CN113359791A - Robot control method, device, computer readable storage medium and robot - Google Patents
Robot control method, device, computer readable storage medium and robot Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000005259 measurement Methods 0.000 claims abstract description 28
- 210000004394 hip joint Anatomy 0.000 claims description 62
- 230000001133 acceleration Effects 0.000 claims description 48
- 238000011217 control strategy Methods 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 19
- 210000001624 hip Anatomy 0.000 claims description 14
- 239000000126 substance Substances 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 5
- 230000036039 immunity Effects 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 14
- 238000010586 diagram Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 6
- 210000002683 foot Anatomy 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 210000003423 ankle Anatomy 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The present application relates to the field of robotics, and in particular, to a robot control method, apparatus, computer-readable storage medium, and robot. The method comprises the following steps: determining a zero moment point measurement value of the robot; selecting a target anti-interference strategy subset corresponding to the zero moment point measured value from a preset anti-interference strategy set; and controlling the robot according to the target anti-interference strategy subset. According to the method and the device, a plurality of different anti-interference strategies form an anti-interference strategy set, an optimal anti-interference strategy subset can be selected according to a zero moment point measurement value of the robot in the walking process of the robot, and the robot is controlled according to the strategy subset, so that the robot can be flexibly switched among various complex interference scenes.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a robot control method, apparatus, computer-readable storage medium, and robot.
Background
When the biped robot steps or walks, the biped robot is easily interfered by external environment or human factors, and the robot falls down. In the prior art, interference can be resisted through certain specific strategies, and the robot is restored to a stable state, but the strategies are only used for a single interference scene, and are difficult to apply in other interference scenes, so that the flexibility is poor.
Disclosure of Invention
In view of this, embodiments of the present application provide a robot control method, a robot control apparatus, a computer-readable storage medium, and a robot, so as to solve the problem of poor flexibility of the existing robot control method.
A first aspect of an embodiment of the present application provides a robot control method, which may include:
determining a zero moment point measurement value of the robot;
selecting a target anti-interference strategy subset corresponding to the zero moment point measured value from a preset anti-interference strategy set;
and controlling the robot according to the target anti-interference strategy subset.
In a specific implementation of the first aspect, the selecting, from a preset anti-interference policy set, a target anti-interference policy subset corresponding to the zero-moment point measurement value may include:
if the measured value of the zero moment point is smaller than or equal to a preset first threshold value, selecting a mass center compliance strategy from the anti-interference strategy set as the target anti-interference strategy subset;
if the measured value of the zero moment point is larger than the first threshold value and smaller than a preset second threshold value, selecting a mass center compliance strategy and a hip joint control strategy from the anti-interference strategy set as the target anti-interference strategy subset;
and if the measured value of the zero moment point is greater than the second threshold value, selecting a mass center compliance strategy, a hip joint control strategy and a stepping strategy from the anti-interference strategy set as the target anti-interference strategy subset.
In a specific implementation of the first aspect, if the target anti-interference policy subset includes a centroid compliance policy, the controlling the robot according to the target anti-interference policy subset may include:
calculating the center of mass acceleration of the robot according to the following formula:
wherein x iscIs the actual position of the center of mass of the robot,
a desired position for the center of mass of the robot,
is the actual speed of the center of mass of the robot,
desired speed for the center of mass, p, of the robotmIs the measured value of the zero moment point,
is the zero moment point expected value, K, of the robotp1For a predetermined position gain factor, Kd1For a predetermined speed gain factor, Kz1For a preset gain factor of the zero moment point,
is the centroid acceleration of the robot;
and controlling the robot to move according to the centroid acceleration.
In a specific implementation of the first aspect, if the target anti-interference policy subset includes a hip control policy, the controlling the robot according to the target anti-interference policy subset may include:
calculating the hip angular acceleration of the robot according to:
wherein, thetamIs the actual angle of the hip joint of the robot, thetadA desired angle for the hip joint of the robot,
is the actual angular velocity of the hip joint of the robot,
desired angular velocity, p, for the hip joint of the robotmIs the zero moment point measurement, p'boundaryIs the zero moment point boundary value, K, of the robotp2For a predetermined angular gain factor, Kd2For a predetermined gain factor of angular velocity, Kz2For a preset gain factor of the zero moment point,
is the hip angular acceleration of the robot;
and controlling the robot to move according to the angular acceleration of the hip joint.
