CN111605642B - Free fault-tolerant gait planning method and device of hexapod robot and storage medium - Google Patents
Free fault-tolerant gait planning method and device of hexapod robot and storage medium Download PDFInfo
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Abstract
The invention provides a free fault-tolerant gait planning method, a device and a storage medium of a hexapod robot, wherein the method comprises the following steps: acquiring state information and ground foot-landing point information of the hexapod robot; determining the swing leg combination and the body gravity center moving step length of the hexapod robot according to the state information; respectively determining the gravity center track of the six-legged robot and the foot falling area of each swing leg by combining the gravity center moving step length and the state information of the robot body; determining target foot falling points of all the swing legs in corresponding foot falling areas according to the ground foot falling point information; controlling the swing leg to hover at a predetermined position for swing legs without target foot landing points or without foot landing; and determining the foot end track of the swing leg capable of falling at the corresponding target foot falling point according to the state information and the target foot falling point. The technical scheme of the invention can plan the gait of the hexapod robot when the swing leg has no foot drop point or can not drop the foot, and improves the capability of the hexapod robot in passing through the sparse foot drop point terrain.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a free fault-tolerant gait planning method and device of a hexapod robot and a storage medium.
Background
The wheeled robot can move on the continuous ground, and the foot-type robot can select a foot-falling point to move in discrete foot-falling point terrain, so that the foot-type robot has better traffic capacity when facing a complex field environment. Among numerous legged robots, the hexapod robot stands out by virtue of strong environmental adaptability and high fault tolerance, can execute various tasks with high difficulty in dangerous environments, is widely applied to the fields of industry, aerospace, military, emergency rescue and disaster relief and the like, and has wide development prospect.
Gait planning refers to planning the phase relationship between the legs of a legged robot as the legged robot travels from one location to another. In the existing gait planning method, when the gait of the hexapod robot is planned, the situation that the hexapod robot passes through the terrain with dense foot-falling points is usually considered, and each leg of the hexapod robot can fall on the foot-falling point in the motion process. When the robot is faced with a terrain with sparse foot-falling points or the legs of the hexapod robot have faults, the legs of the hexapod robot can have the condition that the foot-falling points do not exist or the feet cannot fall in the motion period, and at the moment, the prior art has no good solution.
Disclosure of Invention
The invention solves the problem of how to plan the gait of the hexapod robot when the legs of the hexapod robot have faults or do not have foot-falling points, and improves the capability of the hexapod robot to pass through sparse foot-falling point terrain.
In order to solve the above problems, the present invention provides a free fault-tolerant gait planning method, apparatus and storage medium for a hexapod robot.
In a first aspect, the present invention provides a free fault-tolerant gait planning method for a hexapod robot, the method comprising the steps of:
and acquiring the state information and the ground foot-landing point information of the hexapod robot.
And determining the swing leg combination and the body gravity center moving step length of the hexapod robot according to the state information, wherein the swing leg combination comprises zero or at least one swing leg.
And respectively determining the body gravity center track of the hexapod robot and the foot falling area of each swing leg by combining the body gravity center moving step length and the state information.
And determining a target foot falling point of each swing leg in the corresponding foot falling area according to the ground foot falling point information, and determining whether each swing leg can fall to the corresponding target foot falling point according to the state information.
For the swing leg without the target foot drop point or failing to drop foot, controlling the swing leg to hover at a predetermined position; and determining the foot end track of the swing leg capable of falling at the corresponding target foot falling point according to the state information and the target foot falling point.
In a second aspect, the present invention provides a free fault-tolerant gait planning apparatus for a hexapod robot, comprising:
and the acquisition module is used for acquiring the state information and the ground foot-landing point information of the hexapod robot.
And the first processing module is used for determining a swing leg combination and an organism gravity center moving step length of the hexapod robot according to the state information, wherein the swing leg combination comprises zero or at least one swing leg.
And the first planning module is used for respectively determining the gravity center track of the six-legged robot and the foot falling area of each swing leg by combining the gravity center moving step length of the robot body and the state information.
And the second processing module is used for determining a target foot falling point of each swing leg in the corresponding foot falling area according to the ground foot falling point information and determining whether each swing leg can fall to the corresponding target foot falling point according to the state information.
A second planning module for controlling the swing leg to hover at a predetermined position for the swing leg without the target foot drop point or failing to drop foot; and determining the foot end track of the swing leg capable of falling at the corresponding target foot falling point according to the state information and the target foot falling point.
In a third aspect, the present invention provides a free fault tolerant gait planning apparatus for a hexapod robot, comprising a memory and a processor.
The memory is used for storing the computer program.
The processor, when executing the computer program, is configured to implement a free fault tolerant gait planning method for a hexapod robot as described above.
In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a free fault tolerant gait planning method for a hexapod robot as described above.
The free fault-tolerant gait planning method, the device and the storage medium of the hexapod robot have the advantages that: firstly, determining the moving step length of the swinging leg and the center of gravity of the robot body according to the acquired state information of the hexapod robot and the ground foot-landing point information, wherein the legs of the hexapod robot except the swinging leg are supporting legs; and then planning the gravity center track of the machine body according to the gravity center moving step length and the state information of the machine body, determining target foot falling points of all the swing legs, and simultaneously judging whether all the swing legs can fall on the corresponding target foot falling points. For the swing legs which do not have the foot falling points or cannot fall the feet, the swing legs are controlled to hover at the preset positions, so that the interference among the swing legs can be reduced, wherein the swing legs which cannot fall the feet comprise the swing legs which cannot act due to faults, and the conditions that the foot falling points do not exist in the foot falling areas of the swing legs due to severe environments and the like are met; and planning the foot end track of the swing leg, wherein the swing leg can fall on the corresponding target foot falling point. And finally, controlling the body of the hexapod robot to move to the next position according to the gravity center track of the body, controlling each swing leg capable of falling at the corresponding target foot falling point to move according to the foot end track, completing the motion process of the hexapod robot in one motion cycle, repeating the steps, and enabling the hexapod robot to reach the target position after a plurality of motion cycles. According to the technical scheme, the foot end track of the swing leg capable of falling at the target falling foot point is planned, the swing leg without the target falling foot point or the swing leg without the error reporting conditions such as falling foot and the like is controlled to hover at a preset position, the gait planning of the hexapod robot is completed, the fault-tolerant treatment of leg errors of the hexapod robot is realized, and the traffic capacity of the hexapod robot in the face of sparse falling foot point terrain can be improved.
