CN113433943A - Extreme point interpolation processing and trajectory tracking based quadruped robot control method - Google Patents
Extreme point interpolation processing and trajectory tracking based quadruped robot control method Download PDFInfo
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Abstract
The invention relates to the technical field of quadruped robots, in particular to a quadruped robot control method based on extreme point interpolation processing and trajectory tracking, which comprises the steps of respectively obtaining the angles of leg joint motors according to the trajectories of foot ends of the quadruped robot; performing inverse kinematics solution on leg joints by using foot end tracks of the quadruped robot to obtain leg joint motor angles corresponding to discrete moments in a period; confirming the time for the leg joint motor to start changing in rotation so as to obtain an extreme point of the leg joint motor in rotation angle change; calculating the control torque required by the leg joint motor through the motor rotation angle between the extreme points so that the servo driver drives the leg joint motor to control the leg movement of the quadruped robot; the control torque required by a single joint motor is calculated through the extreme point, so that the single motor of the leg joint performs torque flexible control, the problems of shaking and instability of the quadruped robot when the motor is controlled at high frequency are effectively solved, and the walking stability of the quadruped robot is improved.
Description
Technical Field
The invention relates to the technical field of quadruped robots, in particular to a quadruped robot control method based on extreme point interpolation processing and trajectory tracking.
Background
The quadruped robot has been widely applied in the society, can flexibly walk on complicated 10 terrains such as rugged mountain lands, hills, swamps and jungles by utilizing a supporting point with an isolated ground, and can assist human beings to complete work tasks such as rescue after disasters, material transportation for marching, patrol in high-risk environments and the like in the environments such as earthquake, nuclear pollution, chemical pollution, field military operation and the like, and is effectively applied to unstructured and uncertain environments such as the field, the city, the forest and the like.
In order to make the quadruped robot walk stably, for example, chinese patent (publication No. CN212290080U) discloses a quadruped walking type bionic design device, which realizes the stable steering of a mechanical device and the stable walking of a bionic machine according to a gait curve by studying the power transmission of the quadruped bionic robot on the basis of the existing quadruped bionic robot.
The discrete position control is carried out in the zero-impact gait planning of the foot end, the quadruped robot can also stably walk, but when a leg joint motor of the quadruped robot is controlled, high-frequency jitter or pause can be generated, smooth transition is difficult to carry out among all supporting points, and particularly when the quadruped receives a variable load condition, smooth positioning track motion control is difficult to realize, so that the reliability and the stability of walking of the quadruped robot are reduced.
Disclosure of Invention
In order to solve the problem that the walking reliability and stability of the four-footed robot in the prior art are reduced, the invention provides the four-footed robot control method based on extreme point interpolation processing and trajectory tracking
The invention provides a quadruped robot control method based on extreme point interpolation processing and trajectory tracking, which comprises the following steps:
respectively acquiring the angles of leg joint motors according to the foot end tracks of the quadruped robot;
performing inverse kinematics on the foot end trajectory of the quadruped robot to obtain the leg joint motor angle corresponding to the discrete moment in the period;
confirming the time for the leg joint motor to start changing in rotation so as to obtain an extreme point of the leg joint motor in rotation angle change;
and calculating the control torque required by the leg joint motor through the motor rotation angle between the extreme points so that the servo driver drives the leg joint motor to control the leg movement of the quadruped robot.
On the basis of the scheme, further, a rectangular coordinate system is established by taking the tail end of the hip joint as a coordinate origin, the relation between the position of the foot end and the rotation angle of the leg joint motor is obtained, and the angles of the leg joint motor are respectively calculated; the leg joint motor comprises a thigh motor and a shank motor.
On the basis of the scheme, the overall track of the foot end of the quadruped robot is further combined with the inverse kinematics solution function of the leg joint to obtain the angles of the thigh motor and the shank motor relative to the zero point corresponding to each discrete moment in the period, so as to obtain the relationship between the rotation angle of the leg joint motor and the time.
