CN112711259B - Method and device for dynamically generating footprint set, storage medium and bipedal robot - Google Patents
Method and device for dynamically generating footprint set, storage medium and bipedal robot Download PDFInfo
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Abstract
The invention discloses a method for dynamically generating a footprint set, which comprises the following steps: acquiring preset footprint calculation parameters; calculating according to preset footprint calculation parameters to obtain the position of a foothold; determining a falling foot point range according to the falling foot point position, and performing collision detection on the falling foot point range; when the collision detection result is no collision, recording the corresponding foothold position to the footprint set; after the recording is finished, acquiring a preset adjustment amplitude to update a preset displacement angle; and (3) entering a step of calculating the position of the landing point according to the preset displacement angle until the generation of the footprint set is completed. According to the scheme, the preset displacement angles are continuously adjusted, the positions of the foot drop points are obtained through calculation, the feasible foot drop point positions are recorded in the footprint set, more feasible foot drop points are provided for navigation planning, calculation time is short, the probability of no solution of the planning foot drop points is reduced, and the efficiency of navigation planning is improved. In addition, a dynamic generation footprint collection device, a storage medium and a bipedal robot are also provided.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for dynamically generating a footprint set, a storage medium and a bipedal robot.
Background
With the progress of scientific technology, bipedal robots have been rapidly developed and widely used in various fields. Most of the buildings and tools are designed according to the height and shape of the person, so that the bipedal robot has better use flexibility as a robot platform. Meanwhile, the calculation planning of the footprint set of the biped robot is a key part of smooth walking of the robot. The footprint set refers to all the possible foot drop point sets of each step in the navigation planning of the biped robot, and the foot drop points in each footprint set conforming to the optimal solution conditions form an optimal path for walking of the biped robot.
In a simple environment, a fixed footprint set with a certain number of footprints can be preset to better complete a navigation planning task; however, in a complex environment with more obstacles, how to design and select the size of the footprint set has not yet had a mature solution, and too large a preset fixed footprint set can lead to a drastic decrease in navigation planning efficiency, and too small a preset footprint set can increase the probability of no solution.
Disclosure of Invention
Based on the above, it is necessary to provide a method, a device, a storage medium and a bipedal robot for dynamically generating footprint sets, which aim to solve the problem that the bipedal robot has low navigation planning efficiency in a complex environment by using a fixed footprint set.
A method of dynamically generating a set of footprints, the method comprising:
acquiring preset footprint calculation parameters, wherein the preset footprint calculation parameters comprise: a preset displacement angle and a preset minimum rotation angle;
calculating according to the preset displacement angle to obtain foot drop point displacement, determining a foot drop point rotation angle according to the preset displacement angle and the preset minimum rotation angle, and determining a foot drop point position according to the foot drop point displacement and the foot drop point rotation angle, wherein the foot drop point rotation angle is used for controlling the direction of a swing foot;
determining a foothold range according to the foothold position, and performing collision detection according to the foothold range to obtain a detection result;
when the detection result is collision-free, recording the collision-free footfall position to a footprint set;
acquiring a preset first displacement angle adjustment amplitude;
updating the preset displacement angle according to the preset first displacement angle adjustment amplitude;
And a step of calculating the position of the foothold according to the preset displacement angle is carried out until the generation of the footprint set is completed.
A dynamically generated footprint collection device, the device comprising:
the first acquisition module is used for acquiring preset footprint calculation parameters, wherein the preset footprint calculation parameters comprise: a preset displacement angle and a preset minimum rotation angle;
the calculation module is used for calculating to obtain a foot drop point displacement according to the preset displacement angle, determining a foot drop point rotation angle according to the preset displacement angle and the preset minimum rotation angle, and determining a foot drop point position according to the foot drop point displacement and the foot drop point rotation angle, wherein the foot drop point rotation angle is used for controlling the orientation of a swing foot;
the collision detection module is used for determining a falling foot point range according to the falling foot point position, and performing collision detection according to the falling foot point range to obtain a detection result;
the recording module is used for recording the collision-free foothold positions to the footprint set when the detection result is collision-free;
the second acquisition module is used for acquiring a preset first displacement angle adjustment amplitude;
the adjusting module is used for updating the preset displacement angle according to the preset first displacement angle adjusting amplitude;
And the circulation module is used for entering the step of calculating the position of the landing point according to the preset displacement angle until the generation of the footprint set is completed.
A computer readable storage medium, storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
acquiring preset footprint calculation parameters, wherein the preset footprint calculation parameters comprise: a preset displacement angle and a preset minimum rotation angle;
calculating according to the preset displacement angle to obtain foot drop point displacement, determining a foot drop point rotation angle according to the preset displacement angle and the preset minimum rotation angle, and determining a foot drop point position according to the foot drop point displacement and the foot drop point rotation angle, wherein the foot drop point rotation angle is used for controlling the direction of a swing foot;
determining a foothold range according to the foothold position, and performing collision detection according to the foothold range to obtain a detection result;
when the detection result is collision-free, recording the collision-free footfall position to a footprint set;
acquiring a preset first displacement angle adjustment amplitude;
updating the preset displacement angle according to the preset first displacement angle adjustment amplitude;
And a step of calculating the position of the foothold according to the preset displacement angle is carried out until the generation of the footprint set is completed.
