CN111674486A - Method, device and equipment for controlling stable walking of biped robot and readable medium - Google Patents
Method, device and equipment for controlling stable walking of biped robot and readable medium Download PDFInfo
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- CN111674486A CN111674486A CN202010448325.1A CN202010448325A CN111674486A CN 111674486 A CN111674486 A CN 111674486A CN 202010448325 A CN202010448325 A CN 202010448325A CN 111674486 A CN111674486 A CN 111674486A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
Abstract
The invention discloses a method, a device, equipment and a readable medium for controlling stable walking of a biped robot, wherein the method comprises the following steps: constructing a simplified rigid body dynamic model of the biped robot; constructing a centroid state prediction model by applying a simplified rigid body dynamics model of the biped robot based on a model prediction control method; simplifying an optimization equation set in the model predictive control method into a quadratic programming equation set according to a centroid state prediction model; solving a quadratic programming equation set to obtain optimized ground reaction force so as to obtain control parameters of stable walking; and controlling the biped robot according to the stable walking control parameters. The method simplifies the analysis of the control of each part of the body in the walking process of the robot by analyzing the problem through the centroid control framework, and meanwhile, compared with the traditional feedback control method, the method for model predictive control has predictability, so that the robot has better robustness when walking on an unknown rugged road.
Description
Technical Field
The invention relates to a robot control method, in particular to a method, a device, equipment and a readable medium for controlling stable walking of a biped robot.
Background
Robots have been receiving a lot of attention as a tool for improving productivity and life of human beings. Compared with industrial robots, wheeled robots and the like, the biped robot can better adapt to complex pavements and span obstacles to a certain degree through discrete foot-falling points due to the structure of the biped robot, and has the mobility far beyond wheeled and tracked robots. Meanwhile, the biped robot has the flexibility degree like a human, can easily adapt to the living environment of the human, and uses tools made by the human. In the future, the human beings can use a large number of biped robots to replace the human beings to complete work with high risk or repeatability.
The stable walking of the biped robot has been one of the hot spots in the research field of the biped robot. As a basis for a series of gait such as running and climbing stairs, the motion planning and disturbance rejection control of the biped robot are mainly considered for stable walking of the robot. The motion planning of the biped robot mainly refers to planning and controlling the motion of each joint of the robot, and the change of the biped robot on the position is completed in a walking mode; the anti-disturbance control of the biped robot refers to a control method for restoring the original motion state of the robot after being disturbed by the outside in the process of expecting a stable motion state. Disturbance control typically includes: balance control and posture recovery, wherein the balance control refers to the recovery stability of the horizontal motion of the robot; posture recovery is to recover the original body posture as the name suggests, and aims at the rotation motion of the robot.
In summary, robots capable of realizing stable walking worldwide still have flexible numerical values, and are most representative of three types of robots, namely ASIMO, attias and ATLAS. In asia, the most representative biped robot is undoubtedly ASIMO, which was introduced by Honda corporation of japan in 2000, and through more than a decade of improvement, the ASIMO robot now has visual and auditory abilities, and also has the ability to avoid obstacles and go up and down stairs, and almost various operations such as kicking, dancing, etc. can be realized in an indoor environment. The ASIMO is about 130cm high and weighs about 48kg, the whole body has 30 degrees of freedom, and the latest generation ASIMO robot can run forwards at the speed of 9 km/h. However, a Zero Moment Point (ZMP) stability criterion is adopted for a large sole biped robot like ASIMO, namely, a ZMP is measured and calculated by a six-dimensional force/Moment sensor of a sole, and the stability of the robot movement is determined according to whether the ZMP is in a support polygon. The ASIMO robot mechanical structure adopts the design of a large sole, the adopted control strategy and the mechanical structure design enable the ASIMO to have limited adaptability to a complex road surface, and meanwhile, ZMP stabilizing criterion can cause inaccurate ZMP obtained by measuring of a force/torque sensor and finally cause instability of the robot because the large sole cannot be in complete contact with the ground under rugged terrain. Therefore, the ASIMO robot can only adapt to the environment of an indoor smooth road surface at present, and cannot stably walk on an outdoor uneven road surface.