In a specific implementation of the first aspect, if the target anti-interference policy subset includes a stepping policy, the controlling the robot according to the target anti-interference policy subset may include:
calculating the step length of the robot according to the following formula:
wherein L is the center of mass of the robotThe length of the support point to the point of support,
the actual angle of the hip joint of the robot is omega, the preset circular frequency is omega, and the step length of the robot is delta x;
and controlling the robot to move according to the step length.
In a specific implementation of the first aspect, the robot control method may further include:
setting the first threshold and the second threshold according to:
wherein the content of the first and second substances,
is the distance between the front sole of the robot, z is the height of the center of mass of the robot, g is the acceleration of gravity, J is the moment of inertia of the upper body of the robot,
is the maximum angular acceleration of the hip joint of the robot, m is the mass of the robot,
is the first threshold value of the first threshold value,
is the second threshold.
A second aspect of embodiments of the present application provides a robot control device, which may include:
the zero moment point determining module is used for determining a zero moment point measured value of the robot;
the anti-interference strategy selection module is used for selecting a target anti-interference strategy subset corresponding to the zero moment point measured value from a preset anti-interference strategy set;
and the robot control module is used for controlling the robot according to the target anti-interference strategy subset.
In a specific implementation of the second aspect, the anti-interference policy selecting module may include:
a first strategy subset selecting unit, configured to select a centroid compliance strategy from the anti-interference strategy set as the target anti-interference strategy subset if the zero moment point measurement value is less than or equal to a preset first threshold;
a second strategy subset selecting unit, configured to select a centroid compliance strategy and a hip joint control strategy from the anti-interference strategy set as the target anti-interference strategy subset if the zero moment point measurement value is greater than the first threshold and smaller than a preset second threshold;
and the third strategy subset selecting unit is used for selecting a mass center compliance strategy, a hip joint control strategy and a stepping strategy from the anti-interference strategy set as the target anti-interference strategy subset if the measured value of the zero moment point is greater than the second threshold value.
In a specific implementation of the second aspect, the robot control module may include:
and the mass center compliance control unit is used for calculating the mass center acceleration of the robot according to the following formula if the target anti-interference strategy subset comprises a mass center compliance strategy:
wherein x iscIs the actual position of the center of mass of the robot,
a desired position for the center of mass of the robot,
is the actual speed of the center of mass of the robot,
desired speed for the center of mass, p, of the robotmIs the measured value of the zero moment point,
is the zero moment point expected value, K, of the robotp1For a predetermined position gain factor, Kd1For a predetermined speed gain factor, Kz1For a preset gain factor of the zero moment point,
is the centroid acceleration of the robot; and controlling the robot to move according to the centroid acceleration.
In a specific implementation of the second aspect, the robot control module may include:
a hip joint control unit, configured to calculate a hip joint angular acceleration of the robot according to the following formula if the target anti-interference policy subset includes a hip joint control policy:
wherein, thetamIs the actual angle of the hip joint of the robot, thetadA desired angle for the hip joint of the robot,
is the actual angular velocity of the hip joint of the robot,
desired angular velocity, p, for the hip joint of the robotmIs the zero moment point measurement, p'boundaryIs zero moment of the robotPoint boundary value, Kp2For a predetermined angular gain factor, Kd2For a predetermined gain factor of angular velocity, Kz2For a preset gain factor of the zero moment point,
is the hip angular acceleration of the robot; and controlling the robot to move according to the angular acceleration of the hip joint.
In a specific implementation of the second aspect, the robot control module may include:
a step control unit, configured to calculate a step length of the robot according to the following formula if the target anti-interference policy subset includes a step policy:
wherein L is the length from the center of mass to the supporting point of the robot,
the actual angle of the hip joint of the robot is omega, the preset circular frequency is omega, and the step length of the robot is delta x; and controlling the robot to move according to the step length.