A bipedal robot comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
acquiring preset footprint calculation parameters, wherein the preset footprint calculation parameters comprise: a preset displacement angle and a preset minimum rotation angle;
calculating according to the preset displacement angle to obtain foot drop point displacement, determining a foot drop point rotation angle according to the preset displacement angle and the preset minimum rotation angle, and determining a foot drop point position according to the foot drop point displacement and the foot drop point rotation angle, wherein the foot drop point rotation angle is used for controlling the direction of a swing foot;
determining a foothold range according to the foothold position, and performing collision detection according to the foothold range to obtain a detection result;
when the detection result is collision-free, recording the collision-free footfall position to a footprint set;
acquiring a preset first displacement angle adjustment amplitude;
updating the preset displacement angle according to the preset first displacement angle adjustment amplitude;
And a step of calculating the position of the foothold according to the preset displacement angle is carried out until the generation of the footprint set is completed.
According to the method, the device, the storage medium and the bipedal robot for dynamically generating the footprint set, firstly, the preset footprint calculation parameters are obtained, the preset footprint parameters comprise a preset displacement angle and a preset minimum rotation angle, the footprint displacement is calculated according to the preset displacement angle, the rotation angle of the footprint is determined according to the preset displacement angle and the preset minimum rotation angle, the footprint position is determined according to the footprint displacement and the rotation angle of the footprint, the footprint range is determined according to the footprint position, the collision detection is carried out on the footprint range, the detection result is that the collision-free footprint position is recorded in the footprint set, the preset first displacement angle adjustment range is obtained to update the preset displacement angle, and finally the next footprint position calculation is carried out according to the updated preset displacement angle until the generation of the footprint set is completed. According to the scheme, the preset displacement angles are continuously adjusted, the positions of the foot drop points are obtained through calculation, the positions of the foot drop points, which are detected as collision-free, are recorded in the footprint set, the footprint set provides more feasible foot drop points for the bipedal robot during navigation planning, the calculation is carried out according to one displacement angle as a variable, the calculation time consumption is short, the probability of planning that the foot drop points have no solutions is reduced, and the navigation planning efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Wherein:
FIG. 1 is a flow diagram of an implementation of a method of dynamically generating a footprint set in one embodiment;
FIG. 2 is a schematic diagram of foot drop position parameterization according to one embodiment;
FIG. 3 is a schematic diagram of dynamically generating a set of footprint search landing points in accordance with one embodiment;
FIG. 4 is a schematic diagram of a preset displacement adjustment amplitude according to an embodiment;
FIG. 5 is a schematic diagram of searching for a landing point location in the event of a collision detected in one embodiment;
FIG. 6 is a flow chart of an implementation of the best path navigation plan in one embodiment;
FIG. 7 is a block diagram of a dynamically generated footprint collection device in one embodiment;
fig. 8 is a block diagram of a bipedal robot in one embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, in the embodiments provided in the present application, the direction facing by the biped robot is taken as the reference direction, and the straight line perpendicular to the reference direction is taken as the horizontal line.
As shown in fig. 1, a method for dynamically generating a footprint set is provided, and the method applied to a bipedal robot comprises the following steps:
step 102, obtaining preset footprint calculation parameters, wherein the preset footprint calculation parameters comprise: the displacement angle is preset, and the minimum rotation angle is preset.
Wherein, two feet of the biped robot move alternately, the foot to be moved is called as a swinging foot, and the other foot which is stationary is called as a supporting foot; the footprint calculation parameters are parameters for calculating the positions of the footfalls; the displacement angle refers to an acute angle or a right angle formed by the displacement possibly generated by the swinging foot and a horizontal line, and the displacement biased to the reference direction and the displacement angle generated by the horizontal line are positive angles by taking the horizontal line as a boundary; the displacement in the opposite direction to the reference direction is negative to the displacement angle with the horizontal. In one embodiment, as shown in fig. 3, the displacement angle is 90 ° when the swing foot moves in the reference direction, and-90 ° when the swing foot moves in the direction opposite to the reference direction.
Since the robot is kinematically and kinetically constrained, the rotation angle of the swing foot of the robot is limited, so that a preset minimum rotation angle is required in order to avoid damage caused by exceeding the limit.
In one embodiment, please refer to fig. 2, fig. 2 is a schematic diagram of a foot drop position parameterization, wherein a right foot of the swing foot is R, a right foot after swing is R', and α is a displacement angle generated according to a displacement generated by the right foot and a horizontal line.
It can be understood that the method is applied to a bipedal robot, the bipedal robot swings alternately, and the footprint set of the next step of swinging foot is obtained through alternate calculation. In one embodiment, before the dynamic generation of the footprint set, the preset footprint calculation parameters are initialized to obtain a preset displacement angle and a preset minimum rotation angle.
Step 104, calculating to obtain a foot drop point displacement according to the preset displacement angle, determining a foot drop point rotation angle according to the preset displacement angle and the preset minimum rotation angle, and determining a foot drop point position according to the foot drop point displacement and the foot drop point rotation angle, wherein the foot drop point rotation angle is used for controlling the orientation of the swing foot.