The ATRIAS robot introduced by Oregon State university in 2012 has outdoor walking and running capacity, and the highest speed reaches 7 km/h. ATRIAS can run quickly on grasslands or uneven road surfaces, and can adapt to slopes with certain gradients. The ATRIAS robot adopts a Spring Inverted Pendulum model (SLIP), and the legs of the robot are equivalent to springs in the model, so that the ATRIAS robot is suitable for the jumping process of the robot. To this end, the legs of the ATRIAS robot are designed as a planar four-bar linkage, concentrating the majority of the weight of the robot above the hips, which mimics the birds and birds that run at the fastest speed on both feet in nature, with the expectation that higher running speeds can be achieved while fitting well with the SLIP model. Although the early ATRIAS robot has under-actuated joints, the ATRIAS robot can still realize good dynamic stabilization effect in the walking process, and can walk on outdoor lawns and move up and down stairs. However, the control algorithm based on the SLIP model is relatively dependent on the fit degree of the mechanical structure of the robot, and is not necessarily suitable for most biped robot platforms.
The Atlas biped robot developed by the boston power company in the united states has been receiving wide attention from the industry as the humanoid robot with the strongest comprehensive capability in the world. The Atlas robot of the latest generation is about 150cm in height, 75kg in weight and 11kg in payload, has 28 joints in total, and gradually becomes smaller and finer compared with the robots of the previous generations. The functions realized at present are cleaning, carrying goods, falling down and climbing, walking on snow, etc. Meanwhile, in the aspect of movement capacity, from the video uploaded by Boston power, the Atlas robot can realize outdoor quick running, span large obstacles, and even can realize rear sky turning, three-jump in the opposite sky, air turning, splitting and other extreme movements. From the published Atlas robot walk video, it can be seen that the Atlas robot has a strong ability to walk stably, can walk freely on soft snow and rough road surfaces without falling, and can maintain body balance by smoothing out several steps after being manually propelled. However, the boston power company has not issued a control method of Atlas robot, so that other biped robot platforms cannot use and adopt the stable walking control method.
The existing control method of the biped robot is mostly realized based on the traditional feedback control, but when the robot walks on an unknown terrain, the traditional feedback control can only control the current motion state of the robot, and the prediction of future information is lacked, so that the disturbance recovery can not be carried out in time when the robot walks on an unknown rugged road.
Disclosure of Invention
The invention aims to provide a method, a device, equipment and a readable medium for controlling stable walking of a biped robot, which aim to solve the problem that disturbance recovery cannot be timely carried out when the robot walks on an unknown rugged road surface in the related art.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
in a first aspect, an embodiment of the present invention provides a method for controlling stable walking of a biped robot, including:
constructing a simplified rigid body dynamic model of the biped robot;
constructing a centroid state prediction model by applying a simplified rigid body dynamics model of the biped robot based on a model prediction control method;
simplifying an optimization equation set in the model predictive control method into a quadratic programming equation set according to a centroid state prediction model;
solving a quadratic programming equation set to obtain optimized ground reaction force so as to obtain control parameters of stable walking;
and controlling the biped robot according to the stable walking control parameters.
Further, establishing a simplified rigid body dynamics model of the biped robot, comprising:
based on a linear inverted pendulum model, wherein the mass of the robot is totally concentrated on the mass center, and the legs are taken as connecting rods without mass, a simplified rigid body dynamics model of the biped robot is established.
Further, based on a model prediction control method, a centroid state prediction model is constructed by applying a simplified rigid body dynamics model of the biped robot, and the method comprises the following steps:
the model prediction control method is used for constructing a state equation of a centroid state vector according to a simplified rigid body dynamics model, further converting the state equation into a centroid state prediction model, and predicting the centroid state at the next moment according to the current centroid state at each control moment.
Further, the method for simplifying the optimization equation set in the model predictive control method into a quadratic programming equation set according to the centroid state prediction model comprises the following steps:
converting a centroid state prediction model in the model prediction control method into a centroid state prediction equation of a future finite time domain based on the current moment centroid state;
and simplifying the optimization equation set of the model predictive control method into a quadratic programming equation set according to a future finite time domain centroid state prediction equation.