On the basis of the above scheme, further, the relationship is derived, the derivative function is made to be 0, and the time when the rotation of the leg joint motor starts to change is confirmed, so as to obtain the extreme point of the rotation angle change of the leg joint motor.
On the basis of the scheme, further acquiring the angular acceleration of the leg joint motor according to the angle difference in the interval time and the extreme point of the rotation angle of the leg joint motor; and calculating the control moment required by the leg joint motor through the angular acceleration, so that the servo driver drives the leg joint motor to control the leg of the quadruped robot to move according to the required control moment.
On the basis of the scheme, further, the servo driver is in communication connection with a controller, and the controller periodically controls two opposite corners of the quadruped robot in an alternating mode; the controller receives a current value required by the leg shutdown motor and sends the current value to the servo driver so that the servo driver drives the leg joint motor to control the leg of the quadruped robot to move, and the required current value is obtained through conversion according to the required control torque.
On the basis of the above scheme, further, the servo driver periodically returns the rotation angle information of the leg joint motor to the controller, so that the controller judges the rotation position of the leg joint motor, and corrects the output of the next required control torque when the judgment is not met.
The invention also provides a quadruped robot track tracking control device based on extreme point interpolation processing, which comprises
The acquisition module is used for respectively acquiring the angles of the leg joint motors according to the foot end tracks of the quadruped robot;
the inverse solution module is used for performing kinematic inverse solution on the foot end track of the quadruped robot to obtain the leg joint motor angle corresponding to the discrete moment in the period;
the extreme value module is used for confirming the time of the change of the rotation start of the leg joint motor so as to obtain the extreme value point of the change of the rotation angle of the leg joint motor;
and the calculation module is used for calculating the control torque required by the leg joint motor through the motor rotation angle between the extreme points so that the servo driver drives the leg joint motor to control the leg movement of the quadruped robot.
The invention also provides a computer readable storage medium, which stores computer instructions, and when executed by a processor, the computer implements the method for controlling a quadruped robot based on extreme point interpolation processing and trajectory tracking as described in any one of the above.
The present invention also provides an electronic device comprising at least one processor, and a memory communicatively coupled to the processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to cause the processor to perform the method for quadruped robot control based on extreme point interpolation processing and trajectory tracking as described in any of the above.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
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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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a flow chart of a quadruped robot control method provided by the present invention;
FIG. 2 is a schematic diagram of a coordinate system of a foot end trajectory and a leg joint motor provided by the present invention;
fig. 3 is a schematic diagram of an architecture for controlling a four-footed robot to walk according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
Furthermore, the technical features designed in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
In order to solve the problem that a leg joint motor of the quadruped robot is controlled to generate high-frequency jitter or pause, an extreme value is searched in advance for control data and interpolation processing is carried out during trajectory tracking, so that the quadruped robot runs more smoothly and flexibly, and the working load of a processor is reduced; as shown in fig. 1, the present invention provides a quadruped robot control method based on extreme point interpolation processing and trajectory tracking, comprising the following steps: respectively acquiring the angles of leg joint motors according to the foot end tracks of the quadruped robot; performing inverse kinematics on the foot end trajectory of the quadruped robot to obtain the leg joint motor angle corresponding to the discrete moment in the period; confirming the time for the leg joint motor to start changing in rotation so as to obtain an extreme point of the leg joint motor in rotation angle change; and calculating the control torque required by the leg joint motor through the motor rotation angle between the extreme points so that the servo driver drives the leg joint motor to control the leg movement of the quadruped robot.
