CN111880544A - Humanoid robot gait planning method and device and humanoid robot - Google Patents

Humanoid robot gait planning method and device and humanoid robot Download PDF

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CN111880544A
CN111880544A CN202010788584.9A CN202010788584A CN111880544A CN 111880544 A CN111880544 A CN 111880544A CN 202010788584 A CN202010788584 A CN 202010788584A CN 111880544 A CN111880544 A CN 111880544A
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leg
humanoid robot
period
original
foot
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CN111880544B (en
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王家俊
赵明国
熊友军
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Shenzhen Ubtech Technology Co ltd
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    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network

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  • Automation & Control Theory (AREA)
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Abstract

The embodiment of the application discloses a humanoid robot gait planning method, a humanoid robot gait planning device and a humanoid robot, wherein the method comprises the following steps: acquiring the stress information of a swing leg of the humanoid robot in a single-foot supporting period at present; judging whether the swing leg falls to the ground or not according to the stress information, and acquiring the stress information of the feet and the waist pose of the humanoid robot after the humanoid robot enters the feet supporting period when the swing leg falls to the ground; controlling the original supporting leg according to the waist pose and the expected waist track in the double-foot supporting period, and controlling the original swinging leg according to the expected swinging track of the swinging leg; and judging whether a preset task switching condition is reached or not according to the stress information of the feet and the transition duration of the support period of the feet, and switching the track tracking tasks of the original support leg and the original swing leg when the preset task switching condition is reached. The technical scheme of this application can make humanoid robot realize the smooth alternative switching of supporting leg and swing leg at the quick walking in-process to guarantee humanoid robot's gesture and the dynamic stability of speed etc..

Description

Humanoid robot gait planning method and device and humanoid robot
Technical Field
The application relates to the technical field of humanoid robots, in particular to a humanoid robot gait planning method and device and a humanoid robot.
Background
In the situation of rapid walking of the humanoid robot, the duration of the support period of the feet is short, how to complete the switching of the support legs and the swing legs in the short time is achieved, and the key problem of restricting the development of the humanoid robot is to ensure the dynamic stability of the posture and the speed of the robot. The traditional method generally stipulates the duration of the support period of the feet, previously plans the expected movement track of the feet relative to the waist coordinate system in the appointed time, and realizes the switching of the support legs and the swing legs by tracking the expected track.
However, the above conventional method has the following disadvantages: firstly, the control method does not consider the stress condition of the feet, so that the robot is easy to change suddenly in state and can be unstable in severe cases; secondly, the method is limited by the capacity of a joint actuator, when the specified duration time of the double-foot supporting period is short, the track tracking precision cannot be ensured, so that the switching condition cannot be achieved on time, and the walking speed of the humanoid robot is limited; thirdly, the method is not suitable for being directly applied to walking scenes and the like of uneven road surfaces with certain gradients or undulation.
Disclosure of Invention
In view of the above, the present application aims to overcome the defects in the prior art, and provides a humanoid robot gait planning method and apparatus, and a humanoid robot.
An embodiment of the present application provides a humanoid robot gait planning method, including:
acquiring the stress information of a swing leg of the humanoid robot in a single-foot supporting period at present;
judging whether the swing leg falls to the ground or not according to the stress information, and acquiring the stress information of the two feet and the waist pose of the humanoid robot after the humanoid robot enters a two-foot support period when the humanoid robot falls to the ground, wherein when the humanoid robot enters the two-foot support period, the support leg in the previous single-foot support period is marked as an original support leg and the swing leg is marked as an original swing leg;
controlling the original supporting leg according to the acquired waist pose and a pre-planned expected waist track in the double-foot supporting period, and controlling the original swing leg according to an expected swing leg track in the double-foot supporting period;
and judging whether a preset task switching condition is reached or not according to the double-foot stress information and the preset double-foot support period transition duration, and switching the track tracking tasks of the original supporting leg and the original swinging leg when the preset task switching condition is reached until the original supporting leg enters the next single-foot support period after being lifted off the ground.
In some embodiments, the humanoid robot gait planning method further includes:
when the humanoid robot is in the single-foot supporting period, performing gravity compensation on the supporting leg;
and when the humanoid robot enters the double-foot supporting period, performing gravity compensation transition between the original supporting leg and the original swinging leg.
In some embodiments, the gravity compensated transition comprises:
and determining the gravity compensation quantity respectively applied to the original supporting leg and the original swinging leg at each moment according to a preset polynomial curve or a trigonometric function curve, wherein the sum of the gravity compensation quantities of the original supporting leg and the original swinging leg at each moment is equal to the gravity borne by the humanoid robot.
In some embodiments, the humanoid robot gait planning method further includes:
when the humanoid robot is in the single-foot supporting period, calculating a control scaling coefficient according to the stress information of the current supporting leg and the gravity borne by the humanoid robot;
adjusting an output control moment in the single-foot supporting period according to the calculated control scaling coefficient, wherein the output control moment is calculated according to a pre-planned waist expected track in the single-foot supporting period and an actually acquired waist pose;
and controlling each joint of the current supporting leg according to the adjusted control moment.
In some embodiments, the stress information of the current supporting leg includes a component of a ground reaction force on the current supporting leg in a vertical direction, and the calculating a control scaling factor according to the stress information of the current supporting leg and the gravity on the humanoid robot includes:
when the component is smaller than or equal to a preset first stress threshold value, the control scaling coefficient value is a first preset value, wherein the first stress threshold value is obtained through calculation according to a first preset coefficient and the gravity;
when the component is larger than the first stress threshold and smaller than a preset second stress threshold, the control scaling coefficient value is a ratio of a first difference value between the component and the first stress threshold to a second difference value between the first stress threshold and the second stress threshold, wherein the second stress threshold is obtained by calculation according to a second preset coefficient and the gravity;
and when the component is greater than or equal to the second stress threshold value, the control scaling coefficient takes the value of a second preset value.