Drawings
Fig. 1 is a schematic flow chart of a free fault-tolerant gait planning method for a hexapod robot according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a center of gravity trajectory of the body according to the embodiment of the present invention;
FIG. 3 is a schematic view of a swing leg drop process according to an embodiment of the present invention;
FIG. 4 is a schematic view of a swing leg drop process according to another embodiment of the present invention;
FIG. 5 is a schematic view of a swing leg drop process according to yet another embodiment of the present invention;
FIG. 6 is a schematic diagram of the foot end trajectory of a swing leg in accordance with an embodiment of the present invention;
FIG. 7 is a schematic view of an embodiment of the present invention in a situation where the swing leg has slipped or fallen;
FIG. 8 is a schematic view of an attempt to detrap a swing leg in accordance with an embodiment of the present invention;
FIG. 9 is a sequence diagram illustrating the leg supporting state of a hexapod robot according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a hexapod robot simulation through a drop foot spot area in accordance with an embodiment of the present invention;
FIG. 11 is a schematic top view of the hexapod robot in the partial state of FIG. 10;
fig. 12 is a schematic structural diagram of a free fault-tolerant gait planning apparatus of a hexapod robot according to an embodiment of the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
It should be noted that the coordinate system X is used hereinWYWZWIs a body coordinate system of the hexapod robot. The arrow direction in the drawings is the body movement direction of the hexapod robot, and it is noted that the terms "first", "second", etc. in the description and claims of the present invention and the above drawings are used for distinguishing similar objects and are not necessarily used for describing a specific order or sequence. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless expressly stated otherwiseAnd (4) defining a body. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
As shown in fig. 1, an embodiment of the present invention provides a free fault-tolerant gait planning method for a hexapod robot, which includes the following steps:
and 100, acquiring the state information and the ground foot-landing point information of the hexapod robot.
Specifically, the state information may include body pose information, leg pose information, fault state information, and the like of the hexapod robot, and the ground foothold point information may be obtained by taking a ground picture with a camera of the hexapod robot.
200, determining the swing leg combination and the body gravity center moving step length of the hexapod robot according to the state information, wherein the swing leg combination comprises zero or at least one swing leg.
Specifically, the support state of the hexapod robot, which corresponds to the support leg combination and swing leg combination of the hexapod robot, can be determined in a preset support state table according to the state information. When the hexapod robot moves, the robot body is supported by each supporting leg in the supporting leg combination, and each swinging leg in the swinging leg combination swings to a target position to fall feet. The hexapod robot may also be unable to determine the swing leg combination in a certain motion period, that is, the number of swing legs is zero, the number of support legs is six, at this time, the hexapod robot is controlled to move to the next position according to the gravity center trajectory of the robot body, then the swing leg combination of the hexapod robot is determined according to the state information at the next position, if the number of swing legs in the swing leg combination is still zero, the hexapod robot stops moving forward, and if the swing leg combination comprises at least one swing leg, the foot end trajectory of each swing leg is continuously planned.
And 300, respectively determining the gravity center track of the six-legged robot and the foot falling area of each swing leg by combining the gravity center moving step length of the robot body and the state information.
In particular, the foot drop area of the swing leg may be the foot end reachable work area of the swing leg, due to the physical parameters of the swing leg limiting the reachable area of the swing leg. In the moving process of the hexapod robot, when the swinging legs swing to the target position, the gravity center of the robot body also moves forwards correspondingly. Planning the gravity center track of the robot body, controlling the hexapod robot to move according to the gravity center track of the robot body, and enabling the hexapod robot to keep static stability in the motion process.
And 400, determining a target foot falling point of each swing leg in the corresponding foot falling area according to the ground foot falling point information, and determining whether each swing leg can fall at the corresponding target foot falling point according to the state information.
Specifically, when the target foot drop point is satisfied and the foot can be dropped, the swing leg can accurately drop the foot to the target foot drop point.
500, for the swing leg without the target drop foot point or failing to drop foot, controlling the swing leg to hover at a predetermined position; and determining the foot end track of the swing leg capable of falling at the corresponding target foot falling point according to the state information and the target foot falling point.
Specifically, the swing leg which cannot fall down can include a swing leg with a fault or the like, and the predetermined position can be a specified position close to the hexapod robot body, enabling interference between the respective swing legs to be reduced.