The foot drop point displacement refers to displacement possibly generated by swinging the front and back swinging feet, and comprises a distance and a direction; the rotation angle of the landing point is used for controlling the swing footThe orientation of the swinging leg forms an acute angle or a right angle with the horizontal line; the foot drop position refers to a position where the swing foot possibly falls, the foot drop position displacement is used for determining the foot drop of the swing foot, and the rotation angle of the foot drop point is used for determining the orientation of the swing foot; . Please refer to fig. 2, wherein f α Is the displacement of the foothold with the displacement angle alpha and the distance RR'; beta is the rotation angle of the landing point generated according to the direction of the right foot and the horizontal line after swinging.
And 106, determining a falling point range according to the falling point position, and performing collision detection according to the falling point range to obtain a detection result.
Determining a falling point of a swinging foot according to the falling point displacement in the falling point position, determining the direction of the swinging foot according to the rotating angle of the falling point, and finally determining a specific area range covered by the falling point position according to the shape and the size of the preset swinging foot of the bipedal robot; and performing collision detection according to the specific area range.
In one embodiment, a method of traversing pixels in the specific area is adopted to identify whether an obstacle with a color different from that of the background exists in the specific area, so as to obtain a collision detection result.
In another embodiment, after determining a specific area range covered by the position of the landing point, inputting an image of the specific area range, identifying the image by using a trained neural network, and obtaining a collision detection result according to a result output by the neural network.
And step 108, when the detection result is no collision, recording the position of the collision-free foothold to a footprint set.
And when the detection result is collision-free, indicating that the corresponding foothold position is effective and feasible swing selection, recording the swing selection in the footprint set, and then continuously searching and calculating the next effective and feasible selection until the generation of the footprint set is completed.
Step 110, obtaining a preset first displacement angle adjustment amplitude.
The preset first displacement angle adjustment amplitude is a preset displacement angle adjustment amplitude value, and is used for adjusting and updating the preset displacement angle. The preset first displacement angle adjustment amplitude can be a positive value or a negative value.
Step 112, updating the preset displacement angle according to the preset first displacement angle adjustment amplitude.
After the effective landing point is searched in the preset displacement angle direction, the preset displacement angle is updated for searching the next optional landing point, so that the updated preset displacement angle is convenient to calculate the position of the next landing point.
In one embodiment, as shown in fig. 3, fig. 3 is a schematic diagram of dynamically generating a footprint to search for the positions of the footfalls in a centralized manner, searching for the positions of the effective footfalls in a range of-90 ° to 0 ° to 90 ° by the bipedal robot, if the initialized preset displacement angle is 90 ° forward naturally, setting the preset first displacement angle adjustment amplitude to-60 °, searching for the positions of the effective footfalls in the 90 ° direction by the bipedal robot, recording, updating the preset displacement angle according to the preset first displacement angle adjustment amplitude, and searching for the updated preset displacement angle in the 30 ° direction; and by analogy, the robot can search the positions of the footfalls in the directions of 90 degrees, 30 degrees and 90 degrees in sequence, and record the positions of the effective footfalls in the positions to the footprint set.
It is understood that, if the initialized preset angle is-90 °, the corresponding preset first displacement angle adjustment amplitude may be set to 60 °.
Further, when the direction of searching the position of the foothold is from front to back, namely from 90 degrees to-90 degrees, the preset first displacement angle adjustment amplitude is a negative value; in contrast, when the direction of searching the position of the landing point is from back to front, i.e., from-90 ° to 90 °, the preset first displacement angle adjustment amplitude is a positive value.
Step 114, a step of calculating the position of the landing point according to the preset displacement angle is performed until the generation of the footprint set is completed.
After the updated preset displacement angle is obtained, calculating the position of the foothold according to the updated preset displacement angle, performing collision detection according to the position of the foothold, and recording the collision-free effective foothold in the footprint set; and finally, updating the preset displacement angle according to the preset first displacement angle adjustment amplitude, and then entering the calculation step of the position of the foothold point, and continuously circulating.
And finishing generating the footprint set when the updated preset displacement angle value reaches a preset threshold value condition.
According to the dynamic footprint generation method, firstly, the preset footprint calculation parameters are obtained, wherein the preset footprint parameters comprise the preset displacement angle and the preset minimum rotation angle, the foot drop point displacement is obtained according to the preset displacement angle, the foot drop point rotation angle is determined according to the preset displacement angle and the preset minimum rotation angle, the foot drop point position is determined according to the foot drop point displacement and the foot drop point rotation angle, the foot drop point range is determined according to the foot drop point position, the collision detection is carried out on the foot drop point range, the detection result is that the position of the foot drop point without collision is recorded in the footprint, the preset displacement angle is updated according to the preset displacement angle adjustment amplitude, and finally, the next foot drop point position calculation is carried out according to the updated preset displacement angle until the generation of the footprint is completed. According to the scheme, the preset displacement angles are continuously adjusted, the positions of the foot drop points are obtained through calculation, the positions of the foot drop points, which are detected as collision-free, are recorded in the footprint set, the footprint set provides more feasible foot drop points for the bipedal robot during navigation planning, the calculation is carried out according to one displacement angle as a variable, the calculation time consumption is short, the probability of planning that the foot drop points have no solutions is reduced, and the navigation planning efficiency is improved.
