CN113220004A - Gait control method for quadruped robot, and computer-readable storage medium - Google Patents
Gait control method for quadruped robot, and computer-readable storage medium Download PDFInfo
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- CN113220004A CN113220004A CN202110404349.1A CN202110404349A CN113220004A CN 113220004 A CN113220004 A CN 113220004A CN 202110404349 A CN202110404349 A CN 202110404349A CN 113220004 A CN113220004 A CN 113220004A
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- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Abstract
The invention discloses a four-foot robot gait control method, a four-foot robot and a computer readable storage medium, and belongs to the field of robot motion control methods. The control method of the quadruped robot comprises the following steps: acquiring a first preset rotating angle of a hip side swinging motor of a single leg, a second preset rotating angle of the hip forward motor and a third preset rotating angle of the knee motor; constructing a rotation angle transposition matrix q based on the first preset rotation angle, the second preset rotation angle and the third preset rotation angle; and obtaining a first output torque of the hip side swing motor, a second output torque of the hip forward motor and a third output torque of the knee motor according to the rotation angle transpose matrix q and a prestored torque formula. By adopting the gait control method of the quadruped robot provided by the invention, the actual swing of each leg in the quadruped robot can better accord with the preset leg gait planning track.
Description
Technical Field
The invention relates to the field of robot motion control methods, in particular to a four-foot robot gait control method, a four-foot robot and a computer readable storage medium.
Background
Quadruped robots generally all have a pre-set leg gait planning trajectory to make the pose of the quadruped robot more stable. The output angles of the hip side-sway motor, the hip forward motor and the knee motor can be obtained through the design of the track, but the specific posture of the quadruped robot is controlled only by the rotation angle, so that the technical problem that the actual gait of the leg is inconsistent with the preset leg gait planning track exists.
Disclosure of Invention
The invention mainly aims to provide a gait control method of a quadruped robot, the quadruped robot and a computer readable storage medium, aiming at solving the technical problem that the actual gait of the quadruped robot is inconsistent with the designed leg gait planning track in the prior art.
In order to achieve the above object, the present invention provides a gait control method of a quadruped robot, each leg of the quadruped robot comprises a hip side swing motor, a hip forward motor and a knee motor, the control method comprises the following steps:
acquiring a first preset rotating angle of a hip side swinging motor of a single leg, a second preset rotating angle of a hip forward motor and a third preset rotating angle of a knee motor;
constructing a rotation angle transposition matrix q based on the first preset rotation angle, the second preset rotation angle and the third preset rotation angle;
according to the rotation angle transposition matrix q and a prestored torque formula, obtaining a first output torque of the hip side swing motor, a second output torque of the hip forward motor and a third output torque of the knee motor; wherein the torque formula is
DineAs a mass matrix for a single leg, CcorCoriolis force matrix for a single leg, GgraIs a gravity matrix, tau-moment, of a single legThe elements of the array include a first output torque, a second output torque, and a third output torque,
the first derivative of the rotation angle transpose matrix q,
the second derivative of the matrix q is transposed for the rotation angle.
Optionally, the step of constructing the rotation angle transpose matrix q based on the first preset rotation angle, the second preset rotation angle, and the third preset rotation angle includes:
constructing a rotation angle matrix [ theta ] based on a first preset rotation angle, a second preset rotation angle and a third preset rotation angle1 θ2 θ3](ii) a Wherein, theta1Is a first predetermined angle of rotation, θ2For a second predetermined angle of rotation, theta3A third preset rotation angle;
transposing the rotation angle matrix to obtain a rotation angle transposed matrix q [ theta ]1 θ2 θ3]T。
Optionally, DineIs determined by the following formula;
where K is the total kinetic energy of a single leg.
Optionally, CcorIs a 3 x 3 matrix in which the element c of the j-th row and k-columnjkCan be determined according to the following formula:
Γjkhis the element of the j-th row, k-th column and h-th page in the three-dimensional matrix gammajkhCan be determined by the following formula:
wherein d isjk、djhAnd dhkAre all DineCorresponding element in (1), θh、θkAnd thetajAre all a matrix of rotation angles [ theta ]1 θ2θ3]The corresponding element in (1).
Optionally, GgraThe ith element g in (1)iCan be determined by the following formula:
wherein, P is the gravitational potential energy of a single leg, and i is a natural number with i being more than or equal to 1 and less than or equal to 3.
Alternatively to this, the first and second parts may,
wherein, tau1Is a first output torque, tau2For the second output torque, τ3Is the third output torque.