In a specific implementation of the second aspect, the robot control apparatus may further include:
a threshold setting module to set the first threshold and the second threshold according to:
wherein the content of the first and second substances,
is the distance between the front sole of the robot, z is the height of the center of mass of the robot, g is the acceleration of gravity, J is the moment of inertia of the upper body of the robot,
is the maximum angular acceleration of the hip joint of the robot, m is the mass of the robot,
is the first threshold value of the first threshold value,
is the second threshold.
A third aspect of embodiments of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the robot control methods described above.
A fourth aspect of the embodiments of the present application provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of any one of the robot control methods when executing the computer program.
A fifth aspect of embodiments of the present application provides a computer program product, which, when run on a robot, causes the robot to perform the steps of any of the robot control methods described above.
Compared with the prior art, the embodiment of the application has the advantages that: the method includes the steps that a zero moment point measured value of the robot is determined; selecting a target anti-interference strategy subset corresponding to the zero moment point measured value from a preset anti-interference strategy set; and controlling the robot according to the target anti-interference strategy subset. According to the embodiment of the application, a plurality of different anti-interference strategies form an anti-interference strategy set, an optimal anti-interference strategy subset (namely a target anti-interference strategy subset) can be selected according to a zero moment point measurement value of the robot in the walking process of the robot, and the robot is controlled according to the strategy subset, so that the robot can be flexibly switched among various complex interference scenes.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart of an embodiment of a method for controlling a robot according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a spring damping model;
FIG. 3 is a schematic diagram of the robot before and after being disturbed by an external force;
fig. 4 is a schematic diagram of switching of each anti-interference strategy;
FIG. 5 is a block diagram of an embodiment of a robot controller according to an embodiment of the present application;
fig. 6 is a schematic block diagram of a robot in an embodiment of the present application.
Detailed Description
In order to make the objects, features and advantages of the present invention more apparent and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the embodiments described below are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
In addition, in the description of the present application, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
When the robot is acted by external disturbance force, the influence of the disturbance force needs to be counteracted by internal moment under the condition of incomplete instability to maintain a balance state. The sole of the robot is in contact with the ground in a stable state, and for small interference, only compensation torque needs to be applied to the ankle. However, as the disturbance increases, more body balancing strategies must be considered and bending the upper body creates additional torque to resist the effects of the external disturbance. If the interference is too large, the state of the whole machine can be adjusted by stepping to keep stability.
In the embodiment of the application, corresponding anti-interference strategies are preset respectively according to external force interference conditions of different degrees, and an anti-interference strategy set is formed. In the walking process of the robot, an optimal anti-interference strategy subset can be selected according to the actual external force interference condition, and the robot is controlled according to the strategy subset, so that the robot can be flexibly switched among various complex interference scenes.
For convenience of description, a world coordinate system in which the front direction of the robot is an x-axis, the lateral direction is a y-axis, and the longitudinal direction is a z-axis may be established in advance in the embodiment of the present application. It should be noted that, in the embodiment of the present application, the movement of the robot in the x-axis direction is analyzed, and as described below, the Zero Moment Point (ZMP), the position, the velocity, the acceleration, and other physical quantities all refer to components of the physical quantities in the x-axis direction.
Referring to fig. 1, an embodiment of a robot control method in an embodiment of the present application may include:
and step S101, determining a zero moment point measured value of the robot.
The zero moment point measurement value can be obtained by measuring through a force sensor and a moment sensor of the robot foot, and in the embodiment of the application, the zero moment point measurement value can be used as a measurement index of the size of the external force interference on the robot. The larger the zero moment point measurement value is, the larger the external force interference suffered by the robot is, otherwise, the smaller the zero moment point measurement value is, the smaller the external force interference suffered by the robot is
And S102, selecting a target anti-interference strategy subset corresponding to the measured value of the zero moment point from a preset anti-interference strategy set.
In the embodiment of the application, the set of anti-interference strategies may include a centroid compliance strategy, a hip joint control strategy and a stepping strategy.