In concrete implementation, as shown in fig. 1 and 2, in the present embodiment, the quadruped robot is electrically driven with 12 degrees of freedom, and the trajectory of the foot end of the quadruped robot is based on
The leg joint motor comprises a thigh motor and a shank motor, and the angle of the thigh motor is
The angle of the shank motor is
As the foot end tracks of the quadruped robot in each period are the same, taking a thigh motor as an example, sampling and analyzing the data through simulation to obtain a group of complete thigh motor angle data, and recording the angle _ thigh [ d ]]Where d is the number of samples in the cycle, and d is fTmF is the sampling frequency, TmIs a sampling period; in order to make a single motor of a leg joint perform moment flexible control, a foot end track of the quadruped robot is subjected to kinematic inverse solution, namely the foot end track of the quadruped robot is combined with a kinematic inverse solution function of the leg joint to obtain the angle of a thigh motor and a shank motor corresponding to each discrete moment relative to a zero point and obtain the relation between the rotation angle of the thigh motor or the shank motor of the leg joint and time, specifically, taking the shank motor as an example,
after a relation function of the shank motor and the time is obtained, the function is derived to find out and confirm the time when the rotation direction of the shank motor begins to change, wherein the derivative function is
Wherein, A, B, C, D is the amino acid sequence of,
then, let
To obtain x0,...,m,n，...At this time x0,...,m,n，...Is the extreme point of the function, x0,...,m,n，...Namely the time when the rotation direction of the shank motor begins to change, and the y at the moment is calculated0,...,m,n，...，y0,...,m,n，...The maximum value or the minimum value of the change of the rotation angle of the shank motor is obtained; the extreme point of the thigh motor rotation angle change and the extreme point of the shank motor rotation angle change have the same acquisition principle, and are not described herein again.
In the discrete control process, in order to calculate the rotation speed ω of the leg joint motor, the angular difference Δ θ, i.e., t, between the intervals Δ t is used1Motor angle theta of time1And the next time t2Theta of2The rotational speed omega is obtained and,
obtaining the rotation speed omega at two moments1And ω2Then according to
Obtaining the rotation acceleration, and calculating the control moment required by the leg joint through T ═ J alpha;
since mass is mainly concentrated in joint processing, i.e. considered as one mass point, in the leg structure of a quadruped robot, the moment of inertia can be determined according to J ═ mr2It is thus obtained that the control moment T required for the leg joint is mr2α, where m is the mass of the thigh or calf joint and r is the thigh or calf lengthDegree, α is the rotational acceleration.
In order
After finding and confirming the time when the rotation direction of the lower leg motor begins to change, the rotation speed of the lower leg motor is
Corresponding acceleration is
The corresponding acceleration alpha of the thigh motor is calculated by the same method2According to T ═ mr2And alpha respectively calculating the control torque required by the thigh motor or the shank motor so that the servo driver drives the leg joint motor to control the leg movement of the quadruped robot.
When T ism＝0.5，H＝0.1，S＝0.15，l3＝0.25，l4At 0.25, the function has two extreme points, so the command period for the calf motor is only 2 times, and the function is from 0 to xmMonotonically decreasing, xmTo xnMonotonically increasing in time, xnThe time returns to the initial position, and only a servo driver is needed to be arranged to enable the shank motor to be in a range of 0 to x under the condition of loadingmRun to ymAt xmTo xnRun to ynAlthough the command period is reduced in the control process, the method is more flexible to be realized on the actual track tracking, and the workload of the processor is greatly reduced because the sampling period is no longer used as the control period.
As shown in fig. 3, the servo driver is in communication connection with the controller through the CAN, when the quadruped robot is started, a start signal is sent to the quadruped robot through the interaction module, the controller sends a self-checking command to the servo driver after receiving the start signal, and the servo driver returns a completion signal to the controller after the self-checking is completed;
when the quadruped robot resets, the controller receives the reset signal sent by the interaction module, the servo driver reads the absolute value of the motor encoder of the leg joint and returns the absolute value to the controller, the controller compares the absolute value of the encoder with the stored data of all the motor encoders when the quadruped robot normally stands, the difference value is calculated through the calculation module, the difference value is converted into the current required by the motor of the leg joint, the controller sends the required current to the servo driver, the servo driver drives the motor of the leg joint to act according to the current and returns the position information of the quadruped robot to the controller, and the quadruped robot resets and completes after the specified position is reached.