Optionally, the step of obtaining a first preset rotation angle of the hip side swing motor, a second preset rotation angle of the hip forward motor, and a third preset rotation angle of the knee motor of the single leg includes:
according to a preset leg gait planning track of the quadruped robot, a first preset rotating angle of a hip side swing motor of a single leg, a second preset rotating angle of a hip forward motor and a third preset rotating angle of a knee motor are obtained.
In a second aspect, the present invention also provides a gait control device for a quadruped robot, comprising:
the data acquisition module is used for acquiring a first preset rotating angle of a hip side swing motor of a single leg, a second preset rotating angle of a hip forward motor and a third preset rotating angle of a knee motor;
the matrix transposition module is used for constructing a rotation angle transposition matrix q based on a first preset rotation angle, a second preset rotation angle and a third preset rotation angle;
the matrix resolving module is used for obtaining a first output torque of the hip side swing motor, a second output torque of the hip forward motor and a third output torque of the knee motor according to the rotation angle transposition matrix q and a prestored torque formula; wherein the torque formula is
DineAs a mass matrix for a single leg, CcorCoriolis force matrix for a single leg, GgraIs a gravity matrix of a single leg, the elements of the tau matrix include a first output moment, a second output moment and a third output moment,
the first derivative of the rotation angle transpose matrix q,
the second derivative of the matrix q is transposed for the rotation angle.
In a third aspect, the present invention further provides a quadruped robot, which comprises a memory, a processor and a quadruped robot gait control program stored in the memory and operable on the processor, wherein the quadruped robot gait control program is configured to implement the steps of the quadruped robot gait control method.
In a fourth aspect, the present invention further provides a computer readable storage medium, on which a quadruped robot gait control program is stored, which, when executed by a processor, implements the steps of the quadruped robot gait control method described above.
The technical scheme of the invention describes the inertia characteristic of the leg through the mass matrix, describes the influence of the leg swing on the robot system through the Coriolis moment matrix, and describes the gravitational potential of the leg through the gravity matrixCan incorporate a first predetermined angle of rotation theta to achieve a certain attitude in the designed leg gait planning trajectory1A second preset rotation angle theta2And a third preset rotation angle theta3Therefore, the output torque of the hip side-swing motor, the hip forward motor and the knee motor of the leg is calculated, the actual swing of each leg in the four-foot robot is more consistent with the preset leg gait planning track, and meanwhile, the body character bar of the four-foot robot is kept more stable in the leg movement process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a quadruped robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a gait control method of a quadruped robot according to a first embodiment of the invention;
fig. 3 is a block diagram showing the configuration of a gait control device for a quadruped robot according to a first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a recommended structure of a quadruped robot according to an embodiment of the present invention.
The two sides of the body of the quadruped robot are respectively provided with 2 legs, and each leg comprises a hip side-swinging motor, a hip forward motor, a thigh part and a knee joint motor and a lower leg part. Wherein, hip side pendulum motor and fuselage rotatable coupling, the preceding motor of hip rotationally connects on hip side pendulum motor, and the preceding motor of thigh portion fixed connection to hip to compare in the swing of hip side pendulum motor under the drive of the preceding motor of hip, and install in the knee joint motor of thigh portion, shank portion installs on the knee joint motor, in order to wind the swing of thigh portion under the drive of knee joint motor.
The quadruped robot is internally provided with only a processor 301, a memory 302 and a quadruped robot gait control program which is stored on the memory and can be run on the processor, and the quadruped robot gait control program is configured to realize the steps of the quadruped robot gait control method. The quadruped robot gait control method will be described in detail below.
The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 301 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 301 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. The processor 301 may further include an AI (Artificial Intelligence) processor for processing information regarding the gait control operation of the quadruped robot so that the gait control model of the quadruped robot can be trained autonomously for learning, improving efficiency and accuracy.
In some embodiments, the terminal further optionally includes: a communication interface 303 and at least one peripheral device. The processor 301, the memory 302 and the communication interface 303 may be connected by a bus or signal lines. Various peripheral devices may be connected to communication interface 303 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 304 and power supply 305.
The communication interface 303 may be used to connect at least one peripheral device related to I/O (Input/Output) to the processor 301 and the memory 302. In some embodiments, processor 301, memory 302, and communication interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302 and the communication interface 303 may be implemented on a single chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 304 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 304 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 304 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 304 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 304 may further include NFC (Near Field Communication) related circuits, which are not limited in this application. The radio frequency circuitry 304 may be used to receive user-transmitted control commands for the quadruped robot, such as forward, reverse, etc.