If the zero moment point measurement value is smaller than or equal to a preset first threshold value, selecting a mass center compliance strategy from the anti-interference strategy set as a target anti-interference strategy subset;
if the zero moment point measurement value is larger than a first threshold value and smaller than a preset second threshold value, selecting a mass center compliance strategy and a hip joint control strategy from the anti-interference strategy set as a target anti-interference strategy subset;
and if the measured value of the zero moment point is greater than a second threshold value, selecting a mass center compliance strategy, a hip joint control strategy and a stepping strategy from the anti-interference strategy set as a target anti-interference strategy subset.
And S103, controlling the robot according to the target anti-interference strategy subset.
For the mass center compliance strategy, the control of the mass center is realized through a compliance controller, and when the mass center is interfered by an external force, the mass center track is adjusted through the compliance controller to resist the interference. In the embodiment of the present application, the relationship between the expected position of the center of mass and the actual position of the center of mass of the robot can be equivalent to a spring damping model as shown in fig. 2.
Based on this model, with the zero moment point as the contact force term, the center of mass acceleration of the robot can be calculated according to the following formula:
wherein x iscIs the actual position of the center of mass of the robot,
the desired position for the center of mass of the robot,
is the actual speed of the center of mass of the robot,
desired velocity, p, for the center of mass of the robotmIs a measurement value of a zero moment point,
is the zero moment point expectation value, x, of the robotcAnd
it can be measured by a sensor or sensors,
and
can be set according to actual conditions, Kp1For a predetermined position gain factor, Kd1For a predetermined speed gain factor, Kz1The gain coefficients are preset gain coefficients at the zero moment point, the specific values of the gain coefficients can be set according to the actual conditions,
is the acceleration of the center of mass of the robot.
Due to the limitation of the foot size of the robot, under the mass center compliance strategy, the mass center acceleration should meet the following limitation conditions:
wherein p isfIs a preset zero moment point forward boundary value, pbThe backward boundary value is a preset zero moment point, g is the gravity acceleration, and z is the height of the mass center of the robot.
After the centroid acceleration is calculated through the above process, the robot can be controlled to move according to the centroid acceleration.
For the hip joint control strategy, the hip joint is controlled by controlling the attitude angle of the upper body of the robot, and the hip joint angular acceleration of the robot can be calculated according to the following formula:
wherein, thetamIs the actual angle of the hip joint of the robot, thetadThe desired angle for the hip joint of the robot,
is the actual angular velocity of the hip joint of the robot,
is the hip joint desired angular velocity of the robot, p'boundaryIs the zero moment point boundary value of the robot, thetamAnd
can be measured by a sensor, and the expected posture of the upper body of the robot is vertical during walking, so thetadAnd
are all set to be zero, p'boundaryThe specific value can be set according to the actual situation, Kp2For a predetermined angular gain factor, Kd2For a predetermined gain factor of angular velocity, Kz2The gain coefficients are preset gain coefficients at the zero moment point, the specific values of the gain coefficients can be set according to the actual conditions,
is the hip angular acceleration of the robot. After the robot is interfered by the outside, the hip joint angular acceleration is generated through the process so as to resist the outside interference. After the external interference disappears, the expected angle of the hip joint is zero, so that the posture of the robot can be controlled to return to the right state.
Hip angular acceleration is also limited by foot size, and in the present embodiment, the range of hip control strategies can be defined according to the following equation:
wherein J is the upper body moment of inertia of the robot,
is the maximum angular acceleration of the hip joint of the robot, and m is the mass of the robot.
After the hip joint angular acceleration is calculated through the above process, the robot can be controlled to move according to the hip joint angular acceleration.
For the step strategy, the step size can be set based on the Capture Point (CP).
Wherein the capture points satisfy the relationship shown as:
where ξ is the capture point, ω is the circular frequency, and
when ξ is 0, then there are:
after being disturbed by external force, the above formula becomes:
wherein the content of the first and second substances,
and
respectively, the desired position of the center of mass and the desired velocity of the center of mass after being disturbed by an external force.