Further, solving a quadratic programming equation system to obtain an optimized ground reaction force so as to obtain control parameters for stable walking, comprising:
solving a quadratic programming equation set to obtain an optimal ground reaction force vector in a future finite time domain, and calculating control parameters for realizing stable walking according to the first ground reaction force value.
Further, controlling the biped robot according to the stable walking control parameter includes:
and applying the stable walking control parameters to the control of the supporting legs to realize the stable walking control of the biped robot.
In a second aspect, an embodiment of the present invention provides a device for controlling stable walking of a biped robot, including:
the model building module is used for building a simplified rigid body dynamics model of the biped robot;
the prediction model construction module is used for constructing a centroid state prediction model by applying a simplified rigid body dynamics model of the biped robot based on a model prediction control method;
the simplification module is used for simplifying an optimization equation set in the model prediction control method into a quadratic programming equation set according to a centroid state prediction model;
the parameter obtaining module is used for solving a quadratic programming equation set to obtain optimized ground reaction force so as to obtain control parameters for stable walking;
and the control module is used for controlling the biped robot according to the stable walking control parameters.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a method as described in the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is configured to, when executed by a processor, implement the method according to the first aspect.
According to the technical scheme, firstly, most of the existing biped robots are used in a traditional feedback control method when walking, but when the robots walk on unknown terrain, the traditional feedback control can only control the current motion state of the robots, and the prediction of future information is lacked, so that the robots cannot timely recover from disturbance when walking on unknown rugged road surfaces. The method uses model predictive control, obtains control input which can better enable the robot to maintain stability by predicting the centroid state of the biped robot in the future in advance, namely, can compensate unknown disturbance in advance; secondly, aiming at the defects of model predictive control, namely complicated and time-consuming solving process, the invention simplifies the predictive model in the model predictive control into a quadratic programming problem with simpler solving, greatly improves the solving speed while hardly influencing the optimized value, and reduces the complexity of the predictive model by constructing a simplified rigid body dynamics model based on a linear inverted pendulum model so as to enable the quality state of the robot to be more rapidly predicted; meanwhile, when the whole body motion control of the biped robot is carried out, the model-based predictive control method does not need to consider complicated control of each part of the body, and the whole body motion control can be realized only by planning the reference track of the mass center.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1(a) is a front view of an overall model of a biped robot according to an embodiment of the present invention;
fig. 1(b) is a side view of an overall model of a biped robot in an embodiment of the present invention;
FIG. 2 is a flow chart of a method for controlling stable walking of a biped robot according to an embodiment of the present invention;
FIG. 3 is a simplified representation of a rigid body dynamics model according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of the relationship between ground reaction force and support leg joint moment in an embodiment of the present invention;
FIG. 5 is a modeling analysis diagram of the single-leg support phase of the biped robot in the embodiment of the present invention;
FIG. 6 is a block diagram of a device for controlling the stable walking of a biped robot according to an embodiment of the present invention;
in the figure, a trunk 1, a right thigh link 2, a right shank link 3, a right foot palm 4, a left thigh link 5, a left shank link 6, a left foot palm 7, a right hip yaw joint 8, a right hip roll joint 9, a right hip pitch joint 10, a right leg knee joint 11, a right leg ankle joint 12, a left hip yaw joint 13, a left hip roll joint 14, a left hip pitch joint 15, a left leg knee joint 16, a left leg ankle joint 17, a calculated swing leg drop point 18, and a planned swing leg motion trajectory 19.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Here, the structure of the biped robot is described first, and the biped robot is as shown in fig. 1(a) and 1(b), and mainly comprises a trunk 1 and lower limbs, wherein the lower limbs comprise a right thigh link 2, a right shank link 3, a right sole 4, a left thigh link 5, a left shank link 6, a left sole 7, a right hip yaw joint 8, a right hip roll joint 9, a right hip pitch joint 10, a right hip knee joint 11, a right leg ankle joint 12, a left hip yaw joint 13, a left hip roll joint 14, a left hip pitch joint 15, a left leg knee joint 16 and a left leg ankle joint 17, wherein an inertia measurement unit is installed in the trunk 1 to measure posture information of a body; force sensors are installed in the left sole 7 and the right sole 4, and whether the swing leg falls to the ground or not is judged according to the measured contact force between the soles and the ground, and the specific connection relationship is common knowledge in the field and the prior art, which is not described herein again.