The power supply 305 is used to supply power to the processor 301 and various components in the memory 302. The power source 305 may be alternating current, direct current, disposable or rechargeable. When power source 305 comprises a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of a quadruped robot, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
An embodiment of the present invention provides a gait control method of a quadruped robot, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the gait control method of the quadruped robot according to the present invention.
In this embodiment, the control method is used to control the output torques of three motors of a single leg, namely, the hip side swing motor, the hip forward motor and the knee motor, so that the actual motion trajectory of each leg of the quadruped robot conforms to the preset foot end motion trajectory.
In this embodiment, the control method includes the following steps:
step S100, a first preset rotating angle of a hip side swing motor of a single leg, a second preset rotating angle of a hip forward motor and a third preset rotating angle of a knee motor are obtained.
The first preset rotation angle, the second preset rotation angle and the third preset rotation angle are rotation angles of the corresponding hip side swing motor, hip forward motor and knee motor compared with the initial angle in a specific posture in a leg gait planning track prestored by the quadruped robot. It is easy to understand that each leg of the quadruped robot has a swing phase and a support phase, and the angles of the hip side swing motor, the hip forward motor and the knee motor in the support phase can be set as initial angles, namely 0. For example, the hip yaw motor rotates negative inward and positive outward. The hip forward motor swings forwards to positive and swings backwards to negative, and the middle thigh part of the knee motor is positive when approaching the lower thigh part, and vice versa. It is worth mentioning that, in order to keep the posture of the quadruped robot stable, the thigh part and the shank part adopt a bionic structure, and an included angle is formed when the quadruped robot is supported.
Step S200, constructing a rotation angle transposition matrix q based on a first preset rotation angle, a second preset rotation angle and a third preset rotation angle.
Wherein, as an option of the embodiment, the first preset rotation angle θ can be based on1A second preset rotation angle theta2And a third preset rotation angle theta3Constructing a rotation angle matrix [ theta ]1 θ2 θ3]。
Then, the rotation angle matrix is transposed to obtain a rotation angle transposed matrix q [ [ theta ] ]1 θ2 θ3]T。
Step S300, obtaining a first output torque of the hip side swing motor, a second output torque of the hip forward motor and a third output torque of the knee motor according to the rotation angle transposed matrix q and a prestored torque formula; wherein, the moment formula is:
wherein D isineIs a mass matrix of a single leg, representing the inertial properties of the single leg, DineCan be determined by the following formula;
where K is the total kinetic energy of a single leg. In case the trajectory of the quadruped robot is known, i.e. in a leg gait planning trajectory pre-stored in the quadruped robot, the total kinetic energy of the leg is of a known value.
Is composed of
The transposed matrix of (2).
As can be readily appreciated, since the input matrix is [ theta ]1 θ2 θ3]I.e. matrix DineIs a 3 x 3 matrix with the internal j-th row and k-th column having the element djk。
CcorThe Coriolis force matrix is a single leg and is used for describing the influence of virtual centrifugal force introduced by the swinging of the leg on the leg state of the whole quadruped robot. CcorThe specific value of each element in (A) can be determined according to DineThe corresponding elements of the matrix are obtained.
As an alternative to this embodiment, CcorIs a 3 x 3 matrix in which the element c of the j-th row and k-columnjkCan be determined according to the following formula:
Γjkhis an introduced three-dimensional matrix F of 3 x 3, in which the elements of page h, row k and column j arejkhCan be determined by the following formula:
wherein d isjk、djkAnd djkAre all DineElement of (1), θh、θkAnd thetajAre all a matrix of rotation angles [ theta ]1 θ2 θ3]The corresponding element in (1). At this time, djkAt DineCan be determined according to the specific values of j and k, but not representing DineRow j and column k. djk、djk、θh、θkAnd thetajFor the same reason, it is not described herein.
For example, for the element Γ of page 1, row 1, column 1 in the three-dimensional matrix Γ111。
At this time, djk、djhAnd dhkWhile taking the value DineElement d in (1)11。θh、θkAnd thetajAll simultaneously take the value of [ theta1 θ2θ3]Element of (2)1。
GgraA gravity matrix of a single leg for describing gravity and gravitational potential energy information of each part of the leg, GgraThe ith element g in (1)iCan be determined by the following formula:
wherein, P is the gravitational potential energy of a single leg, and i is a natural number with i being more than or equal to 1 and less than or equal to 3. The gravitational potential energy of the single leg can be taken as a value according to the specific situation of each leg of the specific quadruped robot, for example, a conventional physical algorithm can be adopted, that is, the height of the center of mass of a specific leg is multiplied by the gravity of the specific leg, and the detailed description is omitted here.