In the embodiment, firstly, the moving step length of the swing leg and the center of gravity of the robot body is determined according to the acquired state information of the hexapod robot and the ground foot-landing point information, and the legs of the hexapod robot except the swing leg are supporting legs; and then planning the gravity center track of the machine body according to the gravity center moving step length and the state information of the machine body, determining target foot falling points of all the swing legs, and simultaneously judging whether all the swing legs can fall on the corresponding target foot falling points. For swing legs without foot falling points or being incapable of falling feet, the swing legs are controlled to hover at a preset position, so that interference among the swing legs can be reduced, wherein the swing legs incapable of falling feet comprise failed swing legs and the like; and planning the foot end track of the swing leg, wherein the swing leg can fall on the corresponding target foot falling point. And finally, controlling the body of the hexapod robot to move to the next position according to the gravity center track of the body, controlling each swing leg capable of falling at the corresponding target foot falling point to move according to the foot end track, completing the motion process of the hexapod robot in one motion cycle, repeating the steps, and enabling the hexapod robot to reach the target position after a plurality of motion cycles. According to the technical scheme, the foot end track of the swing leg capable of falling at the target falling foot point is planned, the swing leg without the target falling foot point or the swing leg without the error reporting conditions such as falling foot and the like is controlled to hover at a preset position, the gait planning of the hexapod robot is completed, the fault-tolerant treatment of leg errors of the hexapod robot is realized, and the traffic capacity of the hexapod robot in the face of sparse falling foot point terrain can be improved.
Preferably, the state information includes failure information of the hexapod robot; the step of determining the swing leg combination and the body gravity center moving step length of the hexapod robot according to the state information comprises the following steps:
and determining legs of the hexapod robot except for the fault leg as preselected support legs according to the fault information.
Specifically, the faulty leg includes a leg having no target foot drop point in the current state and a leg having a fault, and the faulty leg cannot support the hexapod robot, so that the legs other than the faulty leg are selected as the preselected support legs.
And determining a preselected support state of the hexapod robot according to the corresponding relation between the preselected support legs and a preset support state, wherein the corresponding relation between the preselected support states comprises at least one preselected support state, and a preselected combination of a stability margin, a maximum body advancing step length and a swing leg which respectively correspond to each preselected support state.
Specifically, the preset support state corresponding relationship may be in a form of a table, that is, a preset support state table, states of the preselected support legs are freely combined according to the preset support state table, the states of the preselected support legs include support and swing, all possible preselected support states are determined, and a set formed by all the preselected support states is a preselected support state set.
The hexapod robot can keep static stability under each preselected support state, and the premise of keeping the static stability is that the number of the support legs is more than or equal to three in the motion process, the gravity center of the robot body is in the support polygon, and the calibrated stability margin can be met. Specifically, the support polygon is a polygon formed by connecting the foot ends of the support legs, the stability margin represents the distance between the projection of the center of gravity of the robot body on the support polygon and any one side of the support polygon, the stability margin is required to be greater than or equal to a preset threshold value when the hexapod robot needs to maintain static stability, and the typical value of the threshold value is 0.1 m. If the six legs of the hexapod robot are sequenced in sequence, with the support leg indicated by 1 and the swing leg indicated by 0, the support state table containing all possible support states is shown in table one:
watch-supporting state table
The support state in the table I shows the state of each leg in the state, a polygon in the support state schematic diagram is a support polygon, and a dot is the projection of the center of gravity of the body in the support polygon.
It should be noted that the stability margin, the maximum forward step length of the body and the preselected combination of the swing legs corresponding to each of the preselected support states are not shown in the support state table of the present embodiment.
And determining a stable supporting state of the hexapod robot according to the stability margin and the maximum body advancing step length, wherein the maximum body advancing step length corresponding to the stable supporting state is the body gravity center moving step length, and the preselected combination of the swing legs corresponding to the stable supporting state is the swing leg combination.
Specifically, the stability margin corresponds to the stability of the hexapod robot in the motion process, and the maximum advance step length of the machine body corresponds to the walking speed of the hexapod robot in the motion process. And determining the stable supporting state according to the stability margin and the maximum advancing step length of the machine body, and selecting the corresponding stable supporting state according to the requirement. The six-legged robot can improve the passing speed as much as possible under the condition of keeping static stability.
In the preferred embodiment, the stable support state can be freely selected according to the requirements of specific terrains to plan the gait, compared with the periodic three-foot gait, four-foot gait or five-foot gait adopted in the prior art, the multi-foot advantage of the hexapod robot can be fully exerted, the capability of the hexapod robot for dealing with complex terrains is greatly improved, and the moving speed of the hexapod robot can be improved on the premise of keeping static stability.
Preferably, the determining the stable support state of the hexapod robot according to the stability margin and the maximum forward step length of the body comprises:
determining a merit function for each of the preselected support states using a first formula, the first formula being:
wherein f (state) is the evaluation function, S is the preselected set of support states, state is any one of the preselected set of support states, BMstateThe stability margin for the preselected support condition,
the maximum advance step length, omega, of the body corresponding to the preselected support state1Weight of stability margin, ω2The weight of the maximum forward step length of the body.
Determining the stable supporting state by adopting a second formula according to the evaluation function, wherein the second formula is as follows:
wherein, state0The stable support state.
In particular, during movement, ω1The larger the size, the more stable the hexapod robot, omega2The larger the moving speed of the hexapod robot, and therefore, omega can be selected according to specific needs1And ω2The numerical value of (c). For example: in the terrain with dense foot-falling points, the hexapod robot has better stability and can properly increase omega2Decrease omega1To improve the walking speed of the hexapod robot; in the terrain with sparse foot-drop points, omega can be increased properly1Decrease omega2Under the condition of properly sacrificing the walking speed, the passing capacity of the hexapod robot through the terrain with sparse foot-landing points is improved.
Preferably, the state information comprises the current position of the body gravity center of the hexapod robot, equipment parameters of each swing leg and preset body motion parameters; the determining the body gravity center track of the hexapod robot and the foot falling area of each swing leg by combining the body gravity center moving step length and the state information comprises:
determining the next position of the body gravity center of the hexapod robot according to the current position of the body gravity center and the body gravity center moving step length; and enabling the gravity center of the machine body to be positioned at the position below the gravity center of the machine body, and respectively determining the foot falling area of each swing leg according to the equipment parameters of each swing leg.