In some embodiments, the first preset value is 0; the second preset value is 1.
In some embodiments, the first predetermined factor has a value in the range of (0, 0.3) and the second predetermined factor has a value in the range of [0.7, 1 ].
In some embodiments, the force information of each leg includes a component of a ground reaction force applied to a sole of the corresponding leg in a vertical direction, each leg of the humanoid robot is provided with a force sensor or a moment sensor, and the obtaining of the component includes:
the ground support reaction force of the sole of the corresponding leg under the sole coordinate system is acquired through the force sensor or the moment sensor of the corresponding leg;
and calculating the component of the ground support reaction force in the vertical direction according to a rotation matrix from a world coordinate system to a sole coordinate system of the corresponding leg and the ground support reaction force received under the sole coordinate system.
In some embodiments, the force sensors are six-dimensional force sensors, one for each leg of the humanoid robot.
In some embodiments, the torque sensor comprises a plurality of torque sensors, and one torque sensor is arranged at each joint of each leg of the humanoid robot.
In some embodiments, the determining whether the swing leg falls to the ground according to the stress information includes:
and judging whether the component of the ground support reaction force on the sole of the swing leg in the vertical direction is greater than a preset threshold value, if so, judging that the swing leg falls to the ground, otherwise, judging that the swing leg does not fall to the ground.
In some embodiments, the determining whether a preset task switching condition is reached according to the biped stress information and a preset biped support period transition duration includes:
when the duration of the humanoid robot entering the double-foot supporting period is shorter than the transition duration of the double-foot supporting period, the component of the ground support reaction force on the sole of the original swing leg in the vertical direction is larger than the component of the ground support reaction force on the sole of the original support leg in the vertical direction; or the time length of the humanoid robot entering the double-foot supporting period is equal to the transition time length of the double-foot supporting period;
if any one of the two conditions is met, judging that the task switching condition is met, otherwise, judging that the task switching condition is not met.
In some embodiments, the controlling the original support leg according to the lumbar pose and the desired lumbar trajectory during the pre-planned biped support period comprises:
calculating the expected waist pose of the humanoid robot according to the expected waist track in the pre-planned biped support period;
calculating an attitude control moment according to the deviation between the waist pose and the expected waist pose;
and controlling each joint of the humanoid robot according to the attitude control moment.
An embodiment of the present application further provides a humanoid robot gait planning device, including:
the information acquisition module is used for acquiring the stress information of the swing leg of the humanoid robot in the single-foot supporting period;
the landing judging module is used for judging whether the swing leg lands on the ground according to the stress information and acquiring the stress information and the waist pose of the double feet of the humanoid robot after the humanoid robot enters the double-foot supporting period when the swing leg lands on the ground, wherein when the humanoid robot enters the double-foot supporting period, the supporting leg in the previous single-foot supporting period is marked as an original supporting leg and the swing leg is marked as an original swing leg;
the trajectory tracking control module is used for controlling the original supporting leg according to the acquired waist pose and a pre-planned expected trajectory of the waist in the two-foot supporting period, and controlling the original swinging leg according to the expected trajectory of the swinging leg in the two-foot supporting period;
and the task switching module is used for judging whether a preset task switching condition is met or not according to the double-foot stress information and the preset double-foot support period transition duration, and switching the track tracking tasks of the original supporting leg and the original swinging leg when the preset task switching condition is met until the original supporting leg enters the next single-foot support period after being lifted off the ground.
An embodiment of the application further provides a humanoid robot, and gait planning in a biped support period in a walking process is performed by the humanoid robot gait planning method.
An embodiment of the present application further provides a readable storage medium storing a computer program which, when executed, implements the humanoid robot gait planning method according to the above.
The embodiment of the application has the following advantages:
the technical scheme of the embodiment of the application judges whether the feet enter a double-foot supporting period by utilizing the foot bottom stress information, and controls the humanoid robot by combining the foot bottom stress information, the pose information of the waist and the like so as to realize the accurate tracking of the expected track; and the state switching of the robot is determined by using task switching conditions mainly based on sole stress information, and when the switching conditions are reached, the task switching of the two legs is carried out, so that the smooth alternate switching of the supporting legs and the swinging legs of the humanoid robot in the walking process is realized. In addition, due to the fact that the preset task switching conditions can be achieved on time, the walking speed of the humanoid robot can be guaranteed, and the dynamic stability of the posture and the speed of the robot in the rapid walking process can be further guaranteed.
Drawings
In order to more clearly explain the technical solutions of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope of protection of the present application. Like components are numbered similarly in the various figures.
Fig. 1 shows a first flowchart of a humanoid robot gait planning method according to an embodiment of the application;
FIG. 2 is a schematic diagram illustrating an application of a humanoid robot gait planning method according to an embodiment of the application;
FIG. 3 illustrates a second flow diagram of a humanoid robot gait planning method of an embodiment of the application;
fig. 4 shows a third flow diagram of a humanoid robot gait planning method according to an embodiment of the application;
fig. 5 shows a fourth flowchart of a humanoid robot gait planning method according to an embodiment of the application;
fig. 6 shows a schematic structural diagram of a humanoid robot gait planning device according to an embodiment of the application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present application, are intended to indicate only specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present application belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments.
Example 1
Referring to fig. 1, the present embodiment provides a gait planning method for a humanoid robot, which can implement smooth alternate switching between a support leg and a swing leg, and further implement steady and rapid walking.
Typically, when the humanoid robot is walking, the two legs will alternately come into contact with the contact surface. In the walking process, two periods are mainly included, namely a single-foot supporting period and a double-foot supporting period, and the two periods appear in sequence. The term "biped support period" refers to a transition period during which the legs are alternately switched, and may also be referred to as a biped transition period. It is understood that the contact surface herein may refer to any supporting ground or platform with supporting function, etc. without being constrained by slope.