In one embodiment, after the collision detection is performed according to the position of the foothold, the method further includes: when the detection result is that collision exists, determining the foot drop point displacement corresponding to the foot drop point position; acquiring a preset displacement adjustment amplitude; updating the foot drop point displacement according to the preset displacement adjustment amplitude, and calculating to obtain an updated foot drop point position according to the updated foot drop point displacement; and performing collision detection according to the position of the foothold to obtain a detection result.
The preset displacement adjustment amplitude is an amplitude value for adjusting the displacement of the footfall point in the footfall point positions and is used for adjusting and updating the footfall point positions; and in the direction of the preset displacement angle, if the calculated falling point position is not the effective falling point position, adjusting the falling point displacement according to the preset displacement adjustment amplitude, keeping the angle direction unchanged, and continuously reducing the falling point displacement according to the preset displacement adjustment amplitude until the effective falling point position is found in the angle direction, or the adjusted falling point position is in a preset threshold condition, so that the search in the angle direction is completed.
It can be understood that under the limitation of the form and the motion capability of the current biped robot, the position of the landing point calculated according to the preset displacement angle is the furthest point which can be reached by the robot in the preset displacement angle direction, and the adjustment of the displacement of the landing point can only be reduced, so that the value of the preset displacement adjustment amplitude is a negative number.
In one embodiment, the preset displacement adjustment amplitude is determined according to a minimum cell of the robot vision image, and the foot drop point displacement is adjusted according to the minimum cell, so that the position of the effective foot drop point farthest in the current preset angle direction can be accurately obtained, and a better solution is provided for navigation planning of the optimal path; specifically, as shown in fig. 4, fig. 4 is a schematic diagram of a preset displacement adjustment range, and if the minimum cell side length is 1, the adjustment range value Δf is adjusted α 1/sin alpha.
In one embodiment, after updating the landing point displacement according to the preset displacement adjustment amplitude, the method further comprises: judging whether the updated foothold position is smaller than a preset threshold value, if not, entering the step of calculating the updated foothold position according to the updated foothold position; if the updated foot drop point displacement is smaller than the preset threshold value, acquiring a preset second displacement angle adjustment amplitude, wherein the preset second displacement angle adjustment amplitude is smaller than the preset first displacement angle adjustment amplitude; updating the preset displacement angle according to the preset second displacement angle adjustment amplitude; and a step of calculating the position of the foothold according to the preset displacement angle is carried out until the generation of the footprint set is completed.
The preset threshold value can be set according to actual requirements. In one embodiment, the preset threshold may be set to 0, that is, the effective footdrop position is not searched in the preset displacement angle direction all the time, and when the footdrop displacement is less than or equal to 0 after multiple adjustments, the searching in the preset displacement angle direction is ended, and the next searching step is performed; the preset threshold may also be set to other values, and in the implementation, the position of the landing point too close to the position before swinging may be abandoned in consideration of improving the searching efficiency, so that the preset threshold is defined.
The preset second displacement angle adjustment amplitude is an amplitude value for adjusting a preset displacement angle and is used for adjusting and updating the preset displacement angle, and the preset second displacement angle adjustment amplitude is smaller than the preset first displacement angle adjustment amplitude.
In one embodiment, the swing foot is a right foot, the effective foot falling point position is searched between-90 degrees and 0 degrees and 90 degrees, the initialized preset displacement angle is 90 degrees, and the preset second displacement angle adjustment amplitude is-45 degrees. As shown in fig. 5, fig. 5 is a schematic diagram of searching for the position of the landing point in case of detecting a collision, S is the distance between the left and right feet of the robot, f α Is the displacement of the foothold; in this embodiment, an effective landing point cannot be searched in a direction with a preset displacement angle of 90 °, the effective landing point cannot be searched after 3 times of landing point displacement adjustment, the displacement after the landing point displacement adjustment is smaller than or equal to a preset threshold value 0, and the preset displacement angle is adjusted and updated according to a preset second displacement angle adjustment amplitude, so that the effective landing point is searched in a direction of 45 °. By analogy, the biped robot searches the positions of the foothold in the directions of 90 degrees, 45 degrees, 0 degrees, 45 degrees and 90 degrees in sequence, takes the displacement of the foothold calculated according to the preset displacement angle as the farthest point in each direction, repeatedly reduces the displacement continuously, triggers the condition that the reduced displacement is smaller than the preset threshold value,and adjusting a preset displacement angle, calculating the position of the foothold and reducing the displacement until the preset displacement angle reaches a preset threshold condition for finishing the generation of the footprint set.