Specifically, the next position of the gravity center of the robot body can be obtained by moving the step length of the movement of the gravity center of the robot body forwards at the current position of the gravity center of the robot body, and if the gravity center of the robot body of the hexapod robot moves to the next position of the gravity center of the robot body, the foot falling area of the swing leg at the moment is determined according to equipment parameters of the swing leg, wherein the equipment parameters comprise physical parameters such as a swing angle, the length of the swing leg and the like.
And determining the gravity center track of the body according to the current position of the gravity center of the body, the next position of the gravity center of the body and the motion parameters of the body based on a polynomial fitting method.
Specifically, as shown in fig. 2, the trajectory of the center of gravity of the body is planned from the current position of the center of gravity of the body to the next position of the center of gravity of the body in the case that the support leg combination supports the hexapod robot, i.e., the position of the foot end of the support leg is not changed.
In the embodiment, the gravity center track of the body is regarded as a straight line, and the gravity center track of the body is planned by a fifth-order polynomial so as to ensure the continuous smoothness of the gravity center position, the speed and the acceleration of the body. The current position of the gravity center of the machine body isWpb1The position below the center of gravity of the machine body isWpb3The preset body motion parameters comprise the speed of the body gravity center at the current position of the body gravity centerWvb1Acceleration of the vehicleWab1And corresponding time t1And the speed of the center of gravity of the body at a position next to the center of gravity of the bodyWvb3Acceleration of the vehicleWab3Corresponding time t3. The known quantities when planning the trajectory of the center of gravity of the body are shown in table two:
known quantity for planning gravity center track of watch two body
Establishing a position polynomial of the gravity center track of the body according to the position of the gravity center of the body and the corresponding time, wherein the position polynomial of the gravity center track of the body is shown as the following formula:
Wpb＝Ab0+Ab1t+Ab2t2+Ab3t3+Ab4t4+Ab5t5，
wherein,Wpbis composed ofWpb1OrWpb3，Wpb1Corresponding to t being t1，Wpb3Corresponding to t being t3。
Wpb1Can beWpx1OrWpy1OrWpz1，Wpx1For the X of the current position of the gravity center of the machine body in a machine body coordinate systemWThe coordinates of the axes are set to be,Wpy1is the Y of the current position of the gravity center of the machine body in the machine body coordinate systemWThe coordinates of the axes are set to be,Wpz1for Z of current position of gravity center of machine body in machine body coordinate systemWAnd (4) coordinates.Wpb3Can beWpx3OrWpy3OrWpz3，Wpx3The X of the position below the gravity center of the machine body in the machine body coordinate systemWThe coordinates of the axes are set to be,Wpy3is the Y of the position under the gravity center of the machine body in the machine body coordinate systemWThe coordinates of the axes are set to be,Wpz3for Z in the coordinate system of the machine body at the position below the gravity center of the machine bodyWAxial coordinate, in this exampleWpz3Is equal toWpz1。
Establishing a velocity polynomial of the gravity center track of the body according to the velocity of the gravity center of the body and the corresponding time, wherein the velocity polynomial of the gravity center track of the body is shown as the following formula:
Wvb＝Ab1+2Ab2t+3Ab3t2+4Ab4t3+5Ab5t4，
wherein,Wvbis composed ofWvb1OrWvb3，Wvb1Corresponding to t being t1，Wvb3Corresponding to t being t3。
Wvb1Can beWvx1OrWvy1OrWvz1，Wvx1Is composed ofWvb1X of (2)WThe axial component of the magnetic flux is,Wvy1is thatWvb1Y of (A) isWThe axial component of the magnetic flux is,Wvz1is composed ofWvb1Z of (A)WAn axial component.Wvb3Can beWvx3OrWvy3OrWvz3，Wvx3Is composed ofWvb3X of (2)WThe axial component of the magnetic flux is,Wvy3is thatWvb3Y of (A) isWThe axial component of the magnetic flux is,Wvz3is composed ofWvb3Z of (A)WAn axial component.
Establishing an acceleration polynomial of the gravity center track of the body according to the acceleration of the gravity center of the body and the corresponding time, wherein the acceleration polynomial of the gravity center track of the body is shown as the following formula:
Wab＝2Ab2+6Ab3t+12Ab4t2+20Ab5t3，
wherein,Wabis composed ofWab1OrWab3，Wab1Corresponding to t being t1，Wab3Corresponding to t being t3。
Wab1Can beWax1OrWay1OrWaz1，Wax1Is composed ofWab1X of (2)WThe axial component of the magnetic flux is,Way1is thatWab1Y of (A) isWThe axial component of the magnetic flux is,Waz1is composed ofWab1Z of (A)WAn axial component.Wab3Can beWax3OrWay3OrWaz3，Wax3Is composed ofWab3X of (2)WThe axial component of the magnetic flux is,Way3is thatWab3Y of (A) isWThe axial component of the magnetic flux is,Waz3is composed ofWab3Z of (A)WAn axial component.
Substituting each parameter into the corresponding polynomial, t1Can be set to 0, the following formula can be obtained:
according to knownWpb1、Wpb3、Wvb1、Wvb3、Wab1、Wab3And t3The polynomial coefficient [ A ] can be obtainedb0,Ab1,Ab2,Ab3,Ab4,Ab5]TWhereinWvb1、Wvb3、Wab1andWab3can be 0, t3The specific setting can be made according to the situation.