In both the monopod support period and the biped support period, the sole of the leg in the support state receives a support reaction force, also called a ground support reaction force, from the contact surface. The ground support reaction force exemplarily comprises X, Y and Z forces, which can be collected by a force sensor or a moment sensor disposed on the humanoid robot.
And step S110, acquiring the stress information of the swing leg of the humanoid robot in the single-foot supporting period currently.
In this embodiment, the force information of the swing leg mainly refers to a force component in the vertical direction of a ground reaction force applied to the sole of the swing leg, that is, a component in the Z direction.
To better illustrate the coordinate system used in the embodiments of the present application, referring to fig. 2, a single-foot support period at a certain time is taken as an example, in this case, if the right leg is a support leg and the left leg is a swing leg, as shown in fig. 2, CwRepresenting a world coordinate system, wherein XwAnd ZwRespectively represent the X direction and the Z direction; ctA coordinate system representing the trunk of the humanoid robot (i.e., a coordinate system in which the waist is located), ClRepresents the plantar coordinate system of the left foot, CrRepresenting the sole coordinate system of the right foot, namely the coordinate system of the supporting leg at the moment, wherein the world coordinate system CwAnd the supporting foot coordinate system CrThe origins coincide. Considering that the humanoid robot is mainly subjected to vertical downward gravity in the walking process, the world coordinate system C is obtained in the embodimentwThe lower sole is stressed.
The sole stress can be acquired and calculated by corresponding sensors. In one embodiment, a six-dimensional force sensor is arranged on the sole of each leg of the humanoid robot, the coordinates of the selected sensors are the same as those of the sole coordinate systems, and then the six-dimensional force sensors output the force and the moment respectively applied to the soles of the corresponding legs in the directions X, Y and Z. Further, a component of the ground reaction force in the vertical direction is calculated from a rotation matrix from the world coordinate system to the sole coordinate system of the corresponding leg and the ground reaction force received in the sole coordinate system.
For example, as shown in FIG. 2, taking the right leg currently in the supporting state as an example, if the output of the six-dimensional force sensor is denoted as FrWherein F isrIs a six-dimensional vectorIncluding the forces and moments applied to the sole of the right leg and foot in directions X, Y and Z, respectively, if the world coordinate system CwTo the plantar coordinate system C of the right legrIs RwrAt this time, the component F of the ground reaction force in the vertical directionwComprises the following steps:
Fw＝RwrFr。
in another embodiment, a moment sensor may be disposed at each joint of each leg of the humanoid robot, the external moment applied to each joint is acquired by each moment sensor on the corresponding leg, and then the sole force of the corresponding leg, i.e., the above-mentioned ground support reaction force, may be calculated by using the jacobian matrix of the velocity of the trunk coordinate system relative to the sole coordinate system of the corresponding leg. And calculating the vertical component of the ground reaction force according to the rotation matrix from the world coordinate system to the trunk coordinate system and the ground reaction force received under the sole coordinate system.
For example, if the number of joints of one leg of the humanoid robot is N, and the right leg which is currently in the supporting state is taken as an example as shown in fig. 2, the moment of each joint of the right leg is represented as τr，τrIs an N-dimensional vector. If the trunk coordinate system CtRelative to the plantar coordinate system C of the right legrThe velocity Jacobian matrix of JrtThen, relative to the torso coordinate system CtThe force F of the sole of the right leg in three directions of X, Y, ZtComprises the following steps:
Ft＝(Jrt)-1τr。
further, the component F of the sole stress in the vertical direction is calculated by using the coordinate system conversionwWherein R is as followswtAs a world coordinate system CwTo the torso coordinate system CtThe rotation matrix of (a):
Fw＝RwtFt。
it should be understood that, in order to obtain the component of the ground reaction force on the sole of the humanoid robot in the vertical direction, the two embodiments described above are only examples, and the type and the installation position of the sensor are not limited to these two embodiments, and can be determined according to actual requirements.
And S120, judging whether the swing leg falls to the ground or not according to the stress information, and acquiring the stress information of the feet and the waist pose of the humanoid robot after the humanoid robot enters the feet supporting period when the swing leg falls to the ground.
The traditional gait planning method does not always consider the stress condition of the sole of the foot, the sudden change of the state of the robot is easily caused during switching, and the instability can also occur in serious cases. Therefore, in the embodiment, the foot bottom stress of the humanoid robot is considered in the whole gait planning process, for example, the landing condition is judged through the foot bottom stress information of the swing leg in the single-foot supporting period, the humanoid robot is controlled by utilizing the foot bottom stress information of the double feet, the waist pose and other information after the landing, and the time for switching the task of the double feet is judged by utilizing the foot bottom stress information, so that the stress condition and the smooth transition of the state of the humanoid robot in the double-foot supporting period are ensured.
Exemplarily, when the humanoid robot is in the one-foot supporting period, whether the humanoid robot lands on the ground can be judged according to the sole stress of the swing leg in a suspended state. For example, after a component of a ground reaction force applied to the sole of the swing leg in the vertical direction is acquired, whether the component is greater than a preset threshold value or not can be judged, if so, the swing leg is judged to land at the moment, and otherwise, the swing leg is judged not to land. It is understood that the preset threshold may be set according to actual requirements, and is not limited herein.
If the swing leg does not fall to the ground, the humanoid robot is still in the single-foot supporting period, the swing leg is controlled according to the expected track of the swing leg in the single-foot supporting period planned in advance, and the support leg is controlled according to the expected track of the waist in the single-foot supporting period, so that the waist of the humanoid robot tracks the expected track which is planned in advance and changes along with time.