Fig. 3 is a schematic diagram of the robot before and after being disturbed by an external force, before and after disturbance, the robot satisfies the following relationship:
wherein L' is the length from the center of mass to the supporting point of the robot after being disturbed by the external force, and can be approximately equal to the length from the center of mass to the supporting point of the robot before being disturbed by the external force (denoted as L), θmTypically small, close to 0, cos (θ)m) Approximately 1, the above equation can be simplified to:
at this time, the step size of the robot can be calculated according to the following equation:
wherein, Δ x is the stepping step length of the robot.
After the step length is calculated through the above process, the robot can be controlled to move according to the step length.
In a specific implementation of the embodiment of the present application, specific values of the first threshold and the second threshold may also be set. For the same backward and forward boundary conditions (p)f,pb) Under the hip joint control strategy, the acceleration of the mass center of the robot has a larger variation range, and under the mass center compliance strategy, the acceleration of the mass center of the robot has a smaller variation range, and when the zero moment point of the robot exceeds the support range of the foot, the robot keeps stable by taking a step.
Fig. 4 is a schematic diagram illustrating the switching of each anti-interference policy. Wherein the content of the first and second substances,
the distance between the front sole of the robot, namely the distance from the center of the ankle joint to the front edge of the foot in the horizontal direction,
is the first threshold, namely the boundary between the centroid compliance strategy and the hip control strategy,
for the second threshold, i.e. the boundary between the hip control strategy and the stepping strategy, the specific values of the first threshold and the second threshold may be set according to the following formula:
when in use
In time, the robot only adopts a mass center compliance strategy to adapt to smaller external force disturbance;
when in use
When the robot is used, a hip joint control strategy is added on the basis of a mass center compliance strategy, and external force disturbance is resisted by adding hip joint rotation;
when in use
In time, the robot adds a stepping strategy on the basis of a centroid compliance strategy and a hip joint control strategy to keep stable.
In summary, the embodiment of the application determines the zero moment point measurement value of the robot; selecting a target anti-interference strategy subset corresponding to the zero moment point measured value from a preset anti-interference strategy set; and controlling the robot according to the target anti-interference strategy subset. According to the embodiment of the application, a plurality of different anti-interference strategies form an anti-interference strategy set, an optimal anti-interference strategy subset (namely a target anti-interference strategy subset) can be selected according to a zero moment point measurement value of the robot in the walking process of the robot, and the robot is controlled according to the strategy subset, so that the robot can be flexibly switched among various complex interference scenes.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 5 is a block diagram of an embodiment of a robot control apparatus according to an embodiment of the present disclosure, which corresponds to a robot control method according to the foregoing embodiment.
In this embodiment, a robot control apparatus may include:
a zero moment point determining module 501, configured to determine a zero moment point measurement value of the robot;
an anti-interference strategy selection module 502, configured to select a target anti-interference strategy subset corresponding to the zero moment point measurement value from a preset anti-interference strategy set;
and a robot control module 503, configured to control the robot according to the target anti-interference policy subset.
In a specific implementation of the embodiment of the present application, the anti-interference policy selecting module may include:
a first strategy subset selecting unit, configured to select a centroid compliance strategy from the anti-interference strategy set as the target anti-interference strategy subset if the zero moment point measurement value is less than or equal to a preset first threshold;
a second strategy subset selecting unit, configured to select a centroid compliance strategy and a hip joint control strategy from the anti-interference strategy set as the target anti-interference strategy subset if the zero moment point measurement value is greater than the first threshold and smaller than a preset second threshold;
and the third strategy subset selecting unit is used for selecting a mass center compliance strategy, a hip joint control strategy and a stepping strategy from the anti-interference strategy set as the target anti-interference strategy subset if the measured value of the zero moment point is greater than the second threshold value.
In a specific implementation of the embodiment of the present application, the robot control module may include:
and the mass center compliance control unit is used for calculating the mass center acceleration of the robot according to the following formula if the target anti-interference strategy subset comprises a mass center compliance strategy:
wherein x iscIs the actual position of the center of mass of the robot,
a desired position for the center of mass of the robot,
is the actual speed of the center of mass of the robot,
desired speed for the center of mass, p, of the robotmIs the measured value of the zero moment point,
is the zero moment point expected value, K, of the robotp1For a predetermined position gain factor, Kd1For a predetermined speed gain factor, Kz1For a preset gain factor of the zero moment point,
is the centroid acceleration of the robot; and controlling the robot to move according to the centroid acceleration.
In a specific implementation of the embodiment of the present application, the robot control module may include:
a hip joint control unit, configured to calculate a hip joint angular acceleration of the robot according to the following formula if the target anti-interference policy subset includes a hip joint control policy:
wherein, thetamIs the actual angle of the hip joint of the robot, thetadA desired angle for the hip joint of the robot,
is the actual angular velocity of the hip joint of the robot,
desired angular velocity, p, for the hip joint of the robotmIs the zero moment point measurement, p'boundaryIs the zero moment point boundary value, K, of the robotp2For a predetermined angular gain factor, Kd2For a predetermined gain factor of angular velocity, Kz2For a preset gain factor of the zero moment point,
is the hip angular acceleration of the robot; and controlling the robot to move according to the angular acceleration of the hip joint.
In a specific implementation of the embodiment of the present application, the robot control module may include:
a step control unit, configured to calculate a step length of the robot according to the following formula if the target anti-interference policy subset includes a step policy:
wherein L is the length from the center of mass to the supporting point of the robot,
is a hip of the robotThe actual angle of the joint, omega is a preset circular frequency, and deltax is the stepping step length of the robot; and controlling the robot to move according to the step length.
In a specific implementation of the embodiment of the present application, the robot control apparatus may further include:
a threshold setting module to set the first threshold and the second threshold according to:
wherein the content of the first and second substances,
is the distance between the front sole of the robot, z is the height of the center of mass of the robot, g is the acceleration of gravity, J is the moment of inertia of the upper body of the robot,
is the maximum angular acceleration of the hip joint of the robot, m is the mass of the robot,
is the first threshold value of the first threshold value,
is the second threshold.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses, modules and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Fig. 6 shows a schematic block diagram of a robot provided in an embodiment of the present application, and only a part related to the embodiment of the present application is shown for convenience of explanation.
As shown in fig. 6, the robot 6 of this embodiment includes: a processor 60, a memory 61 and a computer program 62 stored in said memory 61 and executable on said processor 60. The processor 60, when executing the computer program 62, implements the steps in the various robot control method embodiments described above, such as the steps S101 to S103 shown in fig. 1. Alternatively, the processor 60, when executing the computer program 62, implements the functions of each module/unit in the above-mentioned device embodiments, for example, the functions of the modules 501 to 503 shown in fig. 5.
Illustratively, the computer program 62 may be partitioned into one or more modules/units that are stored in the memory 61 and executed by the processor 60 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 62 in the robot 6.
Those skilled in the art will appreciate that fig. 6 is merely an example of a robot 6, and does not constitute a limitation of the robot 6, and may include more or fewer components than shown, or some components in combination, or different components, e.g., the robot 6 may also include input and output devices, network access devices, buses, etc.
The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the robot 6, such as a hard disk or a memory of the robot 6. The memory 61 may also be an external storage device of the robot 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the robot 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the robot 6. The memory 61 is used for storing the computer program and other programs and data required by the robot 6. The memory 61 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/robot and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/robot are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable storage medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable storage media that does not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A robot control method, comprising:
determining a zero moment point measurement value of the robot;
selecting a target anti-interference strategy subset corresponding to the zero moment point measured value from a preset anti-interference strategy set;
and controlling the robot according to the target anti-interference strategy subset.