In the preferred embodiment, after the polynomial coefficient is determined, any position of the center of gravity of the body in the process of moving from the current position of the center of gravity of the body to the next position of the center of gravity of the body, and the speed and the acceleration of the body corresponding to the position can be obtained by setting time, and the track of the center of gravity of the body is determined. The trajectory planning process is smooth and can meet the stability requirements and energy consumption constraints of the hexapod robot.
Preferably, the state information further includes a current position of a foot end of each of the swing legs; the determining a target foot-landing point of each swing leg in the corresponding foot-landing area according to the ground foot-landing point information comprises:
determining a set of drop points in each of the drop zone areas from the ground drop point information, the set of drop points including zero or at least one of the preselected drop points.
For any swing leg, the set of the foot falling points is set to be P, and a cost function for selecting the target foot falling point is determined according to a third formula, wherein the third formula is as follows:
wherein p isiIs the current position of the foot end of the swing leg, peThe preselected drop foot point corresponding to the swing leg,
is a unit vector in the motion direction of the gravity center of the hexapod robot body, f (p)e) Is the cost function.
Based on the cost function, determining the target drop foot point of each swing leg according to a fourth formula, the fourth formula being:
wherein p is the target drop foot point of the swing leg.
Specifically, as shown in fig. 3, the left dotted line frame is a foot falling region of any swing leg before the center of gravity of the body moves, K1The corresponding broken line segment is the pose before the swing leg swings, piThe position of the foot end of the swing leg at the moment; the solid line frame near the right is the foot falling area of the swing leg when the gravity center of the machine body moves to the position below the gravity center of the machine body, the circles in the dotted line frame and the solid line frame represent foot falling points, K2The corresponding broken line segment is the pose of the swinging leg after swinging, peFor the foot end position of the swing leg at this time, i.e. the preselected foot drop point, p is designated in fig. 4eConnecting p as the target footfall pointiAnd peThe dotted line of (a) is the foot end trajectory of the swing leg. The arrow indicates the body movement direction of the hexapod robot.
As shown in fig. 4, there is a circle in the dashed line frame corresponding to the movement of the center of gravity of the body before the movement of the center of gravity of the body, and there is no circle in the solid line frame corresponding to the movement of the center of gravity of the body after the movement of the center of gravity of the body, that is, there is no foot-falling point in the foot-falling area of the swing leg after the movement of the center of gravity of the body, at this time, the swing leg is controlled to retract2The pose shown.
As shown in FIG. 5, there is no circle in the corresponding dashed line frame before the center of gravity of the body moves, and there is a circle in the corresponding solid line frame after the center of gravity of the body moves, i.e. there is no foot-drop point in the foot-drop area corresponding to the swing leg before the center of gravity of the body moves forward, and the swing leg now hovers at a predetermined position, i.e. K in FIG. 51The pose shown. When the corresponding foot falling area has a foot falling point after the movement of the weight center of the robot, the swing leg is controlled to fall to the corresponding target foot falling point pe。
Preferably, the fault information includes leg fault information; determining whether each swing leg can fall at the corresponding target foot falling point according to the state information comprises: and determining whether each swing leg cannot fall to the foot according to the leg fault information.
Specifically, whether each swing leg is a fault leg is determined according to leg fault information, the fault leg is a swing leg which cannot fall to a foot, and the leg fault information can include driver faults, motor damage, joint locking, encoder sensor failure and the like.
Preferably, the state information further includes preset swing leg movement parameters; the determining the foot end trajectory of the swing leg according to the current state information and the target foot drop point comprises:
and determining the foot end track of the swing leg according to the current position of the foot end, the target foot drop point and the motion parameters of the swing leg based on a polynomial fitting method.
Specifically, as shown in fig. 6, a multi-step continuous six-degree polynomial is used to plan the foot end trajectory of the swing leg, so that the current position of the foot end isWpr1The target foot-falling point is located atWpr3The middle point of the foot end of the swing leg in the motion process is set asWpr2. The preset swing leg motion parameters comprise the speed of the foot end of the swing leg at the current position of the foot endWvr1Acceleration of the vehicleWar1And corresponding time t4And velocity of the foot end of the swing leg at the target drop pointWvr3Acceleration of the vehicleWar3Corresponding time t6And let the time of the midpoint position be t5. The known quantities when planning the trajectory of the center of gravity of the body are shown in table two:
known quantity for planning of the trajectory of the three-foot end of the watch
Establishing a foot end position polynomial of the swing leg according to the foot end position of the swing leg and the corresponding time, wherein the foot end position polynomial is shown as the following formula:
Wpr＝Ar0+Ar1t+Ar2t2+Ar3t3+Ar4t4+Ar5t5，
wherein,Wpris composed ofWpr1OrWpr2OrWpr3，WprCorresponding to t being t4，Wpr2Corresponding to t being t5，Wpr3Corresponding to t being t6。
In the same way as above, the first and second,Wpr1can beWprx1OrWpry1OrWprz1，Wprx1For the X of the current position of the foot end in the coordinate system of the machine bodyWThe coordinates of the axes are set to be,Wpry1is the Y of the current position of the foot end in the coordinate system of the machine bodyWThe coordinates of the axes are set to be,Wprz1for the Z of the current position of the foot end in the coordinate system of the machine bodyWAnd (4) coordinates.Wpr3Can beWprx3OrWpry3OrWprz3，Wprx3As X of target foot-falling point in body coordinate systemWThe coordinates of the axes are set to be,Wpry3is the Y of the target foot-falling point in the coordinate system of the machine bodyWThe coordinates of the axes are set to be,Wprz3for the Z of the target foot-falling point in the coordinate system of the machine bodyWAxial coordinate, in this exampleWprz1AndWprz3are all 0.Wpr2Can beWprx2OrWpry2OrWprz2，Wprx2For X of the midpoint position in the machine coordinate systemWThe coordinates of the axes are set to be,Wpry2for the middle point position Y in the machine coordinate systemWThe coordinates of the axes are set to be,Wprz2for Z of the midpoint position in the machine coordinate systemWAxial coordinate, in this exampleWprz2The foot raising height of the swing leg, i.e., h in fig. 6.