In the embodiment, the quadruped robot walks by adopting diagonal gait, so that the given moment of each leg in the two diagonal legs is the same, and the controller periodically and alternately controls the two diagonal legs of the quadruped robot to control the quadruped robot to walk;
when the quadruped robot is actually controlled to walk, firstly, one leg on one side is controlled, specifically, a servo driver reads an absolute value of a leg joint motor encoder and returns the absolute value to a controller, the controller compares the absolute value of the encoder with motor encoder data of the previous action of the quadruped robot, a calculation module calculates required control moment by the method in the embodiment and converts the required control moment into current required by a leg joint motor, the controller respectively sends current values corresponding to the required control moment to servo drivers corresponding to thighs and crus, the servo drivers drive the leg joint motors to act according to the current and return position information of the quadruped robot to the controller, whether the quadruped robot reaches a specified position in one period T or not is detected in real time, if the quadruped robot reaches a specified angle on time, the control of the next period is started, if the target angle is not reached, according to the current angle theta and the target angle theta0By T ═ T0+β(θ1-θ0) Calculating the control torque required by the next period, wherein beta is a coefficient, T0The previous required control torque.
The timer periodically generates an interrupt, in the embodiment, the timer generates an interrupt every 10 milliseconds, when the timer reaches the T/2 moment, the other leg on one side is started to act, the quadruped robot starts to advance, and the controller circularly sends the required control torque command calculated last time until the command is interrupted by the interrupt module.
The interruption module comprises normal braking interruption and emergency braking interruption, after receiving a normal braking instruction of the interaction module, the controller judges whether the current track is finished, and if the current track is not finished, namely the quadruped robot does not finish the current gait, the controller does not act; when the track ending position is detected, the controller sends an ending command to the servo driver, the timer synchronously stops working, and the quadruped robot stops walking; and after the controller receives the emergency braking instruction, the emergency braking instruction is sent to the servo driver, and the timer stops immediately to complete emergency braking.
The state of the quadruped robot can be inquired through the interaction module, the attitude sensor transmits the yaw angle, the roll angle, the pitch angle and the acceleration corresponding to each direction to the controller through the serial port, the controller receives relevant data and then displays the data to the interaction module, and the interaction module displays the body state of the quadruped robot.
Example 2
The utility model provides a four-footed robot trajectory tracking control device based on extreme point interpolation is handled, includes the acquisition module, solves the module against, extreme module and calculation module, and above-mentioned acquisition module, the module of solving against, extreme module and calculation module can realize the four-footed robot control method based on extreme point interpolation is handled and trajectory tracking in above-mentioned embodiment.
In specific implementation, the acquisition module is used for respectively acquiring the angles of the leg joint motors according to the foot end tracks of the quadruped robot; the inverse solution module is used for performing kinematic inverse solution on the foot end track of the quadruped robot to obtain the leg joint motor angle corresponding to discrete time in a period; the extreme value module is used for confirming the time of the change of the rotation of the leg joint motor so as to obtain the extreme value point of the change of the rotation angle of the leg joint motor; and the calculation module is used for calculating the control torque required by the leg joint motor through the motor rotation angle between the extreme points so that the servo driver drives the leg joint motor to control the leg movement of the quadruped robot.
Example 3
The invention also provides a computer readable storage medium, which stores computer instructions, and when executed by a processor, the computer implements the method for controlling a quadruped robot based on extreme point interpolation processing and trajectory tracking as described in any one of the above.
In specific implementation, the computer-readable storage medium is a magnetic Disk, an optical Disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid-State Drive (SSD), or the like; the computer readable storage medium may also include a combination of memories of the above kinds.