If the swing leg is judged to fall to the ground, the humanoid robot enters a double-foot supporting period. Exemplarily, the respective stress information of the feet can be obtained through the corresponding force sensor or torque sensor. The position information of the feet and the waist in the world coordinate system can be acquired and calculated by sensors or displacement encoders installed at the joints, for example. The posture of the waist with respect to the ground can be measured by, for example, an Inertial Measurement Unit (IMU) or the like attached to the waist of the humanoid robot. It should be understood that the waist position is not limited to the waist position and the waist position, and in some embodiments, the waist position may include only one of the waist position and the waist position.
And S130, controlling the original supporting leg according to the acquired waist pose and a pre-planned expected waist track in the two-foot supporting period, and controlling the original swinging leg according to an expected swinging leg track in the two-foot supporting period.
Exemplarily, after the humanoid robot enters the two-foot support period, the support leg in the previous single-foot support period may be referred to as the original support leg and the swing leg may be referred to as the original swing leg, for example, taking the single-foot support period shown in fig. 2 as an example, the left leg at this time will be referred to as the original support leg, and the right leg will be referred to as the original swing leg. In addition, at the landing time, the initialization time variable t is 0. It can be understood that when the state of the humanoid robot changes, the gait of the humanoid robot usually needs to be re-planned, and the gait of different periods is different.
For ease of understanding, the bipedal support period is divided into two phases, namely a first phase after entering the bipedal support period and before switching the task roles of the two legs, and a second phase after switching the task roles of the two legs and before re-entering the next monopod support period (i.e., new swing leg lift off). And when the preset task switching condition is met, the humanoid robot enters a second stage from the first stage.
In the step S130, the original support leg and the original swing leg are controlled according to the desired trajectory in the pre-planned biped support period in the first stage. Exemplarily, the original support leg of the humanoid robot is controlled according to the expected waist track in the period of supporting both feet, namely, the original support leg is still responsible for tracking the waist track of the robot and controlling the posture of the upper body, but in different periods. Taking fig. 2 as an example, in the period of single-foot support, the left leg is the support leg at this time, so after entering the period of double-foot support, the left leg will be marked as the original support leg, and the left leg will be used for controlling the waist movement. And for the original swing leg, the control is carried out according to the expected track of the swing leg in the period of supporting the feet.
In one embodiment, as shown in fig. 3, the above-mentioned controlling the original support leg according to the position of the waist and the expected waist track during the pre-planned bipedal support period mainly comprises:
and S131, calculating the expected waist pose of the humanoid robot according to the expected waist track in the pre-planned biped support period.
And step S132, calculating attitude control moment according to the acquired waist pose and the deviation between the expected waist poses.
And step S133, controlling each joint of the humanoid robot according to the attitude control moment.
Exemplarily, if the waist pose X of the humanoid robottExpressed as a six-dimensional vector, i.e. having Xt＝[xt,yt,zt,rollt,pitcht,yawt]Wherein (x)t,yt,zt) A coordinate position representing the waist in the world coordinate system, including coordinate values in the directions of the X-axis, the Y-axis and the Z-axis; (roll)t,pitcht,yawt) The attitude of the waist relative to the ground is represented, including roll angle, pitch angle, and yaw angle. At the moment, each joint driver of the original supporting leg controls the movement of the waist, so that the waist follows the expected waist track in the period of supporting both feet
Figure BDA0002622955290000121
Performing track following, wherein T is belonged to [0, T ∈dsp]，TdspFor a predetermined biped support period transition duration.
Thus, the desired trajectory can be obtained through the waist as described above
Figure BDA0002622955290000122
Calculating to obtain expected waist poses at different moments, and compiling the actual waist poses through the IMU and the jointsCode device, etc. and calculation. Further, by calculating a control moment for controlling each joint using a deviation between the desired value and the fed-back actual value, accurate tracking of a desired trajectory of the waist can be achieved.
In general, during the monopod supporting period, the swing leg is controlled according to the expected track of the swing leg in the preplanned monopod supporting period, and exemplarily, for the flat-foot robot with a foot plate, the state vector of the swing leg can be represented by a six-dimensional vector, taking the left leg as shown in fig. 2 as an example, namely, X is providedl＝[xl,yl,zl,rolll,pitchl,yawl]Wherein (x)l,yl,zl) Representing the position of the swing leg in a world coordinate system; and (roll)l,pitchl,yawl) Indicating the attitude of the swing leg relative to the ground. For a point-foot robot, the foot plate attitude does not exist because of the absence of the foot plate, and the attitude can be represented by a three-dimensional vector, namely Xl＝[xl,yl,zl]。
After entering the period of supporting both feet, for the original swing leg, taking the left leg as shown in fig. 2 as an example, the expected track of the swing leg during the period of supporting both feet can be recorded as
Figure BDA0002622955290000123
Wherein T is ∈ [0, Tdsp]. Generally, the desired state for the original swing leg during the period of bipedal support
Figure BDA0002622955290000124
It can be understood that: keeping the landing time in XY directions with respect to the world coordinate system CwThe Z direction is smoothly transited to the expected rising height from the actual value of the landing moment; and for the flat-foot robot with the foot plate, the posture of the foot plate smoothly transits from the actual value at the landing moment to the state parallel to the ground.
In the period of supporting the feet, the two legs of the humanoid robot execute respective track tracking, and when a preset task switching condition is reached, the two legs carry out task exchange. At this time, the humanoid robot enters the second stage from the first stage.
And step S140, judging whether a preset task switching condition is met or not according to the double-foot stress information and the preset double-foot support period transition duration, and switching the track tracking tasks of the original supporting leg and the original swinging leg when the preset task switching condition is met until the original supporting leg enters the next single-foot support period after being lifted off the ground.
Considering that different landing conditions may exist, the embodiment judges when to perform task switching based on the stress information of the feet and the transition duration of the support period of the feet, so as to better deal with the state switching of the humanoid robot in the walking process, and particularly for uneven ground, the method can effectively deal with the situations that the swing leg landing occurs in advance of planning and lags behind the planning due to uneven road surface, in other words, the method of the embodiment can enable the humanoid robot to have no requirement on terrain and terrain, and has wide adaptability.