Establishing a foot end velocity polynomial of the swing leg according to the velocity and the corresponding time when the foot end of the swing leg moves, wherein the foot end velocity polynomial is shown as the following formula:
Wvr＝Ar1+2Ar2t+3Ar3t2+4Ar4t3+5Ar5t4+6Ar6t5，
wherein,Wvris composed ofWvr1OrWvr3，Wvr1Corresponding to t being t4，Wvr3Corresponding to t being t6。
In the same way as above, the first and second,Wvr1can beWvr1X of (2)WAxial component or YWAxial component or ZWThe axial component of the magnetic flux is,Wvr3can beWvr3X of (2)WAxial component or YWAxial component or ZWAn axial component.
Establishing a foot end acceleration polynomial of the swing leg according to the acceleration of the swing leg during the foot end motion and the corresponding time, wherein the foot end acceleration polynomial is shown as the following formula:
War＝2Ar2+6Ar3t+12Ar4t2+20Ar5t3+30Ar6t4，
wherein,Waris composed ofWar1OrWar3，War1Corresponding to t being t4，War3Corresponding to t being t6。
In the same way as above, the first and second,War1can beWar1X of (2)WAxial component or YWAxial component or ZWThe axial component of the magnetic flux is,War3can beWar3X of (2)WAxial component or YWAxial component or ZWAn axial component.
By substituting the parameters into the corresponding polynomials, t can be obtained4Set to 0, the following equation is obtained:
according to knownWpr1、Wpr2、Wpr3、Wvr1、Wvr3、War1、War3、t5And t6The polynomial coefficient [ A ] can be obtainedr0,Ar1,Ar2,Ar3,Ar4,Ar5,Ar6]TWhereinWvr1、Wvr3、War1andWar3can be 0, t5And t6The specific setting can be made according to the situation.
In the preferred embodiment, after the polynomial coefficient is determined, any position of the foot end of the swing leg in the process of moving from the current position of the foot end to the target foot drop point, and the velocity and the acceleration of the foot end corresponding to the position can be obtained by setting time, and the foot end trajectory is determined. The foot end track is planned by a polynomial fitting method, so that not only can the position track curve be ensured to be smooth and continuous, but also the speed curve and the acceleration curve can be ensured to be smooth and continuous, the motor cannot shake and jump when controlling the motion of the swing leg, and the energy can be saved.
Preferably, after determining the foot end trajectory of the swing leg according to the state information and the target foot drop point, the method further comprises the steps of:
and controlling the hexapod robot to move to a position below the gravity center of the robot body according to the motion of the gravity center track of the robot body, and controlling the swing legs to move to the corresponding target foot falling points according to the foot end track.
And if the swing leg is determined to be slipped or sunk when falling to the corresponding target foot falling point, controlling the swing leg to try to fall to the preselected foot falling point adjacent to the target foot falling point.
Controlling the swing leg to hover at a predetermined location when it is determined that none of the plurality of attempted foot drops to the preselected foot drop point results in a smooth foot drop.
Specifically, when the foot end of the control swing leg falls to the target foot falling point, when the characteristics of the ground are poor, such as the ground is wet and slippery and softer, the foot end may slip or fall down. As shown in FIG. 7, the direction of the arrow is the body movement direction, K1For the pose of the oscillating leg before oscillation, piThe position of the foot end of the swing leg at the moment; k2For the pose of the swing leg falling to the foot after swinging, pe1The position of the foot end of the swing leg at the moment; in the figure, the circles are foot-falling points where feet can fall, and the black points are foot-falling points where feet cannot fall, namely foot-falling points where the foot end of the swing leg slips or sinks. I.e. swing leg from p in fig. 7iMove to pe1When the foot is dropped, the foot end of the swing leg can slip or sink.
At this time, the swing leg is controlled to fall to the position pe1Adjacent other drop foot points, the other drop foot points being shown as p in FIG. 8e2Due to pe2Also black, i.e. a foot-drop point where the foot cannot be dropped, and therefore continuing to control the swing leg to try to drop the foot to pe2The adjacent foot-falling points, and so on, try n times. The size of n can be set as required. The greater n, the greater the likelihood that the swing leg will fall, and the greater the probability that the hexapod will pass through the terrain, but the slower the speed of travel. The smaller n, the less likely the swing leg will fall and the lower the probability of the hexapod robot passing through the terrain.
If the swing leg can not stably fall for n times, the swing leg is regarded as an error leg, and the swing leg is controlled to hover to a preset position. Wherein, n can be set to be larger than the number of the foot-falling points in the foot-falling area, that is, when the swing leg can not fall, all the foot-falling points in the foot-falling area are tried in turn until the swing leg stably falls to the foot, or all the foot-falling points can not stably fall to the foot, and at this time, the swing leg is controlled to hover to the preset position.
In the preferred embodiment, when the physical characteristics of the terrain are poor, the foot end of the swing leg is easy to slip or sink, and the like, the swing leg is controlled to try to fall to other foot falling points in the foot falling area, the target foot falling point is searched again, and the foot falling points are corrected, so that the probability of stable foot falling of the swing leg can be improved, and the passing capacity of the hexapod robot in the complex terrain is improved.