Fig. 2 is a flowchart of a method for controlling stable walking of a biped robot according to an embodiment of the present invention; the stable walking control method for the biped robot provided by the embodiment comprises the following steps:
s102, constructing a simplified rigid body dynamics model of the biped robot;
s104, constructing a centroid state prediction model by applying a simplified rigid body dynamics model of the biped robot based on a model prediction control method;
s106, simplifying an optimization equation set in the model predictive control method into a quadratic programming equation set according to a centroid state prediction model;
step S108, solving a quadratic programming equation set to obtain optimized ground reaction force so as to obtain control parameters for stable walking;
and step S110, controlling the biped robot according to the stable walking control parameters.
In this embodiment, the establishing of the simplified rigid body dynamics model of the biped robot includes:
based on a linear inverted pendulum model, wherein the mass of the robot is totally concentrated on the mass center, and the legs are taken as connecting rods without mass, a simplified rigid body dynamics model of the biped robot is established.
Specifically, based on the linear inverted pendulum model, as shown in fig. 3, the biped robot is equivalent to a three-dimensional linear inverted pendulum in which the mass is totally concentrated on the centroid and the legs are mass-free connecting rods in contact with the ground, and the centroid is subjected to dynamic analysis in a world coordinate system, so as to obtain the following calculation formula:
where p represents the displacement of the center of mass,
acceleration of the center of mass, n the number of legs, fiRepresenting the reaction force of each supporting leg in contact with the ground, m representing the mass of the robot, g representing the gravitational acceleration constant, I representing the inertia tensor of the robot, and w representing the massAngular velocity of the heart, riRepresenting a vector with the center of mass pointing at the point of contact of each support leg with the ground,
the derivative of the rotation matrix is represented and R represents the rotation matrix converted from the robot coordinate system to the world coordinate system.
A simplified rigid body dynamics model of the centroid state vector with respect to ground reaction forces is constructed from the set of equations.
In this embodiment, constructing a centroid state prediction model by using the simplified rigid body dynamics model of the biped robot based on a model prediction control method includes:
the model prediction control method is used for constructing a state equation of a centroid state vector according to a simplified rigid body dynamics model, further converting the state equation into a centroid state prediction model, and predicting the centroid state at the next moment according to the current centroid state at each control moment.
Specifically, the simplified rigid body dynamics model is converted into a matrix representation form, and a state equation with the centroid attitude, the displacement, the angular velocity and the velocity as state variables is obtained, wherein the expression is as follows:
wherein theta represents the attitude angle of the centroid,
the velocity of the center of mass is represented,
the yaw angle of the center of mass is represented,
representing a rotation matrix calculated by the centroid yaw angle,
representing the inverse of a rotation matrix in the world coordinate systemAnd (4) matrix.
According to the state equation and the MPC control period, the following centroid state prediction model equation can be calculated:
x(k+1)＝Ax(k)+Bnu(k)+C
wherein x (k +1) represents the centroid state vector at the next moment, A represents the state transition matrix, x (k) represents the centroid state vector at the current moment, BnRepresenting the input matrix, u (k) representing the current input ground reaction force, and C representing the constant matrix.
In this embodiment, the step of simplifying the optimization equation set in the model predictive control method into a quadratic programming equation set according to the centroid state prediction model includes:
converting a centroid state prediction model in the model prediction control method into a centroid state prediction equation of a future finite time domain based on the current moment centroid state;
and simplifying the optimization equation set of the model predictive control method into a quadratic programming equation set according to a future finite time domain centroid state prediction equation.
Specifically, in order to realize the prediction of the centroid state in the future finite time domain, in this embodiment, taking the case that the future finite time domain includes 5 control cycles, according to the above centroid state prediction equation, the next centroid state can be predicted again according to the currently predicted centroid state, so that an equation set for predicting the centroid states at the future 5 control times according to the current centroid state can be obtained, and the equation set is represented by the following matrix:
wherein x (k +1), x (k +2), x (k +3), x (k +4), x (k +5) represent the predicted five future centroid states, B1、B2、B3、B4、B5The input matrix represents five predictions, when the robot is in rugged terrain, the vector of the centroid pointing to the terminal point of the support leg changes every time of prediction, so different matrix labels are used, u (k), u (k +1), u (k +2), u (k +3) and u (k +4) represent five predictionsIn the input ground reaction force during measurement, the matrix A during five times of centroid state prediction takes the same value, and because the expected heading angles of the centroids are the same during the motion process of the robot. .
The equation for MPC finite time domain open loop optimization is as follows:
wherein k is the number of control cycles in the future finite time domain, xi+1，refFor the desired centroid state at each instant, QiWeight vector, R, for the centroid state error at each time instantiA weight vector of the ground reaction force is input for each instant.
And substituting the obtained centroid state prediction equation set into an MPC finite time domain open loop optimization equation to obtain the following MPC optimization equation expressed in a matrix form:
J(U)＝||Aqpx0+BqpU+Cqp-xref||L+||U||K
wherein A isqpRepresenting equivalent state transition matrices, BqpRepresenting equivalent input matrices, CqpRepresenting equivalent constant matrices, xrefRepresenting the desired centroid state trajectory, L representing the weight matrix of the centroid state error, and K representing the weight matrix of the input ground reaction force.
Then, simplifying the optimization equation, removing the constants in the equation, and adding a constraint equation of which the system input needs to meet the antiskid condition to obtain the following equation set:
s.t.A·U≤b
wherein the first equation is an objective function in quadratic programming, and the second equation is a constraint condition.
In this embodiment, solving a quadratic programming equation system to obtain an optimized ground reaction force, so as to obtain a control parameter for stable walking, includes:
solving a quadratic programming equation set to obtain an optimal ground reaction force vector in a future finite time domain, and calculating control parameters for realizing stable walking according to the first ground reaction force value.
Specifically, by solving the quadratic programming equation set, the reaction force between the support leg optimized by the MPC and the ground is obtained, and then the expected torque value of each joint of the support leg is obtained through inverse dynamics calculation, as shown in fig. 4, the expected torque values of the knee joint and the hip joint of the support leg are calculated according to the length of the connecting rod and the angle values of the knee joint and the hip joint, and the calculation formula is as follows:
τ＝J.U
wherein tau represents the moment vector expected by each joint of the supporting leg, J represents a force Jacobian matrix, and U represents the optimal ground reaction force obtained by solving through QP.
In this embodiment, controlling the biped robot based on the stable walking control parameter includes:
and applying the stable walking control parameters to the control of the supporting legs to realize the stable walking control of the biped robot.
Specifically, as shown in fig. 5, a supporting leg moment τ is obtained by solving according to a ground reaction force F solved by QP, in a force control mode of the biped robot, each joint of the supporting leg outputs an expected moment value through PD control, and meanwhile, the swinging leg realizes speed control of the center of mass of the robot by planning swinging to a calculated foot landing point.
As shown in fig. 6, an embodiment of the present invention further provides a device for controlling stable walking of a biped robot, including:
the model building module 91 is used for building a simplified rigid body dynamics model of the biped robot;
a prediction model construction module 92, configured to construct a centroid state prediction model by using a simplified rigid body dynamics model of the biped robot based on a model prediction control method;
a simplification module 93, configured to simplify an optimization equation set in the model predictive control method into a quadratic programming equation set according to a centroid state prediction model;
a parameter obtaining module 94, configured to solve the quadratic programming equation set to obtain an optimized ground reaction force, so as to obtain a control parameter for stable walking;
a control module 95 for controlling the biped robot according to the stable walking control parameters.