It can be understood that the preset second displacement angle adjustment amplitude is the same as the preset first displacement angle adjustment amplitude, the positive and negative values of the preset second displacement angle adjustment amplitude are determined by the direction of searching the foothold position, and when the direction of searching the foothold position is from front to back, namely from 90 degrees to-90 degrees, the preset second displacement angle adjustment amplitude is negative; in contrast, when the direction of searching for the landing point position is from back to front, i.e., from-90 ° to 90 °, the preset second displacement angle adjustment amplitude is a positive value.
It should be noted that, the formula for adjusting the preset displacement angle is:
alpha = alpha + delta alpha formula 3
Wherein alpha is a preset displacement angle; the Δα is a displacement angle adjustment range, which may be a preset first displacement angle adjustment range or a preset second displacement angle adjustment range.
In one embodiment, the step of entering the step of calculating the position of the landing point according to the preset displacement angle until the generation of the footprint set is completed includes: and when the updated preset displacement angle meets a preset threshold condition, finishing the generation of the footprint set.
The preset threshold value refers to the maximum value or the minimum value of the angle range of the effective foot drop point position searched by the bipedal robot, and the preset threshold value condition refers to the fact that the updated preset displacement angle is larger than the maximum value or smaller than the minimum value of the angle range.
In one embodiment, the calculating the rotation angle of the landing leg point according to the preset displacement angle and the preset minimum rotation angle includes: when the preset displacement angle is larger than a preset minimum rotation angle, taking the preset displacement angle as the rotation angle of the foothold; and when the preset displacement angle is smaller than the preset minimum rotation angle, taking the preset minimum rotation angle as the rotation angle of the foothold point.
The minimum rotation angle is not necessarily the limit angle that the machine foot can rotate, and the data corresponding to the rotation angle is not required to be too small because of the consideration of acquiring effective data, so that the calculation of the foot drop point position is limited according to the minimum rotation angle.
In an embodiment, the calculating the position of the landing point according to the preset displacement angle further includes: the position of the foothold is calculated as follows:
β＝max(α,β min ) Equation 2
Wherein, the formula 1 is a formula for calculating the displacement of the corresponding landing point according to the displacement angle; the formula 2 is a formula for calculating the rotation angle of the foothold according to the displacement angle; and obtaining the foot drop position according to the calculated foot drop displacement and the foot drop rotation angle.
Wherein alpha is the displacement angle f of the swinging foot α Is the displacement of the falling point of the swinging foot, beta is the rotation angle of the falling point of the swinging foot, beta min Is a preset minimum rotation angle.
It should be noted that, in the formula 1 for calculating the displacement of the foothold, the fixed parameters of 0.3 and 0.1 are selected according to the actual motion capability of the biped robot in this embodiment, and are comprehensively determined by the factors such as the foot length and the stride of the robot, so that the motion capability of the robot can be utilized to the maximum extent; in other embodiments of bipedal robots of different models, two fixed parameters may be modified accordingly.
In one embodiment, after said completing the generation of the footprint set, it comprises: and adding the positions of the footfalls in the footmarks set into a candidate queue of the next node of the biped robot so that the biped robot can select the footmarks meeting the optimal path conditions of navigation planning from the candidate queue.
Wherein the node refers to each foot drop position of the biped robot in the optimal path from the starting point node to the target node.
In one embodiment, as shown in fig. 6, fig. 6 is a flowchart of implementing the optimal path navigation planning, when the bipedal robot performs navigation planning, a current node is obtained first, collision detection is performed on the positions of footfalls in a preset fixed footprint, if the positions of the valid footfalls without collision are searched, the positions of the valid footfalls are directly added into a candidate queue of the current node, and generation of a dynamic footprint set is not performed; if the fixed footprint set has no effective footprint point position, starting generation of a dynamic footprint set, and adding the generated effective footprint point position in the dynamic footprint set into the candidate queue; after selecting the footprint which accords with the optimal path condition of navigation planning from the candidate queue, detecting whether the current node is close to the terminal point, if not, acquiring the next node, taking the next node as the current node, and entering the step of acquiring the current node; if the end point is judged to be approached, a foothold point position sequence of the optimal path is issued, and the navigation planning of the optimal path is completed.
As shown in fig. 7, in one embodiment, a dynamically generated footprint collection device is provided for use with a bipedal robot, the device comprising:
the first obtaining module 702 is configured to obtain preset footprint calculation parameters, where the preset footprint calculation parameters include: a preset displacement angle and a preset minimum rotation angle;
the calculating module 704 is configured to calculate a foot drop point displacement according to the preset displacement angle, determine a foot drop point rotation angle according to the preset displacement angle and the preset minimum rotation angle, and determine a foot drop point position according to the foot drop point displacement and the foot drop point rotation angle, where the foot drop point rotation angle is used to control the direction of the swing foot;
the collision detection module 706 is configured to determine a foothold range according to the foothold position, and perform collision detection according to the foothold range to obtain a detection result;
a recording module 708, configured to record, when the detection result is no collision, the foothold position without collision to a footprint set;
a second obtaining module 710, configured to obtain a preset first displacement angle adjustment amplitude;
an adjustment module 712, configured to update the preset displacement angle according to the preset first displacement angle adjustment amplitude;
And a circulation module 714, configured to enter a step of calculating a position of the landing point according to the preset displacement angle until the generation of the footprint set is completed.
