685A CN110834685A (en) 2020-02-25
CN110834685B true CN110834685B (en) 2021-05-28

Family

ID=69574693

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910933086.6A Active CN110834685B (en) 2019-09-29 2019-09-29 Method for quadruped robot to dynamically cross concave obstacle

Country Status (1)

Country Link
CN (1) CN110834685B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111367327A (en) * 2020-04-02 2020-07-03 杭州云深处科技有限公司 Control method and device for bionic jumping action of quadruped robot
CN113359742B (en) * 2021-06-18 2022-07-29 云鲸智能(深圳)有限公司 Robot and obstacle crossing method and device thereof, and computer readable storage medium
CN114683289A (en) * 2022-05-09 2022-07-01 中兵智能创新研究院有限公司 Attitude pre-adaptive control method for quadruped robot
CN115840453B (en) * 2023-02-10 2023-05-05 季华实验室 Self-adaptive foot end obstacle avoidance method and device for four-foot robot, electronic equipment and medium

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107644441A (en) * 2017-08-30 2018-01-30 南京大学 Multi-foot robot complex road condition based on three-dimensional imaging is separated into point methods of stopping over
CN108858208A (en) * 2018-09-05 2018-11-23 鲁东大学 A kind of complicated landform anthropomorphic robot adaptive equalization control method, device and system
CN109333534A (en) * 2018-10-23 2019-02-15 广东工业大学 The real-time gait control algolithm of pre-planning
CN109696909A (en) * 2017-10-23 2019-04-30 深圳市优必选科技有限公司 Legged type robot paths planning method and device

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10807246B2 (en) * 2018-01-08 2020-10-20 Beijing Jingdong Shangke Information Technology Co., Ltd. Mobile robotic device and method of controlling the same manipulator for locomotion and manipulation

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107644441A (en) * 2017-08-30 2018-01-30 南京大学 Multi-foot robot complex road condition based on three-dimensional imaging is separated into point methods of stopping over
CN109696909A (en) * 2017-10-23 2019-04-30 深圳市优必选科技有限公司 Legged type robot paths planning method and device
CN108858208A (en) * 2018-09-05 2018-11-23 鲁东大学 A kind of complicated landform anthropomorphic robot adaptive equalization control method, device and system
CN109333534A (en) * 2018-10-23 2019-02-15 广东工业大学 The real-time gait control algolithm of pre-planning

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
四足机器人地形识别与路径规划算法;张慧等;《机器人》;20150930;第37卷(第5期);第546-556页 *

Also Published As

Publication number Publication date
CN110834685A (en) 2020-02-25

Similar Documents

Publication Publication Date Title
CN110834685B (en) Method for quadruped robot to dynamically cross concave obstacle
CN110815211B (en) Method for quadruped robot to dynamically cross convex obstacle
US11654985B2 (en) Mechanically-timed footsteps for a robotic device
US11654984B2 (en) Slip detection for robotic locomotion
US11654569B2 (en) Handling gait disturbances with asynchronous timing
US9623568B1 (en) Yaw slip handling in a robotic device
US11841707B2 (en) Unobtrusive driving assistance method and system for a vehicle to avoid hazards
US9387896B1 (en) Slip avoidance
US10059392B1 (en) Control of robotic devices with non-constant body pitch
Spenko et al. Hazard avoidance for high‐speed mobile robots in rough terrain
US10196104B1 (en) Terrain Evaluation for robot locomotion
Zhang et al. Efficient motion planning based on kinodynamic model for quadruped robots following persons in confined spaces
Tennakoon et al. Probe-before-step walking strategy for multi-legged robots on terrain with risk of collapse
CN114022824A (en) Narrow environment-oriented quadruped robot motion planning method
Lee et al. Whole-body motion and landing force control for quadrupedal stair climbing
Kobilarov et al. Near time-optimal constrained trajectory planning on outdoor terrain
Lai et al. Hierarchical incremental path planning and situation-dependent optimized dynamic motion planning considering accelerations
Jordan et al. Real-time model based path planning for wheeled vehicles
Lu et al. Whole‐body motion planning and control of a quadruped robot for challenging terrain
KR101135455B1 (en) Velocity decision method for unmanned ground vehicle
Martínez-García et al. Exponential fields formulation for WMR navigation
Nabulsi et al. Multiple terrain adaptation approach using ultrasonic sensors for legged robots
Nakajima et al. Adaptive gait for large rough terrain of a leg-wheel robot (Fifth report: integrated gait)
Xin et al. Integrating Vehicle Slip and Yaw in Overarching Multi-Tiered Automated Vehicle Steering Control to Balance Path Following Accuracy, Gracefulness, and Safety
Fahimi et al. A self-levelling higher order sliding mode controller for a leg-wheeled robot with experiments

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant