CN111857173A - Jumping gait planning control system and method for quadruped robot - Google Patents
Jumping gait planning control system and method for quadruped robot Download PDFInfo
- Publication number
- CN111857173A CN111857173A CN202010824019.3A CN202010824019A CN111857173A CN 111857173 A CN111857173 A CN 111857173A CN 202010824019 A CN202010824019 A CN 202010824019A CN 111857173 A CN111857173 A CN 111857173A
- Authority
- CN
- China
- Prior art keywords
- jumping
- quadruped robot
- motion
- control system
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009191 jumping Effects 0.000 title claims abstract description 84
- 230000005021 gait Effects 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims abstract description 67
- 238000012545 processing Methods 0.000 claims abstract description 18
- 238000001914 filtration Methods 0.000 claims description 3
- 238000007726 management method Methods 0.000 claims description 2
- 238000012876 topography Methods 0.000 abstract description 4
- 230000001174 ascending effect Effects 0.000 abstract description 2
- 210000001364 upper extremity Anatomy 0.000 description 10
- 241000282414 Homo sapiens Species 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a jumping gait planning control system and a jumping gait planning control method for a quadruped robot, wherein the system comprises an external environment acquisition system, a posture acquisition system, a motion planning decision-making system and an execution control system; an external environment acquisition system acquires topographic information of the quadruped robot needing jumping, and the topographic information is input into a motion planning decision system after data processing; the attitude acquisition system acquires the current attitude information of the quadruped robot, and the current attitude information is input into the motion planning decision system after data processing; the motion planning decision system analyzes and plans a jumping motion track of the quadruped robot according to the current terrain information and the posture information of the quadruped robot and transmits the jumping motion track to the execution control system; and the execution control system calculates the control torque required by each joint according to the motion trail and performs a ZMP control algorithm. According to the general topography, four jumping gait modes of level land jumping, ascending slope jumping, descending slope jumping, non-level land jumping and the like are designed, and the invention can be effectively suitable for different topography environments.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a jumping gait planning control system and a jumping gait planning control method for a quadruped robot.
Background
The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings. With the rapid development of scientific and technical information, the control technology of the robot is continuously improved, and the robot is more and more widely applied to various industries. The types of robots are also various, especially the structures of the robots are different, and the robots with different structures have unique functions and application environments. A four-footed robot is one of the robots, and is typically characterized by four legs. The research and application of the quadruped robot are paid attention by a plurality of scholars, so that the scientific research result is rich, and the practical application case is also good. The quadruped robot needs to have accurate control technology in the process of assisting or replacing human beings to complete specified work tasks in certain environments. Meanwhile, there is a need for a quadruped robot having flexible motion control techniques, including walking and jumping of the quadruped robot. In an unknown complex terrain environment, the quadruped robot needs to reach a purpose by walking or jumping to complete a designated work task. At present, walking gait and jumping gait control planning methods of quadruped robots are different and have advantages and disadvantages.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a four-foot robot jumping gait planning control system and a method thereof, which design four jumping gait modes such as level land jumping, ascending slope jumping, descending slope jumping and non-level land jumping according to the general topography, and enable the four-foot robot to be more suitable for different topography environments in a flexible jumping mode.
A jumping gait planning control system of a quadruped robot comprises an external environment acquisition system, a posture acquisition system, a motion planning decision-making system and an execution control system; the external environment acquisition system acquires topographic information of the quadruped robot needing jumping, and the topographic information is input into the motion planning decision system after data processing; the attitude acquisition system acquires the current attitude information of the quadruped robot, and the current attitude information is input into the motion planning decision system after data processing; the motion planning decision system analyzes and plans a jumping motion track of the quadruped robot according to the current terrain information and the posture information of the quadruped robot and transmits the jumping motion track to the execution control system; and the execution control system calculates the control torque required by each joint according to the motion trail and performs a ZMP control algorithm.
Furthermore, the external environment acquisition system is an ARM embedded system, is connected with the motion planning decision system through a CAN bus, is connected with a mini camera through a USB port, and acquires the terrain information of a jumping area in front of the quadruped robot through a video processing technology and an image processing technology.
Further, the attitude acquisition system is an ARM embedded system, and is connected with the motion planning decision system through a CAN bus to acquire the current attitude information of the quadruped robot, and the attitude acquisition system includes: joint pitch angle, yaw angle, control moment and the like, and a filtering algorithm is designed to filter the attitude information.
Further, the motion planning decision system is an industrial PC, and is connected to the execution control system through a serial port line, and analyzes and plans a jumping gait mode of the quadruped robot, and the method includes: level ground jumps, uphill jumps, downhill jumps, and non-level ground jumps.
Further, the terrain features of the jumping area of the flat ground into the quadruped robot are flat without pits and obstacles.
Further, the terrain feature of the jumping area of the quadruped robot is represented as an upward slope and does not exceed a certain slope value.
Further, the terrain characteristic of the downhill jump to a quadruped robot jump area is characterized by a downward slope and does not exceed a certain slope value.
Further, the terrain features of the non-level-land jumping area of the quadruped robot are rugged and may contain pits and obstacles with different sizes.
Further, the execution control system is an industrial PC.
Furthermore, the environment acquisition system, the posture acquisition system, the motion planning decision system and the execution control system adopt a unified power management system.
A jumping gait planning control method for a quadruped robot comprises the following steps:
the SS00 quadruped robot is ready to jump;
an SS01 external environment acquisition system acquires topographic information of the quadruped robot required jumping, and the topographic information is input into a motion planning decision system after data processing;
the SS02 attitude acquisition system acquires the current attitude information of the quadruped robot, and the current attitude information is input into the motion planning decision system after data processing; the SS03 motion planning decision-making system analyzes and plans the jumping motion trail of the quadruped robot according to the current terrain information and the posture information of the quadruped robot, and the planning comprises the following steps: one of motion trajectories of level jump, uphill jump, downhill jump and non-level jump, and transmitting the planned motion trajectory to an execution control system;
the SS04 execution control system calculates the control moment required by each joint according to the motion trail, inputs the corresponding joint, and simultaneously performs a ZMP control algorithm to properly adjust the angle of each joint, thereby improving the robustness of the quadruped robot.
The invention has the following beneficial effects:
1. the invention can effectively adapt to different terrain environments through the multi-mode jumping gait form of the quadruped robot.
2. The jumping gait motion control of the quadruped robot is more flexible and accurate.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
Detailed Description
The invention is described in detail below with reference to the drawings and specific examples.
As shown in fig. 1, the present invention is a jumping gait planning control system for a quadruped robot, which includes an external environment acquisition system 1, a posture acquisition system 2, a motion planning decision system 3 and an execution control system 4.
The external environment acquisition system 1 acquires topographic information of the quadruped robot needing jumping, and the topographic information is input into the motion planning decision system 3 after data processing; the attitude acquisition system 2 acquires the current attitude information of the quadruped robot, and the current attitude information is input into the motion planning decision system 3 after data processing; the motion planning decision system 3 analyzes and plans the jumping motion trail of the quadruped robot according to the current terrain information and the posture information of the quadruped robot and transmits the jumping motion trail to the execution control system 4; the execution control system 4 calculates the control torque required for each joint from the movement locus, and performs a ZMP control algorithm.
A jumping gait planning method for a quadruped robot comprises the following processes;
when the quadruped robot is ready to jump. The external environment acquisition system 1 acquires topographic information of a front jumping area required by the quadruped robot, and the topographic information is input into the motion planning decision system 3 after a video processing technology and an image processing technology. The attitude acquisition system 2 acquires current attitude information of the quadruped robot, and comprises: the pitch angle, yaw angle, control moment of the joint, etc., and a filtering algorithm is designed to filter the attitude information, and the processed attitude information is input into the motion planning decision system 3. The motion planning decision system 3 analyzes and plans the jumping motion trail of the quadruped robot according to the current terrain information and the posture information of the quadruped robot, and the planning comprises the following steps: one of the motion trajectories of a level jump, an uphill jump, a downhill jump, and a non-level jump, and transmits the planned motion trajectory to the execution control system 4. The execution control system 4 responds to the motion planning decision system 3, if the motion trail is a flat jump, the terrain feature of a jumping area of the four-legged robot is flat, has no pits and has no obstacles, before the jump is taken, the execution control system 4 calculates control torque required by each joint according to the motion trail, inputs the corresponding joint, controls the left and right rear legs to press downwards to a certain angle, controls the left and right front legs to lift upwards to a certain angle, and controls the left and right front legs to exert force forwards and the left and right rear legs to exert force upwards when the robot lands on the ground to control the four legs to stand on the ground to finish the flat jump to wait for the next jump; if the motion trail is an uphill jump, the terrain of a jumping area of the quadruped robot is shown as an upward slope, but the slope value of the slope cannot exceed a certain angle value, otherwise, the quadruped robot cannot finish the uphill jump, before the jump is started, the execution control system 4 calculates control torque required by each joint according to the motion trail, inputs the corresponding joint, controls the left and right rear legs to press downwards to a certain angle, controls the left and right front legs to lift upwards to a certain angle, and when the jump is started, the left and right front legs exert force forwards, the left and right rear legs exert force upwards, and when the robot lands, because the ground is an uphill, the joint control torque of the left and right rear legs is increased, and the joint control torque of the left and right front legs is reduced, so that the gravity center of the quadruped robot is controlled to be in a stable area, the uphill jump is finished; if the movement track is downhill jumping, the terrain of a jumping area of the quadruped robot is shown as downward slope, but the gradient value of the slope cannot exceed a certain angle value, otherwise the quadruped robot cannot complete downhill jumping, before jumping, the execution control system 4 calculates control torque required by each joint according to the movement track, inputs the corresponding joint, controls the left and right rear legs to press downwards to a certain angle, controls the left and right front legs to lift upwards by a certain angle, when jumping, the left and right front legs exert force forwards, the left and right rear legs exert force upwards, when falling to the ground, because the ground is downhill, the joint control torque of the left and right rear legs is reduced, and the joint control torque of the left and right front legs is increased, so that the gravity center of the quadruped robot is controlled to be in a stable area, and downhill jumping is completed to wait for next jumping; if the movement track is non-flat jumping, the terrain of a jumping area of the quadruped robot is rugged and may contain pits, obstacles and the like with different sizes, before jumping, the execution control system 4 calculates control torque required by each joint according to the movement track, inputs the corresponding joints, controls the left and right rear legs to downwards press to a certain angle, controls the left and right front legs to upwards lift to a certain angle, during jumping, the left and right front legs exert force forwards, the left and right rear legs exert force upwards, during landing, due to the rugged ground, on the premise of a ZMP control algorithm, proper regulation control torque is calculated for the joints of the four legs respectively, so as to ensure that the quadruped robot maintains stable, and completes non-flat jumping for the next jumping. The ZMP control algorithm is always accompanied in the process of finishing the jumping gait planning by the quadruped robot, and is the basic guarantee of finishing the jumping gait planning process by the quadruped robot, so that the gravity center of the quadruped robot is always kept in a stable range, and the robustness of the quadruped robot is improved.
In the description herein, references to the description of a particular embodiment or embodiments refer to the inclusion of a particular feature, structure, material, or characteristic described in connection with the embodiment or example in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. A jumping gait planning control system of a quadruped robot is characterized in that: the system comprises an external environment acquisition system (1), a posture acquisition system (2), a motion planning decision system (3) and an execution control system (4); the external environment acquisition system (1) acquires topographic information of the quadruped robot needing jumping, and the topographic information is input into the motion planning decision system (3) after data processing; the gesture obtaining system (2) obtains the current gesture information of the quadruped robot, and the current gesture information is input into the motion planning decision system (3) after data processing; the motion planning decision system (3) analyzes and plans a jumping motion track of the quadruped robot according to the current terrain information and the posture information of the quadruped robot, and transmits the jumping motion track to the execution control system (4); the execution control system (4) calculates the control torque required by each joint according to the motion trail and performs a ZMP control algorithm.
2. The jumping gait planning control system of the quadruped robot as claimed in claim 1, wherein the external environment acquisition system (1) is an ARM embedded system, is connected with the motion planning decision system (3) through a CAN bus, is connected with a mini camera through a USB port, and acquires the terrain information of the jumping area in front of the quadruped robot through a video processing technology and an image processing technology.
3. The jumping gait planning control system of a quadruped robot as claimed in claim 1, wherein the attitude acquisition system (2) is an ARM embedded system, and is connected to the motion planning decision system (3) via a CAN bus to acquire the current attitude information of the quadruped robot, and the current attitude information of the quadruped robot includes: joint pitch angle, yaw angle, control moment and the like, and a filtering algorithm is designed to filter the attitude information.
4. The jumping gait planning control system of the quadruped robot according to claim 1, characterized in that the motion planning decision system (3) is an industrial PC, and analyzes and plans the jumping gait pattern of the quadruped robot through a serial port connection execution control system (4), and the jumping gait pattern of the quadruped robot comprises: level ground jumps, uphill jumps, downhill jumps, and non-level ground jumps.
5. The system of claim 4, wherein the terrain features of the jumping flat ground into the jumping area of the quadruped robot appear to be flat, crater-free and unobstructed.
6. The quadruped robot jumping gait planning control system according to claim 4, characterized in that the terrain characteristic of the uphill jump to the quadruped robot jumping area appears as a slope up and does not exceed a slope value, or the terrain characteristic of the downhill jump to the quadruped robot jumping area appears as a slope down and does not exceed a slope value.
7. The jumping gait planning control system of a quadruped robot according to claim 4, wherein the terrain that the non-level ground jumps into the jumping area of the quadruped robot is characterized by bumpiness, including pits and obstacles.
8. The jumping gait planning control system of a quadruped robot according to claim 4, characterized in that the execution control system (4) is an industrial-grade PC.
9. The jumping gait planning control system of a quadruped robot according to claim 1, characterized in that the partial environment acquisition system (1), the posture acquisition system (2), the motion planning decision system (3) and the execution control system (4) employ a unified power management system.
10. A jumping gait planning control method of a quadruped robot is characterized by comprising the following steps:
the SS00 quadruped robot is ready to jump;
s01, the external environment acquisition system (1) acquires topographic information of the quadruped robot needing jumping, and the topographic information is input into the motion planning decision system (3) after data processing;
the SS02 attitude acquisition system (2) acquires the current attitude information of the quadruped robot, and the current attitude information is input into the motion planning decision system (3) after data processing;
the SS03 motion planning decision-making system (3) analyzes and plans the jumping motion trail of the quadruped robot according to the current terrain information and the posture information of the quadruped robot, and the planning comprises the following steps: one of the motion trajectories of level jump, uphill jump, downhill jump and non-level jump, and transmitting the planned motion trajectory to the execution control system (4);
the SS04 execution control system (4) calculates the control moment required by each joint according to the motion trail, inputs the corresponding joint, and simultaneously performs a ZMP control algorithm to properly adjust the angle of each joint, thereby improving the robustness of the quadruped robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010824019.3A CN111857173A (en) | 2020-08-17 | 2020-08-17 | Jumping gait planning control system and method for quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010824019.3A CN111857173A (en) | 2020-08-17 | 2020-08-17 | Jumping gait planning control system and method for quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111857173A true CN111857173A (en) | 2020-10-30 |
Family
ID=72969092
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010824019.3A Pending CN111857173A (en) | 2020-08-17 | 2020-08-17 | Jumping gait planning control system and method for quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111857173A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112859851A (en) * | 2021-01-08 | 2021-05-28 | 广州视源电子科技股份有限公司 | Multi-legged robot control system and multi-legged robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011067621A1 (en) * | 2009-12-04 | 2011-06-09 | Toyota Jidosha Kabushiki Kaisha | Robot control system, motion data creation apparatus and its creating method |
| CN104875813A (en) * | 2015-05-26 | 2015-09-02 | 上海大学 | Electrically-driven small bionic four-leg robot |
| CN107065867A (en) * | 2017-03-28 | 2017-08-18 | 浙江大学 | A kind of quadruped robot motion planning method towards unknown rugged topography |
| CN108237532A (en) * | 2016-12-23 | 2018-07-03 | 深圳光启合众科技有限公司 | The gait control method, apparatus and robot of multi-foot robot |
| CN108860360A (en) * | 2018-08-01 | 2018-11-23 | 清华大学深圳研究生院 | A kind of system of quadruped robot obstacle jump |
| CN109946974A (en) * | 2019-04-12 | 2019-06-28 | 山东大学 | A kind of control system of electric drive quadruped robot |
| CN110405763A (en) * | 2019-07-24 | 2019-11-05 | 北京理工大学 | A kind of planing method of anthropomorphic robot multi-joint collaboration outburst jump |
| CN111483532A (en) * | 2020-06-02 | 2020-08-04 | 山东大学 | Four-footed robot motion control method for climbing stairs with static gait |
-
2020
- 2020-08-17 CN CN202010824019.3A patent/CN111857173A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011067621A1 (en) * | 2009-12-04 | 2011-06-09 | Toyota Jidosha Kabushiki Kaisha | Robot control system, motion data creation apparatus and its creating method |
| CN104875813A (en) * | 2015-05-26 | 2015-09-02 | 上海大学 | Electrically-driven small bionic four-leg robot |
| CN108237532A (en) * | 2016-12-23 | 2018-07-03 | 深圳光启合众科技有限公司 | The gait control method, apparatus and robot of multi-foot robot |
| CN107065867A (en) * | 2017-03-28 | 2017-08-18 | 浙江大学 | A kind of quadruped robot motion planning method towards unknown rugged topography |
| CN108860360A (en) * | 2018-08-01 | 2018-11-23 | 清华大学深圳研究生院 | A kind of system of quadruped robot obstacle jump |
| CN109946974A (en) * | 2019-04-12 | 2019-06-28 | 山东大学 | A kind of control system of electric drive quadruped robot |
| CN110405763A (en) * | 2019-07-24 | 2019-11-05 | 北京理工大学 | A kind of planing method of anthropomorphic robot multi-joint collaboration outburst jump |
| CN111483532A (en) * | 2020-06-02 | 2020-08-04 | 山东大学 | Four-footed robot motion control method for climbing stairs with static gait |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112859851A (en) * | 2021-01-08 | 2021-05-28 | 广州视源电子科技股份有限公司 | Multi-legged robot control system and multi-legged robot |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11654984B2 (en) | Slip detection for robotic locomotion | |
| US10888999B2 (en) | Handling gait disturbances with asynchronous timing | |
| US11188081B2 (en) | Auto-swing height adjustment | |
| US9926025B1 (en) | Slip avoidance | |
| Jenelten et al. | Perceptive locomotion in rough terrain–online foothold optimization | |
| Wang et al. | Flexible motion framework of the six wheel-legged robot: Experimental results | |
| Bjelonic et al. | Whole-body mpc and online gait sequence generation for wheeled-legged robots | |
| Walas | Terrain classification and negotiation with a walking robot | |
| US20210309310A1 (en) | Control of Robotic Devices with Non-Constant Body Pitch | |
| US9499218B1 (en) | Mechanically-timed footsteps for a robotic device | |
| CN111857173A (en) | Jumping gait planning control system and method for quadruped robot | |
| Xu et al. | Analytical review on developing progress of the quadruped robot industry and gaits research | |
| Freitas et al. | Terrain model-based anticipative control for articulated vehicles with low bandwidth actuators | |
| CN112859851B (en) | Multi-legged robot control system and multi-legged robot | |
| Chen et al. | CNNs based foothold selection for energy-efficient quadruped locomotion over rough terrains | |
| Yin et al. | A novel control strategy for quadruped robot walking over irregular terrain | |
| Ma et al. | Trotting gait control of quadruped robot based on Trajectory Planning | |
| Roennau et al. | Six-legged walking in rough terrain based on foot point planning | |
| Palmer et al. | Toward innate leg stability on unmodeled and natural terrain: Quadruped walking | |
| Jimenez et al. | A four-legged walking test bed | |
| Shen et al. | Cooperative control strategy of wheel-legged robot based on attitude balance | |
| Law et al. | Shared control for navigation and balance of a dynamically stable robot | |
| Roehr et al. | Cooperative docking procedures for a lunar mission | |
| Li et al. | The development on obstacle avoidance design for a humanoid robot based on four ultrasonic sensors for the learning behavior and performance | |
| CN114633826B (en) | Leg collision processing method for foot type robot and foot type robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201030 |