In one embodiment, after the collision detection is performed according to the position of the foothold, the method further includes: when the detection result is that collision exists, determining the foot drop point displacement corresponding to the foot drop point position; acquiring a preset displacement adjustment amplitude; updating the foot drop point displacement according to the preset displacement adjustment amplitude, and calculating to obtain an updated foot drop point position according to the updated foot drop point displacement; and performing collision detection according to the position of the foothold to obtain a detection result.
In one embodiment, after updating the landing point displacement according to the preset displacement adjustment amplitude, the method further comprises: judging whether the updated foothold position is smaller than a preset threshold value, if not, entering the step of calculating the updated foothold position according to the updated foothold position; if the updated foot drop point displacement is smaller than the preset threshold value, acquiring a preset second displacement angle adjustment amplitude, wherein the preset second displacement angle adjustment amplitude is smaller than the preset first displacement angle adjustment amplitude; updating the preset displacement angle according to the preset second displacement angle adjustment amplitude; and a step of calculating the position of the foothold according to the preset displacement angle is carried out until the generation of the footprint set is completed.
In one embodiment, the step of entering the step of calculating the position of the landing point according to the preset displacement angle until the generation of the footprint set is completed includes: and when the updated preset displacement angle meets a preset threshold condition, finishing the generation of the footprint set.
In one embodiment, the calculating the rotation angle of the landing leg point according to the preset displacement angle and the preset minimum rotation angle includes: when the preset displacement angle is larger than a preset minimum rotation angle, taking the preset displacement angle as the rotation angle of the foothold; and when the preset displacement angle is smaller than the preset minimum rotation angle, taking the preset minimum rotation angle as the rotation angle of the foothold point.
In an embodiment, the calculating the position of the landing point according to the preset displacement angle further includes:
the position of the foothold is calculated as follows:
β＝max(α,β min ) Equation 2
Wherein, the formula 1 is a formula for calculating the displacement of the corresponding landing point according to the displacement angle; the formula 2 is a formula for calculating the rotation angle of the foothold according to the displacement angle; obtaining the foot drop point position according to the calculated foot drop point displacement and the foot drop point rotation angle;
Wherein alpha is the displacement angle f of the swinging foot α Is the displacement of the swinging foot, beta is the rotation angle of the swinging foot, beta min Is a preset minimum rotation angle.
In one embodiment, after said completing said generating of said footprint set, it comprises: and adding the positions of the footfalls in the footmarks set into a candidate queue of the next node of the biped robot so that the biped robot can select the footmarks meeting the optimal path conditions of navigation planning from the candidate queue.
Fig. 8 shows an internal structural view of the bipedal robot in one embodiment. As shown in fig. 8, the bipedal robot includes a processor, a memory, and a network interface connected by a system bus. The memory includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium of the bipedal robot stores an operating system and may also store a computer program which, when executed by a processor, causes the processor to implement the method for dynamically generating a footprint set described above. The internal memory may also have stored therein a computer program which, when executed by the processor, causes the processor to perform the method of dynamically generating a footprint set described above. Those skilled in the art will appreciate that the structure shown in fig. 8 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the computer device to which the present application is applied, and that a particular bipedal robot may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer-readable storage medium is provided, storing a computer program which, when executed by a processor, causes the processor to perform the steps of: acquiring preset footprint calculation parameters, wherein the preset footprint calculation parameters comprise: a preset displacement angle and a preset minimum rotation angle; calculating according to the preset displacement angle to obtain foot drop point displacement, determining a foot drop point rotation angle according to the preset displacement angle and the preset minimum rotation angle, and determining a foot drop point position according to the foot drop point displacement and the foot drop point rotation angle, wherein the foot drop point rotation angle is used for controlling the direction of a swing foot; determining a foothold range according to the foothold position, and performing collision detection according to the foothold range to obtain a detection result; when the detection result is collision-free, recording the collision-free footfall position to a footprint set; acquiring a preset first displacement angle adjustment amplitude; updating the preset displacement angle according to the preset first displacement angle adjustment amplitude; and a step of calculating the position of the foothold according to the preset displacement angle is carried out until the generation of the footprint set is completed.
In one embodiment, after the collision detection is performed according to the position of the foothold, the method further includes: when the detection result is that collision exists, determining the foot drop point displacement corresponding to the foot drop point position; acquiring a preset displacement adjustment amplitude; updating the foot drop point displacement according to the preset displacement adjustment amplitude, and calculating to obtain an updated foot drop point position according to the updated foot drop point displacement; and performing collision detection according to the position of the foothold to obtain a detection result.
In one embodiment, after updating the landing point displacement according to the preset displacement adjustment amplitude, the method further comprises: judging whether the updated foothold position is smaller than a preset threshold value, if not, entering the step of calculating the updated foothold position according to the updated foothold position; if the updated foot drop point displacement is smaller than the preset threshold value, acquiring a preset second displacement angle adjustment amplitude, wherein the preset second displacement angle adjustment amplitude is smaller than the preset first displacement angle adjustment amplitude; updating the preset displacement angle according to the preset second displacement angle adjustment amplitude; and a step of calculating the position of the foothold according to the preset displacement angle is carried out until the generation of the footprint set is completed.