The density of the foot falling points of the hexapod robot is 11.3/m2The present invention further describes a free fault-tolerant gait planning method for a hexapod robot.
As shown in fig. 9, the six legs of the hexapod robot are named as Leg1, Leg2, Leg3, Leg4, Leg5 and Leg6 in this order, and the black part indicates that the corresponding Leg is used as a support Leg and the white part indicates that the corresponding Leg is used as a swing Leg. In the first motion cycle of the hexapod robot, Leg1, Leg2, Leg4 and Leg5 serve as support legs, and Leg3 and Leg6 serve as swing legs; in the second cycle of motion, Leg3, Leg4, and Leg6 act as support legs, Leg1, Leg2, and Leg5 act as swing legs, and so on. Therefore, when the free fault-tolerant gait planning method of the hexapod robot is used for planning the gait, the support state is freely selected, the hexapod robot is freely switched among the three-foot gait, the four-foot gait and the five-foot gait, the proper gait mode can be selected according to different terrains, and the traffic capacity in various complex terrains is improved.
The density of the passing foot points of the hexapod robot shown in FIG. 10 is 11.3/m2The hexapod robot realizes the simulation from a coordinate point [0,0 ]]Move to coordinate point [8.4,0 ]]The task of (2). From left to right in fig. 10, 15 states of the hexapod robot in the motion process are sequentially corresponded from top to bottom, black points in the graph are foot drop points, white areas are areas without foot drop points, and simulation results show that the free fault-tolerant gait planning method can help the hexapod robot smoothly pass through sparse foot drop point areas. Fig. 11 shows a schematic top view of the hexapod robot corresponding to the first 9 states in fig. 10, respectively.
As shown in fig. 12, an embodiment of the present invention provides a free fault-tolerant gait planning apparatus for a hexapod robot, including:
and the acquisition module is used for acquiring the state information and the ground foot-landing point information of the hexapod robot.
And the first processing module is used for determining a swing leg combination and an organism gravity center moving step length of the hexapod robot according to the state information, wherein the swing leg combination comprises zero or at least one swing leg.
And the first planning module is used for respectively determining the gravity center track of the six-legged robot and the foot falling area of each swing leg by combining the gravity center moving step length of the robot body and the state information.
And the second processing module is used for determining a target foot falling point of each swing leg in the corresponding foot falling area according to the ground foot falling point information and determining whether each swing leg can fall to the corresponding target foot falling point according to the state information.
A second planning module for controlling the swing leg to hover at a predetermined position for the swing leg without the target foot drop point or failing to drop foot; and determining the foot end track of the swing leg capable of falling at the corresponding target foot falling point according to the state information and the target foot falling point.
Another embodiment of the invention provides a free fault-tolerant gait planning device of a hexapod robot, which comprises a memory and a processor; the memory for storing a computer program; the processor, when executing the computer program, is configured to implement a free fault tolerant gait planning method for a hexapod robot as described above. The device can be an industrial personal computer, a server and the like.
Yet another embodiment of the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a free fault tolerant gait planning method for a hexapod robot as described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like. In this application, the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A free fault-tolerant gait planning method of a hexapod robot is characterized by comprising the following steps:
acquiring state information and ground foot-landing point information of the hexapod robot;
determining a swing leg combination and a body gravity center moving step length of the hexapod robot according to the state information, wherein the swing leg combination comprises zero or at least one swing leg;
respectively determining the body gravity center track of the hexapod robot and the foot falling area of each swing leg by combining the body gravity center moving step length and the state information;
determining a target foot falling point of each swing leg in the corresponding foot falling area according to the ground foot falling point information, and determining whether each swing leg can fall to the corresponding target foot falling point according to the state information;
for the swing leg without the target foot drop point or failing to drop foot, controlling the swing leg to hover at a predetermined position; and determining the foot end track of the swing leg capable of falling at the corresponding target foot falling point according to the state information and the target foot falling point.
2. The free fault tolerant gait planning method of a hexapod robot according to claim 1, characterized in that the state information includes fault information of the hexapod robot; the step of determining the swing leg combination and the body gravity center moving step length of the hexapod robot according to the state information comprises the following steps:
determining legs of the hexapod robot except for the fault leg as preselected support legs according to the fault information;
determining a preselected support state of the hexapod robot according to a corresponding relation between the preselected support legs and a preset support state, wherein the corresponding relation between the support states comprises at least one preselected support state, and a preselected combination of a stability margin, a maximum body advancing step length and a swing leg, which respectively correspond to each preselected support state;
and determining a stable supporting state of the hexapod robot according to the stability margin and the maximum body advancing step length, wherein the maximum body advancing step length corresponding to the stable supporting state is the body gravity center moving step length, and the preselected combination of the swing legs corresponding to the stable supporting state is the swing leg combination.
3. The free fault tolerant gait planning method of a hexapod robot according to claim 2, wherein said determining the stable support state of the hexapod robot from the stability margin and the maximum body forward step size comprises:
determining a merit function for each of the preselected support states using a first formula, the first formula being:
wherein f (state) is the evaluation function, S is a preselected set of support states, the preselected set of support states is a set of all the preselected support states, and state is any one of the preselected set of support states, BMstateThe stability margin for the preselected support condition,
the maximum advance step length, omega, of the body corresponding to the preselected support state1Weight of stability margin, ω2The weight of the maximum advancing step length of the machine body;
determining the stable supporting state by adopting a second formula according to the evaluation function, wherein the second formula is as follows:
wherein, state0The stable support state.