The elements of the τ matrix include a first output torque, a second output torque, and a third output torque. In particular, the method of manufacturing a semiconductor device,
wherein, tau1Is a first output torque, tau2For the second output torque, τ3Is the third output torque.
In this embodiment, the inertial characteristic of the leg is described by the mass matrix, the influence of the leg swing on the robot system is described by the coriolis torque matrix, the gravitational potential energy of the leg is described by the gravity matrix, and the first preset rotation angle θ for achieving a certain posture in the designed leg gait planning trajectory is combined1A second preset rotation angle theta2And a third preset rotation angle theta3Therefore, the output torque of the hip side-swing motor, the hip forward motor and the knee motor of the leg is calculated, the actual swing of each leg in the four-foot robot is more consistent with the preset leg gait planning track, and meanwhile, the body character bar of the four-foot robot is kept more stable in the leg movement process.
Based on the first embodiment of the compressor loading control method according to the embodiment of the present invention, a second embodiment of the compressor loading control method according to the present invention is provided.
In this embodiment, before step S100, the control method further includes:
according to a preset leg gait planning track of the quadruped robot, a first preset rotating angle of a hip side swing motor of a single leg, a second preset rotating angle of a hip forward motor and a third preset rotating angle of a knee motor are obtained.
The leg gait planning trajectory of the quadruped robot is pre-stored in the quadruped robot, the sizes of all parts of the leg of the quadruped robot can be obtained according to the leg gait planning trajectory, and the postures of each leg at each moment in the leg gait planning trajectory are preset, so that a first angle between the thigh part and the central axis of the machine body, a second angle between the thigh part and the shank part and a third angle of the thigh part swinging outwards or inwards relative to the machine body on a vertical plane extending along the central axis of the machine body can be obtained according to the preset leg gait planning trajectory of the quadruped robot. By combining the first angle, the second angle, the third angle with the first preset rotation angle theta1A second preset rotation angle theta2And a third preset rotation angle theta3Comparing the initial angle to obtain a first preset rotation angle theta1A second preset rotation angle theta2And a third preset rotation angle theta3。
The embodiment of the present invention further provides a first embodiment of a gait control device of a quadruped robot, and referring to the drawing, the drawing is a structural block diagram of the gait control device of the quadruped robot of the present embodiment. The device includes:
the data acquisition module 10 is configured to acquire a first preset rotation angle of the hip side swing motor, a second preset rotation angle of the hip forward motor, and a third preset rotation angle of the knee motor of a single leg;
a matrix transpose module 20, configured to construct a rotation angle transpose matrix q based on a first preset rotation angle, a second preset rotation angle, and a third preset rotation angle;
the matrix resolving module 30 is used for obtaining a first output torque of the hip side swing motor, a second output torque of the hip forward motor and a third output torque of the knee motor according to the rotation angle transposition matrix q and a prestored torque formula; wherein the torque formula is
DineAs a mass matrix for a single leg, CcorCoriolis force matrix for a single leg, GgraIs a gravity matrix of a single leg, the elements of the tau matrix include a first output moment, a second output moment and a third output moment,
the first derivative of the rotation angle transpose matrix q,
the second derivative of the matrix q is transposed for the rotation angle.
The inertial characteristic of the leg is described by a mass matrix, and the leg swinging pair is described by a Coriolis moment matrixThe influence of the robot system is that the gravitational potential energy of the leg is described by a gravity matrix, and a first preset rotation angle theta for achieving a certain posture in a designed leg gait planning track is combined1A second preset rotation angle theta2And a third preset rotation angle theta3Therefore, the output torque of the hip side-swing motor, the hip forward motor and the knee motor of the leg is calculated, the actual swing of each leg in the four-foot robot is more consistent with the preset leg gait planning track, and meanwhile, the body character bar of the four-foot robot is kept more stable in the leg movement process.