In one embodiment, the step of entering the step of calculating the position of the landing point according to the preset displacement angle until the generation of the footprint set is completed includes: and when the updated preset displacement angle meets a preset threshold condition, finishing the generation of the footprint set.
In one embodiment, the calculating the rotation angle of the landing leg point according to the preset displacement angle and the preset minimum rotation angle includes: when the preset displacement angle is larger than a preset minimum rotation angle, taking the preset displacement angle as the rotation angle of the foothold; and when the preset displacement angle is smaller than the preset minimum rotation angle, taking the preset minimum rotation angle as the rotation angle of the foothold point.
In an embodiment, the calculating the position of the landing point according to the preset displacement angle further includes:
the position of the foothold is calculated as follows:
β＝max(α,β min ) Equation 2
Wherein, the formula 1 is a formula for calculating the displacement of the corresponding landing point according to the displacement angle; the formula 2 is a formula for calculating the rotation angle of the foothold according to the displacement angle; obtaining the foot drop point position according to the calculated foot drop point displacement and the foot drop point rotation angle;
Wherein alpha is the displacement angle f of the swinging foot α Is the displacement of the swinging foot, beta is the rotation angle of the swinging foot, beta min Is a preset minimum rotation angle.
In one embodiment, after said completing said generating of said footprint set, it comprises: and adding the positions of the footfalls in the footmarks set into a candidate queue of the next node of the biped robot so that the biped robot can select the footmarks meeting the optimal path conditions of navigation planning from the candidate queue.
In one embodiment, a bipedal robot is presented comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of: acquiring preset footprint calculation parameters, wherein the preset footprint calculation parameters comprise: a preset displacement angle and a preset minimum rotation angle; calculating according to the preset displacement angle to obtain foot drop point displacement, determining a foot drop point rotation angle according to the preset displacement angle and the preset minimum rotation angle, and determining a foot drop point position according to the foot drop point displacement and the foot drop point rotation angle, wherein the foot drop point rotation angle is used for controlling the direction of a swing foot; determining a foothold range according to the foothold position, and performing collision detection according to the foothold range to obtain a detection result; when the detection result is collision-free, recording the collision-free footfall position to a footprint set; acquiring a preset first displacement angle adjustment amplitude; updating the preset displacement angle according to the preset first displacement angle adjustment amplitude; and a step of calculating the position of the foothold according to the preset displacement angle is carried out until the generation of the footprint set is completed.
In one embodiment, after the collision detection is performed according to the position of the foothold, the method further includes: when the detection result is that collision exists, determining the foot drop point displacement corresponding to the foot drop point position; acquiring a preset displacement adjustment amplitude; updating the foot drop point displacement according to the preset displacement adjustment amplitude, and calculating to obtain an updated foot drop point position according to the updated foot drop point displacement; and performing collision detection according to the position of the foothold to obtain a detection result.
In one embodiment, after updating the landing point displacement according to the preset displacement adjustment amplitude, the method further comprises: judging whether the updated foothold position is smaller than a preset threshold value, if not, entering the step of calculating the updated foothold position according to the updated foothold position; if the updated foot drop point displacement is smaller than the preset threshold value, acquiring a preset second displacement angle adjustment amplitude, wherein the preset second displacement angle adjustment amplitude is smaller than the preset first displacement angle adjustment amplitude; updating the preset displacement angle according to the preset second displacement angle adjustment amplitude; and a step of calculating the position of the foothold according to the preset displacement angle is carried out until the generation of the footprint set is completed.
In one embodiment, the step of entering the step of calculating the position of the landing point according to the preset displacement angle until the generation of the footprint set is completed includes: and when the updated preset displacement angle meets a preset threshold condition, finishing the generation of the footprint set.
In one embodiment, the calculating the rotation angle of the landing leg point according to the preset displacement angle and the preset minimum rotation angle includes: when the preset displacement angle is larger than a preset minimum rotation angle, taking the preset displacement angle as the rotation angle of the foothold; and when the preset displacement angle is smaller than the preset minimum rotation angle, taking the preset minimum rotation angle as the rotation angle of the foothold point.
In an embodiment, the calculating the position of the landing point according to the preset displacement angle further includes:
the position of the foothold is calculated as follows:
β＝max(α,β min ) Equation 2
Wherein, the formula 1 is a formula for calculating the displacement of the corresponding landing point according to the displacement angle; the formula 2 is a formula for calculating the rotation angle of the foothold according to the displacement angle; obtaining the foot drop point position according to the calculated foot drop point displacement and the foot drop point rotation angle;
Wherein alpha is the displacement angle f of the swinging foot α Is the displacement of the swinging foot, beta is the rotation angle of the swinging foot, beta min Is a preset minimum rotation angle.