4. The free fault-tolerant gait planning method of a hexapod robot according to claim 2, characterized in that the state information includes a current position of a body center of gravity of the hexapod robot, equipment parameters of each of the swing legs, and preset body motion parameters; the determining the body gravity center track of the hexapod robot and the foot falling area of each swing leg by combining the body gravity center moving step length and the state information comprises:
determining the next position of the body gravity center of the hexapod robot according to the current position of the body gravity center and the body gravity center moving step length;
enabling the gravity center of the body of the hexapod robot to be located at the position below the gravity center of the body, and respectively determining the foot falling area of each swing leg according to the equipment parameters of each swing leg;
and determining the gravity center track of the body according to the current position of the gravity center of the body, the next position of the gravity center of the body and the motion parameters of the body based on a polynomial fitting method.
5. The free fault tolerant gait planning method of a hexapod robot according to claim 4, characterized in that the state information further includes a current position of a foot end of each of the swing legs; the determining a target foot-landing point of each swing leg in the corresponding foot-landing area according to the ground foot-landing point information comprises:
determining a set of foot placement points in each of the foot placement regions from the ground foot placement point information, the set of foot placement points including zero or at least one preselected foot placement point;
for any swing leg, the set of the foot falling points is set to be P, and a cost function for selecting the target foot falling point is determined according to a third formula, wherein the third formula is as follows:
wherein p isiIs the current position of the foot end, peFor the pre-selected foot drop point,
is a unit vector in the direction of motion of the center of gravity of the body, f (p)e) Is the cost function;
based on the cost function, determining the target drop foot point of the swing leg according to a fourth formula, the fourth formula being:
wherein p is the target drop foot point of the swing leg.
6. The free fault tolerant gait planning method of a hexapod robot according to claim 5, characterized in that the fault information comprises leg fault information, the state information further comprises preset swing leg motion parameters;
the determining whether each swing leg can fall to the corresponding target foot falling point according to the state information includes:
determining whether each swing leg cannot fall to the foot according to the leg fault information;
the determining the foot end trajectory of the swing leg according to the state information and the target foot drop point comprises:
and determining the foot end track of the swing leg according to the current position of the foot end, the target foot drop point and the motion parameters of the swing leg based on a polynomial fitting method.
7. The free fault tolerant gait planning method of a hexapod robot according to claim 5 or 6, characterized in that after said determining the foot end trajectory of the swing leg from the state information and the target drop foot point, further comprises:
controlling the hexapod robot to move to a position below the gravity center of the robot body according to the gravity center track of the robot body, and controlling each swing leg to move to the corresponding target foot falling point according to the foot end track;
if the swing leg is determined to be slipped or sunk when falling to the corresponding target foot falling point, controlling the swing leg to try to fall to the preselected foot falling point adjacent to the target foot falling point;
controlling the swing leg to hover at a predetermined location when it is determined that none of the plurality of attempted foot drops to the preselected foot drop point results in a smooth foot drop.
8. A free fault-tolerant gait planning device of a hexapod robot, comprising:
the acquisition module is used for acquiring the state information and the ground foot-landing point information of the hexapod robot;
the first processing module is used for determining a swing leg combination and an organism gravity center moving step length of the hexapod robot according to the state information, wherein the swing leg combination comprises zero or at least one swing leg;
the first planning module is used for respectively determining the gravity center track of the six-legged robot and the foot falling area of each swing leg by combining the gravity center moving step length of the robot body and the state information;
the second processing module is used for determining a target foot falling point of each swing leg in the corresponding foot falling area according to the ground foot falling point information and determining whether each swing leg can fall to the corresponding target foot falling point according to the state information;
a second planning module for controlling the swing leg to hover at a predetermined position for the swing leg without the target foot drop point or failing to drop foot; and determining the foot end track of the swing leg capable of falling at the corresponding target foot falling point according to the state information and the target foot falling point.
9. A free fault-tolerant gait planning device of a hexapod robot is characterized by comprising a memory and a processor;
the memory for storing a computer program;
the processor, when executing the computer program, for implementing a free fault tolerant gait planning method of a hexapod robot as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements a free fault tolerant gait planning method of a hexapod robot according to any of claims 1 to 7.
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| CN112051797B (en) * | 2020-09-07 | 2023-12-26 | 腾讯科技（深圳）有限公司 | Foot robot motion control method, device, equipment and medium |
| CN112644600B (en) * | 2021-01-04 | 2022-03-25 | 之江实验室 | Bionic foot system of biped robot with active terrain perception capability |
| CN112859851B (en) * | 2021-01-08 | 2023-02-21 | 广州视源电子科技股份有限公司 | Multi-legged robot control system and multi-legged robot |
| CN113064433B (en) * | 2021-03-22 | 2023-08-18 | 深圳市优必选科技股份有限公司 | Robot stepping control method and device, robot control equipment and storage medium |
| CN113071577B (en) * | 2021-04-30 | 2022-10-25 | 郑州宇通重工有限公司 | Robot sole force flexible control method and multi-foot robot platform |
| CN113589817B (en) * | 2021-08-06 | 2024-08-20 | 乐聚(深圳)机器人技术有限公司 | Foot drop control method and device for foot robot, electronic equipment and storage medium |
| CN114633825B (en) * | 2022-05-16 | 2022-09-16 | 深圳鹏行智能研究有限公司 | Movement control method, legged robot, and computer-readable storage medium |
| CN115542913B (en) * | 2022-10-05 | 2023-09-12 | 哈尔滨理工大学 | Six-foot robot fault-tolerant free gait planning method based on geometric and physical feature map |
| CN117067223B (en) * | 2023-10-16 | 2024-01-05 | 哈尔滨理工大学 | Six-foot robot free gait planning method based on motion stability estimation |
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