For the step S140, the preset task switching condition mainly includes: when the duration of the humanoid robot entering the double-foot supporting period is less than the preset transition duration of the double-foot supporting period, the component of the ground support reaction force on the sole of the original swing leg in the vertical direction is greater than the component of the ground support reaction force on the sole of the original support leg in the vertical direction. Or when the humanoid robot enters the double-foot supporting period for a time period equal to the preset double-foot supporting period transition time period, namely the transition time period is reached.
Exemplarily, the vertical component of the ground support reaction force received by the sole of the original swing leg is recorded as
Figure BDA0002622955290000131
The vertical component of the ground support reaction force on the original support leg sole is recorded as
Figure BDA0002622955290000132
The transition duration of the support period of both feet is TdspThen, the preset task switching condition can be expressed as:
Figure BDA0002622955290000133
that is, as long as any one of the above two conditions is satisfied, it can be determined that the task switching condition is reached, otherwise, it is determined that the task switching condition is not reached.
Wherein, the task switching means that the original supporting leg executes the expected track of the swing leg in the newly planned double-foot supporting period; and the original swing legs will perform the desired waist trajectory and upper torso attitude control during the newly planned bipedal support period. Then, after the double-foot supporting period is finished, the original supporting leg is changed into a swinging leg in the next single-foot supporting period and is used for executing the expected track of the swinging leg in the single-foot supporting period; meanwhile, the original swing legs become supporting legs and are used for executing the expected waist track and the posture control of the upper body in the single-foot supporting period.
It can be understood that, for the first condition, the judgment is mainly made by comparing the stress of the two legs before the preset transition time is reached, so that the condition of landing in advance can be effectively dealt with. For example, when the robot encounters a raised ground or an ascending slope, the vertical component of the ground support reaction force on the sole of the original swing leg is increased to be larger than the vertical component of the ground support reaction force on the original support leg before the transition time is reached, and at this time, the task switching of the two legs can be performed in advance without waiting for the transition time. The second condition is mainly judged according to the duration of the period of entering the feet support, for example, when the robot encounters a pothole ground or a downhill, as long as the preset transition duration is exceeded, the two-leg task switching is forcibly performed regardless of the sole stress condition of the feet at the moment, so that the condition of lagging landing can be effectively dealt with.
It should be noted that, considering that the transition time of the biped support period is often short, especially during the fast walking process, the transition time is short, so the time of the humanoid robot entering the second stage from the first stage is usually negligible in the second stage, in other words, the biped support period is substantially ended after the humanoid robot performs task switching. In some embodiments, such as the occasion of controlling the fast walking, the supporting leg and the swinging leg after the task switching can be respectively controlled according to the expected waist track and the expected swinging leg track in the next single-foot supporting period.
In step S140, after the two-leg task is switched, the stress information of each of the feet and the positions of the feet and the waist in the world coordinate system may be obtained to track the task trajectory of the two legs. And, still will judge whether the new supporting leg liftoff, exemplarily, can be through whether the weight of the ground reaction force that this new supporting leg sole received is less than the above-mentioned preset threshold, if be less than or equal to, judge liftoff, both feet support the period and end at this moment, and enter the next single-foot support period, so far, have accomplished the whole process of two legs alternation.
The gait planning method of the embodiment is based on time planning and foot bottom stress information, so that the automation degree of the switching process of the swing legs and the supporting legs is higher and more intelligent; the two task switching conditions can effectively deal with the situations of early landing and late landing, namely, the conditions have no requirement on terrain and topography, and the method has wide adaptability. In addition, the task switching condition can be achieved on time, so that the walking speed of the humanoid robot can be ensured. In addition, because the state switching of the robot is mainly determined by the stress information, the robot has no dependence on the transition duration of the biped support period, namely the robot is suitable for the scenes of fast walking and slow walking. By using the method, rapid and continuous walking can be realized, and the upper body can be kept to stably track the expected posture track.
Example 2
Referring to fig. 4, based on the method of embodiment 1, the gait planning method for a humanoid robot provided in this embodiment further includes performing gravity compensation in the single-foot support period and the double-foot support period, which specifically includes:
and step S210, when the humanoid robot enters a single-foot supporting period, carrying out gravity compensation on the supporting legs.
Illustratively, the total gravity compensation amount is F for the monopod support periodg＝[0,0,mg]And mg is the gravity borne by the humanoid robot, and the total gravity compensation amount is completely applied to the supporting leg.
It is to be understood that step S210 generally occurs when the monopod support period is entered, and therefore the execution sequence of the step S and the partial steps in the method of embodiment 1 is not particularly limited, and for example, the step S110 may be executed sequentially, or both may be executed simultaneously, and the like.
And step S220, when the humanoid robot enters a double-foot supporting period, performing gravity compensation transition between the original supporting leg and the original swinging leg.
Exemplarily, the gravity compensation amount respectively applied to the original supporting leg and the original swinging leg at each moment can be determined according to a preset function curve, wherein the sum of the gravity compensation amounts of the original supporting leg and the original swinging leg at each moment is equal to the gravity to which the humanoid robot is subjected. For example, the predetermined function curve may include, but is not limited to, a polynomial curve, a trigonometric function curve, or the like.
Taking the linear function curve as an example, the gravity compensation quantity of the original supporting leg is
Figure BDA0002622955290000161
The gravity compensation amount of the original swing leg is
Figure BDA0002622955290000162
The following formula is then satisfied:
Figure BDA0002622955290000163
it can be understood that after entering the period of supporting both feet, the gravity compensation amount of the original supporting leg will gradually decrease to 0, and the gravity compensation amount of the original swinging leg will gradually increase to FgThe sum of both always being equal to FgBecause the weight of the robot is gradually transferred from the original supporting legs to the original swinging legs, the upper body trunk of the robot can stably track to the expected waist track better.