In one embodiment, after said completing said generating of said footprint set, it comprises: and adding the positions of the footfalls in the footmarks set into a candidate queue of the next node of the biped robot so that the biped robot can select the footmarks meeting the optimal path conditions of navigation planning from the candidate queue.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A method of dynamically generating a footprint set for a bipedal robot, the method comprising:
acquiring preset footprint calculation parameters, wherein the preset footprint calculation parameters comprise: a preset displacement angle and a preset minimum rotation angle;
calculating according to the preset displacement angle to obtain foot drop point displacement, determining a foot drop point rotation angle according to the preset displacement angle and the preset minimum rotation angle, and determining a foot drop point position according to the foot drop point displacement and the foot drop point rotation angle, wherein the foot drop point rotation angle is used for controlling the direction of a swing foot;
Determining a foothold range according to the foothold position, and performing collision detection according to the foothold range to obtain a detection result;
when the detection result is collision-free, recording the collision-free footfall position to a footprint set;
acquiring a preset first displacement angle adjustment amplitude;
updating the preset displacement angle according to the preset first displacement angle adjustment amplitude;
and a step of calculating the position of the foothold according to the preset displacement angle is carried out until the generation of the footprint set is completed.
2. The method according to claim 1, further comprising, after said collision detection based on said landing position, the steps of:
when the detection result is that collision exists, determining the foot drop point displacement corresponding to the foot drop point position;
acquiring a preset displacement adjustment amplitude;
updating the foot drop point displacement according to the preset displacement adjustment amplitude, and calculating to obtain an updated foot drop point position according to the updated foot drop point displacement;
and performing collision detection according to the position of the foothold to obtain a detection result.
3. The method of claim 2, further comprising, after updating the landing point displacement according to the preset displacement adjustment amplitude:
Judging whether the updated foothold position is smaller than a preset threshold value, if not, entering the step of calculating the updated foothold position according to the updated foothold position;
if the updated foot drop point displacement is smaller than the preset threshold value, acquiring a preset second displacement angle adjustment amplitude, wherein the preset second displacement angle adjustment amplitude is smaller than the preset first displacement angle adjustment amplitude;
updating the preset displacement angle according to the preset second displacement angle adjustment amplitude;
and a step of calculating the position of the foothold according to the preset displacement angle is carried out until the generation of the footprint set is completed.
4. A method according to claim 3, wherein the step of entering the step of calculating the position of the landing point from the preset displacement angle until the generation of the footprint set is completed comprises:
and when the updated preset displacement angle meets a preset threshold condition, finishing the generation of the footprint set.
5. The method for dynamically generating a footprint set according to claim 1, wherein said calculating a footprint rotation angle from said preset displacement angle and said preset minimum rotation angle comprises:
When the preset displacement angle is larger than a preset minimum rotation angle, taking the preset displacement angle as the rotation angle of the foothold;
and when the preset displacement angle is smaller than the preset minimum rotation angle, taking the preset minimum rotation angle as the rotation angle of the foothold point.
6. The method of dynamically generating a footprint set of claim 1, wherein said foothold position comprises: the foot drop point displacement and the foot drop point rotation angle are calculated according to the preset displacement angle to obtain the foot drop point position, and the method further comprises the following steps:
the position of the foothold is calculated as follows:
β＝max(α,β min ) Equation 2
Wherein, the formula 1 is a formula for calculating the displacement of the corresponding landing point according to the displacement angle; the formula 2 is a formula for calculating the rotation angle of the foothold according to the displacement angle; alpha is the displacement angle f of the swinging foot α Is the displacement of the swinging foot, beta is the rotation angle of the swinging foot, beta min Is a preset minimum rotation angle.
7. The method for dynamically generating a footprint set according to claim 4, comprising, after said generating of said footprint set is completed:
and adding the positions of the footfalls in the footmarks set into a candidate queue of the next node of the biped robot so that the biped robot can select the footmarks meeting the optimal path conditions of navigation planning from the candidate queue.
8. A dynamically generated footprint collection device for use with a bipedal robot, the device comprising:
the first acquisition module is used for acquiring preset footprint calculation parameters, wherein the preset footprint calculation parameters comprise: a preset displacement angle and a preset minimum rotation angle;
the calculation module is used for calculating to obtain a foot drop point displacement according to the preset displacement angle, determining a foot drop point rotation angle according to the preset displacement angle and the preset minimum rotation angle, and determining a foot drop point position according to the foot drop point displacement and the foot drop point rotation angle, wherein the foot drop point rotation angle is used for controlling the orientation of a swing foot;
the collision detection module is used for determining a falling foot point range according to the falling foot point position, and performing collision detection according to the falling foot point range to obtain a detection result;
the recording module is used for recording the collision-free foothold positions to the footprint set when the detection result is collision-free;
the second acquisition module is used for acquiring a preset first displacement angle adjustment amplitude;
the adjusting module is used for updating the preset displacement angle according to the preset first displacement angle adjusting amplitude;
and the circulation module is used for entering the step of calculating the position of the landing point according to the preset displacement angle until the generation of the footprint set is completed.
9. A computer-readable storage medium, characterized in that a computer program is stored, which, when being executed by a processor, causes the processor to perform the steps of the method of dynamically generating a footprint set as claimed in any of claims 1 to 7.
10. A bipedal robot comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of the method of dynamically generating a footprint set as claimed in any one of claims 1 to 7.
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