In addition, an embodiment of the present invention further provides a computer readable storage medium, on which a quadruped robot gait control program is stored, and the quadruped robot gait control program, when executed by a processor, implements the steps of the quadruped robot gait control method as above. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of embodiments of the method of the present application. It is determined that, by way of example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
It should be noted that the above-described embodiments of the apparatus are merely schematic, where units illustrated as separate components may or may not be physically separate, and components illustrated as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention may be implemented by software plus necessary general hardware, and may also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, the implementation of a software program is a more preferable embodiment for the present invention. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, where the computer software product is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a Read-only memory (ROM), a random-access memory (RAM), a magnetic disk or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
Claims (10)
1. A gait control method of a quadruped robot, wherein each leg of the quadruped robot comprises a hip side swing motor, a hip forward motor and a knee motor, the control method comprising the steps of:
acquiring a first preset rotating angle of a hip side swinging motor of a single leg, a second preset rotating angle of the hip forward motor and a third preset rotating angle of the knee motor;
constructing a rotation angle transposition matrix q based on the first preset rotation angle, the second preset rotation angle and the third preset rotation angle;
according to the rotation angle transposed matrix q and a prestored torque formula, obtaining a first output torque of the hip side swing motor, a second output torque of the hip forward motor and a third output torque of the knee motor; wherein the torque formula is
DineIs a mass matrix of the single leg, CcorIs the Coriolis force matrix of the single leg, GgraThe elements of the tau matrix include the first output moment, the second output moment and the third output moment,
the first derivative of the rotation angle transpose matrix q,
and transposing a second derivative of the matrix q for the rotation angle.
2. The gait control method of a quadruped robot according to claim 1, wherein the step of constructing a rotation angle transpose q based on the first preset rotation angle, the second preset rotation angle, and the third preset rotation angle includes:
constructing a rotation angle matrix [ theta ] based on the first preset rotation angle, the second preset rotation angle and the third preset rotation angle1 θ2 θ3](ii) a Wherein, theta1Is that it isFirst predetermined angle of rotation, theta2For said second predetermined angle of rotation, θ3Setting the third preset rotation angle;
transposing the rotation angle matrix to obtain the rotation angle transposed matrix q ═ theta1 θ2 θ3]T。
3. The gait control method of a quadruped robot according to claim 1 or 2, characterized in that DineIs determined by the following formula;
wherein K is the total kinetic energy of the single leg.
4. The gait control method for a quadruped robot according to claim 2, characterized in that CcorIs a 3 x 3 matrix in which the element c of the j-th row and k-columnjkCan be determined according to the following formula:
Γjkhis the element of the j-th row, k-th column and h-th page in the three-dimensional matrix gammajkhCan be determined by the following formula:
wherein d isjk、djhAnd dhkAre all DineCorresponding element in (1), θh、θkAnd thetajAre all a matrix of rotation angles [ theta ]1 θ2 θ3]The corresponding element in (1).
5. The gait control method of a quadruped robot according to claim 1, characterized in thatIn that, the G isgraThe ith element g in (1)iCan be determined by the following formula:
wherein P is the gravitational potential energy of the single leg, and i is a natural number with i being more than or equal to 1 and less than or equal to 3.
6. The gait control method of a quadruped robot according to claim 1, characterized in that,
wherein, tau1Is said first output torque, τ2For said second output torque, τ3Is the third output torque.
7. The quadruped robotic gait control method of claim 1, wherein the step of acquiring a first preset rotation angle of a hip yaw motor, a second preset rotation angle of the hip forward motor, and a third preset rotation angle of the knee motor for a single leg comprises:
and acquiring a first preset rotating angle of a hip side swing motor of a single leg, a second preset rotating angle of a hip forward motor and a third preset rotating angle of a knee motor according to a preset leg gait planning track of the quadruped robot.
8. A quadruped robotic gait control device, characterized in that the device comprises:
the data acquisition module is used for acquiring a first preset rotating angle of a hip side swing motor of a single leg, a second preset rotating angle of the hip forward motor and a third preset rotating angle of the knee motor;
the matrix transposition module is used for constructing a rotation angle transposition matrix q based on the first preset rotation angle, the second preset rotation angle and the third preset rotation angle;
the matrix resolving module is used for obtaining a first output torque of the hip side swing motor, a second output torque of the hip forward motor and a third output torque of the knee motor according to the rotation angle transposition matrix q and a prestored torque formula; wherein the torque formula is
DineIs a mass matrix of the single leg, CcorIs the Coriolis force matrix of the single leg, GgraThe elements of the tau matrix include the first output moment, the second output moment and the third output moment,
the first derivative of the rotation angle transpose matrix q,
and transposing a second derivative of the matrix q for the rotation angle.
9. A quadruped robot, characterized in that the quadruped robot comprises a memory, a processor and a quadruped robot gait control program stored on the memory and operable on the processor, the quadruped robot gait control program being configured to implement the steps of the quadruped robot gait control method according to any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon a quadruped robot gait control program which, when executed by a processor, implements the steps of the quadruped robot gait control method of any one of claims 1 to 7.
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