It is noted that for the duration of the gravity-compensated transition described above, it is typically calculated from the time of entering the bipedal support session and stopping until the end of the bipedal support session. As an embodiment, before the task switching of the two legs, the gravity compensation transition may be performed according to the step S220; after the tasks of the two legs are switched, because the original swing leg is not lifted off the ground, and the gravity compensation transition between the original swing leg and the original supporting leg is not completed at this time, the rest gravity compensation transition can be continuously completed until the original supporting leg enters the next single-foot supporting period from the ground, and finally the gravity compensation quantity applied to the original swing leg serving as a new supporting leg is the total gravity compensation quantity.
As another embodiment, considering that the transition time of the whole double-foot supporting period is short, when the tasks of the two legs are switched, especially in the process of fast walking, the double-foot transition is basically completed, and the residual gravity compensation amount which is not completely transitioned can be applied to the original swing leg at one time, namely, the total gravity compensation amount is completely applied to a new supporting leg.
It is to be understood that, as for the above step S220, since it occurs when the period of supporting both feet is entered, generally, it is executed after the step S120 is determined to land, the execution sequence of the step S120 of obtaining the force information of both feet and the waist pose in the above embodiment 1 is not limited, and the two steps may be executed simultaneously, or executed sequentially according to a preset sequence, etc.
Example 3
Referring to fig. 5, based on the foregoing embodiment 1 or 2, the gait planning method for a humanoid robot provided in this embodiment further includes adjusting the control moment in the monopod supporting period, so as to effectively avoid the sole slipping instability of the robot. Exemplarily, the method further comprises:
and S310, when the humanoid robot is in the single-foot supporting period, calculating and controlling a scaling coefficient according to the stress information of the current supporting leg and the gravity borne by the humanoid robot.
Exemplarily, the stress information of the support leg mainly includes a component of a ground support reaction force to which the support leg is subjected in a vertical direction. The control scaling factor is mainly determined by the sole stress of the supporting leg and the gravity of the robot.
In one embodiment, the calculating a control scaling factor according to the stress information of the current supporting leg and the gravity of the humanoid robot includes:
and when the component is less than or equal to a preset first stress threshold value, taking the value of the control scaling coefficient as a first preset value, wherein the first stress threshold value is obtained by calculation according to a first preset coefficient and the gravity. Exemplarily, in one embodiment, the first preset value may be 0.
When the component is larger than the first stress threshold and smaller than a preset second stress threshold, the control scaling coefficient value is a ratio of a first difference value between the component and the first stress threshold to a second difference value between the first stress threshold and the second stress threshold, wherein the second stress threshold is obtained by calculation according to a second preset coefficient and the gravity;
and when the component is greater than or equal to the second stress threshold value, the control scaling coefficient takes the value of a second preset value. Exemplarily, in one embodiment, the second preset value may be 1.
If described by expression, the component of the ground bearing reaction force on the current supporting leg in the vertical direction is FzControlling the scaling factor to be eta, wherein eta is equal to [0,1 ]]The first preset value is selected to be 0, the second preset value is selected to be 1, and then:
Figure BDA0002622955290000181
in the above formula, f1＝i*mg，f2J is mg, wherein m is the total mass of the robot, and g is the acceleration of gravity; i is a first predetermined coefficient and j is a second predetermined coefficient.
In one embodiment, the first predetermined coefficient has a value range of (0, 0.3) and the second predetermined coefficient has a value range of [0.7, 1 ]. It can be understood that, in practical application, the first preset coefficient and the second preset coefficient can be used as adjustable parameters according to actual ground friction conditions so as to be suitable for different ground friction conditions.
And step S320, adjusting the output control torque in the single-foot supporting period according to the calculated control scaling coefficient. And the output control moment is obtained by calculation according to a preset expected waist track in the unilateral supporting period and an actually acquired waist pose.
To more clearly illustrate the control torque adjustment of the present embodiment, the output control torque of the upper body posture of the robot is taken as an example for illustration. It can be understood that the output control torque in the single-foot supporting period is not limited to the attitude control torque, and can be calculated according to actual requirements.
Taking the posture control of the upper body and the trunk of the robot (also waist posture control) in the walking process as an example, the waist posture obtained by measurement is recorded as thetatWhen deviating from the desired attitude
Figure BDA0002622955290000182
In one embodiment, the corresponding attitude control torque may be calculated and output by an attitude feedback controller, such as a proportional-derivative (PD) controller or the like, and then the attitude control torque
Figure BDA0002622955290000183
Actual posture theta with the waisttAnd desired attitude
Figure BDA0002622955290000184
The following operational relationship is satisfied:
Figure BDA0002622955290000191
wherein, Kp、KdRespectively a proportional coefficient matrix and a differential coefficient matrix in the PD controller;
Figure BDA0002622955290000192
and
Figure BDA0002622955290000193
respectively the expected postures of the waist
Figure BDA0002622955290000194
And actual attitude ΘtThe derivative of (c). It should be appreciated that the attitude control moment
Figure BDA0002622955290000195
The moment is controlled for the generalized attitude. The attitude feedback controller is not limited to the PD controller, and may also be other controllers, such as a PID controller, and may be specifically selected according to actual requirements, and is not limited herein.
Before the adjustment, the respective joints of the humanoid robot are generally directly controlled by using the calculated attitude control moment. However, in order to ensure that the support foot satisfies the friction cone constraint with the ground, the embodiment proposes to perform scaling control on the output control torque, that is, to multiply the solved control scaling coefficient by the calculated unadjusted output control torque to achieve the purpose of adjustment.
Still taking the attitude control moment as an example, if the attitude control moment in the single-foot supporting period is
Figure BDA0002622955290000196
The adjusted attitude control moment is
Figure BDA0002622955290000197
And step S330, controlling each joint of the current supporting leg according to the adjusted control moment.