An embodiment of the present invention further provides an electronic device, which includes:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement a biped robot stable walking control method as described above.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the above-mentioned method for controlling stable walking of a biped robot.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described device embodiments are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
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 units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
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.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A method for controlling stable walking of a biped robot, comprising:
constructing a simplified rigid body dynamic model of the biped robot;
constructing a centroid state prediction model by applying a simplified rigid body dynamics model of the biped robot based on a model prediction control method;
simplifying an optimization equation set in the model predictive control method into a quadratic programming equation set according to a centroid state prediction model;
solving a quadratic programming equation set to obtain optimized ground reaction force so as to obtain control parameters of stable walking;
and controlling the biped robot according to the stable walking control parameters.
2. The method for controlling stable walking of a biped robot according to claim 1, wherein the establishing of the simplified rigid body dynamics model of the biped robot comprises:
based on a linear inverted pendulum model, wherein the mass of the robot is totally concentrated on the mass center, and the legs are taken as connecting rods without mass, a simplified rigid body dynamics model of the biped robot is established.
3. The method for controlling stable walking of a biped robot according to claim 1, wherein the construction of the centroid state prediction model using the simplified rigid body dynamics model of the biped robot based on the model prediction control method comprises:
the model prediction control method is used for constructing a state equation of a centroid state vector according to a simplified rigid body dynamics model, further converting the state equation into a centroid state prediction model, and predicting the centroid state at the next moment according to the current centroid state at each control moment.
4. The method for controlling stable walking of a biped robot according to claim 1, wherein the optimization equations in the model predictive control method are simplified into a quadratic programming equation system according to a centroid state prediction model, comprising:
converting a centroid state prediction model in the model prediction control method into a centroid state prediction equation of a future finite time domain based on the current moment centroid state;
and simplifying the optimization equation set of the model predictive control method into a quadratic programming equation set according to a future finite time domain centroid state prediction equation.
5. The method for controlling stable walking of a biped robot according to claim 1, wherein solving a quadratic programming equation system to obtain optimal ground reaction force to obtain control parameters for stable walking comprises:
solving a quadratic programming equation set to obtain an optimal ground reaction force vector in a future finite time domain, and calculating control parameters for realizing stable walking according to the first ground reaction force value.
6. The method for controlling the steady walking of the biped robot according to claim 1, wherein the controlling the biped robot according to the steady walking control parameter comprises:
and applying the stable walking control parameters to the control of the supporting legs to realize the stable walking control of the biped robot.
7. A biped robot stable walking control device, comprising:
the model building module is used for building a simplified rigid body dynamics model of the biped robot;
the prediction model construction module is used for constructing a centroid state prediction model by applying a simplified rigid body dynamics model of the biped robot based on a model prediction control method;
the simplification module is used for simplifying an optimization equation set in the model prediction control method into a quadratic programming equation set according to a centroid state prediction model;
the parameter obtaining module is used for solving a quadratic programming equation set to obtain optimized ground reaction force so as to obtain control parameters for stable walking;
and the control module is used for controlling the biped robot according to the stable walking control parameters.
8. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-6.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-6.
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| CN112650234A (en) * | 2020-12-16 | 2021-04-13 | 浙江大学 | Path planning method of biped robot |
| CN112659108A (en) * | 2021-01-06 | 2021-04-16 | 北京唐柏世纪科技发展有限公司 | Distributed energy humanoid robot suitable for inflammable and explosive scenes |
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| CN112744315B (en) * | 2021-01-18 | 2022-06-21 | 西北工业大学 | Leg type robot stability criterion method suitable for dynamic walking and non-periodic walking |
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| CN112975978A (en) * | 2021-03-05 | 2021-06-18 | 深圳市优必选科技股份有限公司 | Multi-legged robot load balancing method and device and multi-legged robot |
| WO2022247133A1 (en) * | 2021-05-27 | 2022-12-01 | 深圳市优必选科技股份有限公司 | Biped robot control method and apparatus, biped robot, and storage medium |
| CN114442649A (en) * | 2021-12-22 | 2022-05-06 | 之江实验室 | Hybrid dynamics modeling and motion planning method for biped robot |
| CN114442649B (en) * | 2021-12-22 | 2024-04-19 | 之江实验室 | Biped robot hybrid dynamics modeling and motion planning method |
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