2. The robot control method of claim 1, wherein selecting a target anti-interference strategy subset corresponding to the zero-moment point measurement value from a preset anti-interference strategy set comprises:
if the measured value of the zero moment point is smaller than or equal to a preset first threshold value, selecting a mass center compliance strategy from the anti-interference strategy set as the target anti-interference strategy subset;
if the measured value of the zero moment point is larger than the first threshold value and smaller than a preset second threshold value, selecting a mass center compliance strategy and a hip joint control strategy from the anti-interference strategy set as the target anti-interference strategy subset;
and if the measured value of the zero moment point is greater than the second threshold value, selecting a mass center compliance strategy, a hip joint control strategy and a stepping strategy from the anti-interference strategy set as the target anti-interference strategy subset.
3. The method of controlling a robot according to claim 2, wherein if the target anti-jamming policy subset includes a centroid compliance policy, the controlling the robot according to the target anti-jamming policy subset includes:
calculating the center of mass acceleration of the robot according to the following formula:
wherein x iscIs the actual position of the center of mass of the robot,
a desired position for the center of mass of the robot,
is the actual speed of the center of mass of the robot,
desired speed for the center of mass, p, of the robotmIs the measured value of the zero moment point,
is the zero moment point expected value, K, of the robotp1For a predetermined position gain factor, Kd1For a predetermined speed gain factor, Kz1For a preset gain factor of the zero moment point,
is the centroid acceleration of the robot;
and controlling the robot to move according to the centroid acceleration.
4. The method of controlling a robot according to claim 2, wherein if the target anti-jamming policy subset includes a hip control policy, the controlling the robot according to the target anti-jamming policy subset includes:
calculating the hip angular acceleration of the robot according to:
wherein, thetamIs the actual angle of the hip joint of the robot, thetadA desired angle for the hip joint of the robot,
is the actual angular velocity of the hip joint of the robot,
desired angular velocity, p, for the hip joint of the robotmFor the zero moment point measurementMagnitude, p'boundaryIs the zero moment point boundary value, K, of the robotp2For a predetermined angular gain factor, Kd2For a predetermined gain factor of angular velocity, Kz2For a preset gain factor of the zero moment point,
is the hip angular acceleration of the robot;
and controlling the robot to move according to the angular acceleration of the hip joint.
5. The method of controlling a robot of claim 2, wherein if the target anti-jamming policy subset includes a step policy, the controlling the robot according to the target anti-jamming policy subset comprises:
calculating the step length of the robot according to the following formula:
wherein L is the length from the center of mass to the supporting point of the robot,
the actual angle of the hip joint of the robot is omega, the preset circular frequency is omega, and the step length of the robot is delta x;
and controlling the robot to move according to the step length.
6. The robot control method according to any one of claims 2 to 5, characterized by further comprising:
setting the first threshold and the second threshold according to:
wherein the content of the first and second substances,
is the distance between the front sole of the robot, z is the height of the center of mass of the robot, g is the acceleration of gravity, J is the moment of inertia of the upper body of the robot,
is the maximum angular acceleration of the hip joint of the robot, m is the mass of the robot,
is the first threshold value of the first threshold value,
is the second threshold.
7. A robot control apparatus, comprising:
the zero moment point determining module is used for determining a zero moment point measured value of the robot;
the anti-interference strategy selection module is used for selecting a target anti-interference strategy subset corresponding to the zero moment point measured value from a preset anti-interference strategy set;
and the robot control module is used for controlling the robot according to the target anti-interference strategy subset.
8. The robot controller of claim 7, wherein the immunity policy selection module comprises:
a first strategy subset selecting unit, configured to select a centroid compliance strategy from the anti-interference strategy set as the target anti-interference strategy subset if the zero moment point measurement value is less than or equal to a preset first threshold;
a second strategy subset selecting unit, configured to select a centroid compliance strategy and a hip joint control strategy from the anti-interference strategy set as the target anti-interference strategy subset if the zero moment point measurement value is greater than the first threshold and smaller than a preset second threshold;
and the third strategy subset selecting unit is used for selecting a mass center compliance strategy, a hip joint control strategy and a stepping strategy from the anti-interference strategy set as the target anti-interference strategy subset if the measured value of the zero moment point is greater than the second threshold value.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the robot control method according to any one of claims 1 to 6.
10. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the robot control method according to any of claims 1 to 6 when executing the computer program.
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