Before the adjustment, the respective joints of the humanoid robot are usually controlled by the calculated output control torque. For a force-controlled robot, the moment is controlled, illustratively, in an attitude
Figure BDA0002622955290000198
For example, since the non-linear term exists in the dynamic equation, the compensation amount of the non-linear term and the moment of each joint are considered
Figure BDA0002622955290000199
This can be solved by the following equation:
Figure BDA00026229552900001910
wherein, JrtAs the coordinate system C of the trunktRelative to the plantar coordinate system C of the right legrA velocity Jacobian matrix of; d (q)R) Is a quality matrix;
Figure BDA00026229552900001911
compensation quantities include coriolis force, centrifugal force and gravity of robot dynamics; q. q.sRAnd the generalized quantity is expressed, the pose of the robot waist and the angle of each joint are included, wherein,
Figure BDA00026229552900001912
is expressed for a generalized quantity qRThe derivation of (a) is performed,
Figure BDA00026229552900001913
presentation pair
Figure BDA00026229552900001914
The derivation of (1).
For a position controlled robot, in one embodiment, the angle of each joint can be further calculated by the joint admittance controller, for example, by solving the above
Figure BDA00026229552900001915
As input to the admittance controller, the angle of each joint
Figure BDA0002622955290000201
As an output of the admittance controller.
For the above step S330, exemplarily, only the attitude before adjustment needs to be controlled to be the moment
Figure BDA0002622955290000202
Replaced by an adjusted attitude control moment
Figure BDA0002622955290000203
Substituting into the above formula.
It is to be understood that, for the above steps S310 to S330, since they occur in the single-foot support period, the execution sequence of other steps in the method of the above embodiment 1 or 2 is not particularly limited as long as it can be executed after acquiring the corresponding sole stress information in the single-foot support period.
The gait planning method of the embodiment can realize smooth alternate switching between the swing legs and the supporting legs based on foot bottom stress information and the like, effectively cope with the conditions of falling to the ground in advance and falling to the ground in a lagging mode, simultaneously, gravity compensation is considered, the foot bottom stress information of the supporting legs and the gravity of the robot are combined, so that the friction cone constraint between the foot bottom of the supporting legs and the ground in a single-foot supporting period is guaranteed, the condition that the robot quickly walks is guaranteed, the foot bottom of the robot can be effectively prevented from slipping and instability, and the dynamic stability of the posture and the speed of the humanoid robot is improved.
Example 4
Referring to fig. 6, based on the method of the foregoing embodiment 1, 2 or 3, the present embodiment provides a gait planning apparatus 10 of a humanoid robot, including:
and the information acquisition module 110 is configured to acquire stress information of the swing leg of the humanoid robot currently in the one-foot support period.
And the landing judging module 120 is configured to judge whether the swing leg lands on the ground according to the stress information, and when the landing is judged, acquire the stress information of both feet and the waist pose of the humanoid robot after the humanoid robot enters the both-feet support period, wherein when the humanoid robot enters the both-feet support period, the support leg in the previous single-foot support period is marked as the original support leg, and the swing leg is marked as the original swing leg.
And the trajectory tracking control module 130 is configured to control the original support leg according to the acquired waist pose and a pre-planned expected trajectory of the waist in the two-foot support period, and control the original swing leg according to an expected trajectory of the swing leg in the two-foot support period.
And the task switching module 140 is configured to judge whether a preset task switching condition is met according to the biped stress information and a preset biped support period transition duration, and switch the trajectory tracking tasks of the original support leg and the original swing leg when the preset task switching condition is met until the original support leg enters a next monoped support period after being lifted off the ground.
In an alternative embodiment, the humanoid robot gait planning apparatus 10 further comprises:
the gravity compensation module is used for performing gravity compensation on the supporting legs when the humanoid robot is in the single-foot supporting period; and when the humanoid robot enters the double-foot supporting period, performing gravity compensation transition between the original supporting leg and the original swinging leg.
In an alternative embodiment, the humanoid robot gait planning apparatus 10 further comprises:
the control adjustment module is used for calculating a control scaling coefficient according to the stress information of the current supporting leg and the gravity borne by the humanoid robot when the humanoid robot is in the single-foot supporting period; adjusting an output control moment in the single-foot supporting period according to the calculated control scaling coefficient, wherein the output control moment is calculated according to a pre-planned waist expected track in the single-foot supporting period and an actually acquired waist pose; and controlling each joint of the current supporting leg according to the adjusted control moment.
It is understood that the apparatus of the present embodiment corresponds to the method of the above embodiment 1, 2 or 3, and the alternatives of the above embodiment 1, 2 or 3 are also applicable to the present embodiment, and therefore will not be described in detail herein.
An embodiment of the present application further provides a humanoid robot, which can perform the functions of the modules in the method of the above embodiment 1, 2 or 3 or the apparatus of embodiment 4 in the bipedal support phase gait planning during walking of the humanoid robot. Exemplarily, the humanoid robot can be a flat-foot robot with a foot plate, a point-foot robot, and the like.
An embodiment of the present application also provides a readable storage medium storing a computer program which, when executed, performs the humanoid robot gait planning method described above.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules 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 application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a smart phone, 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 application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application.

Claims (13)

1. A humanoid robot gait planning method is characterized by comprising the following steps:
acquiring the stress information of a swing leg of the humanoid robot in a single-foot supporting period at present;
judging whether the swing leg falls to the ground or not according to the stress information, and acquiring the stress information of the two feet and the waist pose of the humanoid robot after the humanoid robot enters a two-foot support period when the humanoid robot falls to the ground, wherein when the humanoid robot enters the two-foot support period, the support leg in the previous single-foot support period is marked as an original support leg and the swing leg is marked as an original swing leg;
controlling the original supporting leg according to the acquired waist pose and a pre-planned expected waist track in the double-foot supporting period, and controlling the original swing leg according to an expected swing leg track in the double-foot supporting period;
and judging whether a preset task switching condition is reached or not according to the double-foot stress information and the preset double-foot support period transition duration, and switching the track tracking tasks of the original supporting leg and the original swinging leg when the preset task switching condition is reached until the original supporting leg enters the next single-foot support period after being lifted off the ground.
2. The method of claim 1, further comprising:
when the humanoid robot is in the single-foot supporting period, performing gravity compensation on the supporting leg;
and when the humanoid robot enters the double-foot supporting period, performing gravity compensation transition between the original supporting leg and the original swinging leg.
3. The method of claim 2, wherein the gravity compensated transition comprises:
and determining the gravity compensation quantity respectively applied to the original supporting leg and the original swinging leg at each moment according to a preset polynomial curve or a trigonometric function curve, wherein the sum of the gravity compensation quantities of the original supporting leg and the original swinging leg at each moment is equal to the gravity borne by the humanoid robot.
4. The method of claim 1 or 2, further comprising:
when the humanoid robot is in the single-foot supporting period, calculating a control scaling coefficient according to the stress information of the current supporting leg and the gravity borne by the humanoid robot;
adjusting an output control moment in the single-foot supporting period according to the calculated control scaling coefficient, wherein the output control moment is calculated according to a pre-planned waist expected track in the single-foot supporting period and an actually acquired waist pose;
and controlling each joint of the current supporting leg according to the adjusted control moment.
5. The method of claim 4, wherein the stress information of the current supporting leg comprises a component of a ground bearing reaction force on the current supporting leg in a vertical direction, and the calculating a control scaling factor according to the stress information of the current supporting leg and the gravity on the humanoid robot comprises:
when the component is smaller than or equal to a preset first stress threshold value, the control scaling coefficient value is a first preset value, wherein the first stress threshold value is obtained through calculation according to a first preset coefficient and the gravity;
when the component is larger than the first stress threshold and smaller than a preset second stress threshold, the control scaling coefficient value is a ratio of a first difference value between the component and the first stress threshold to a second difference value between the first stress threshold and the second stress threshold, wherein the second stress threshold is obtained by calculation according to a second preset coefficient and the gravity;
and when the component is greater than or equal to the second stress threshold value, the control scaling coefficient takes the value of a second preset value.
6. The method according to claim 1, wherein the force information of each leg includes a component of a ground reaction force on a sole of the corresponding leg in a vertical direction, a force sensor or a moment sensor is provided on each leg of the humanoid robot, and the obtaining of the component includes:
the ground support reaction force of the sole of the corresponding leg under the sole coordinate system is acquired through the force sensor or the moment sensor of the corresponding leg;
and calculating the component of the ground support reaction force in the vertical direction according to a rotation matrix from a world coordinate system to a sole coordinate system of the corresponding leg and the ground support reaction force received under the sole coordinate system.
7. The method of claim 6, wherein the force sensors are six-dimensional force sensors, one for each foot of each leg of the humanoid robot;
or the moment sensors comprise a plurality of moment sensors, and each joint of each leg of the humanoid robot is provided with one moment sensor.
8. The method of claim 1 or 6, wherein the determining whether the swing leg lands according to the force information comprises:
and judging whether the component of the ground support reaction force on the sole of the swing leg in the vertical direction is greater than a preset threshold value, if so, judging that the swing leg falls to the ground, otherwise, judging that the swing leg does not fall to the ground.
9. The method according to claim 1 or 6, wherein the determining whether a preset task switching condition is reached according to the force information of the feet and a preset transition duration of the feet supporting period comprises:
when the duration of the humanoid robot entering the double-foot supporting period is shorter than the transition duration of the double-foot supporting period, the component of the ground support reaction force on the sole of the original swing leg in the vertical direction is larger than the component of the ground support reaction force on the sole of the original support leg in the vertical direction; or the time length of the humanoid robot entering the double-foot supporting period is equal to the transition time length of the double-foot supporting period;
if any one of the two conditions is met, judging that the task switching condition is met, otherwise, judging that the task switching condition is not met.
10. The method of claim 1, wherein the controlling the original support leg according to the lumbar pose and the pre-planned expected lumbar trajectory during the bipedal support period comprises:
calculating the expected waist pose of the humanoid robot according to the expected waist track in the pre-planned biped support period;
calculating an attitude control moment according to the deviation between the waist pose and the expected waist pose;
and controlling each joint of the humanoid robot according to the attitude control moment.
11. A humanoid robot gait planning device is characterized by comprising:
the information acquisition module is used for acquiring the stress information of the swing leg of the humanoid robot in the single-foot supporting period;
the landing judging module is used for judging whether the swing leg lands on the ground according to the stress information and acquiring the stress information and the waist pose of the double feet of the humanoid robot after the humanoid robot enters the double-foot supporting period when the swing leg lands on the ground, wherein when the humanoid robot enters the double-foot supporting period, the supporting leg in the previous single-foot supporting period is marked as an original supporting leg and the swing leg is marked as an original swing leg;
the trajectory tracking control module is used for controlling the original supporting leg according to the acquired waist pose and a pre-planned expected trajectory of the waist in the two-foot supporting period, and controlling the original swinging leg according to the expected trajectory of the swinging leg in the two-foot supporting period;
and the task switching module is used for judging whether a preset task switching condition is met or not according to the double-foot stress information and the preset double-foot support period transition duration, and switching the track tracking tasks of the original supporting leg and the original swinging leg when the preset task switching condition is met until the original supporting leg enters the next single-foot support period after being lifted off the ground.
12. A humanoid robot characterized by performing biped support phase gait planning during walking by using the humanoid robot gait planning method of any one of claims 1 to 10.
13. A readable storage medium, characterized in that it stores a computer program which, when executed, implements the humanoid robot gait planning method according to any one of claims 1 to 10.
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