Example 4
The present invention also provides an electronic device comprising at least one processor, and a memory communicatively connected to the processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executable by the at least one processor to cause the processor to perform the method for quadruped robot control based on extreme point interpolation processing and trajectory tracking as described in any one of the above.
In particular, the number of processors may be one or more, and the processor may be a Central Processing Unit (CPU). The Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or a combination thereof. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory and the processor can be connected through a bus or other communication modes, the memory stores instructions which can be executed by the at least one processor, and the instructions are executed by the at least one processor, so that the processor executes the quadruped robot control method based on extreme point interpolation processing and trajectory tracking as described in any one of the above embodiments.
Compared with the prior art, the extreme point interpolation processing and track tracking-based quadruped robot control method provided by the invention optimizes the control of a single joint motor by calculating the extreme points in the track of the single joint motor and applying time sequence coordination, and calculates the control torque required by the single joint motor through the extreme points, so that the single motor of the leg joint is subjected to torque flexible control, the problems of shaking and instability of the quadruped robot when the motor is controlled at high frequency are effectively solved, the workload of a processor is greatly reduced, and the reliability and the stability of walking of the quadruped robot are improved.
In addition, it should be understood by those skilled in the art that although there are many problems in the prior art, the technical solution of each embodiment or claim of the present invention can be improved only in one or several aspects, and not necessarily all the technical problems listed in the prior art or in the background art are solved at the same time. It will be understood by those skilled in the art that nothing in a claim should be taken as a limitation on that claim.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A quadruped robot control method based on extreme point interpolation processing and trajectory tracking is characterized by comprising the following steps:
respectively acquiring the angles of leg joint motors according to the foot end tracks of the quadruped robot;
performing inverse kinematics on the foot end trajectory of the quadruped robot to obtain the leg joint motor angle corresponding to the discrete moment in the period;
confirming the time for the leg joint motor to start changing in rotation so as to obtain an extreme point of the leg joint motor in rotation angle change;
and calculating the control torque required by the leg joint motor through the motor rotation angle between the extreme points so that the servo driver drives the leg joint motor to control the leg movement of the quadruped robot.
2. The quadruped robot control method based on extreme point interpolation processing and trajectory tracking according to claim 1, characterized in that: establishing a rectangular coordinate system by taking the tail end of the hip joint as a coordinate origin, acquiring the relation between the position of the foot end and the rotation angle of the leg joint motor, and calculating the angles of the leg joint motor respectively; the leg joint motor comprises a thigh motor and a shank motor.
3. The quadruped robot control method based on extreme point interpolation processing and trajectory tracking according to claim 1, characterized in that: combining the foot end track of the quadruped robot with the inverse kinematics solution function of the leg joint to obtain the angles of the thigh motor and the shank motor corresponding to each discrete moment in the period relative to the zero point, and obtaining the relationship between the rotation angle of the leg joint motor and the time.
4. The quadruped robot control method based on extreme point interpolation processing and trajectory tracking according to claim 3, characterized in that: and (4) deriving the relation, setting the derivative function to be 0, and confirming the time for the leg joint motor to start to change in rotation so as to obtain an extreme point of the change of the rotation angle of the leg joint motor.
5. The quadruped robot control method based on extreme point interpolation processing and trajectory tracking according to claim 1, characterized in that: acquiring the angular acceleration of the leg joint motor according to the angular difference in the interval time and the extreme point of the rotation angle of the leg joint motor; and calculating the control moment required by the leg joint motor through the angular acceleration, so that the servo driver drives the leg joint motor to control the leg of the quadruped robot to move according to the required control moment.
6. The quadruped robot control method based on extreme point interpolation processing and trajectory tracking according to claim 1, characterized in that: the servo driver is in communication connection with a controller, and the controller periodically and alternately controls two opposite corners of the quadruped robot; the controller receives a current value required by the leg shutdown motor and sends the current value to the servo driver so that the servo driver drives the leg joint motor to control the leg of the quadruped robot to move, and the required current value is obtained through conversion according to the required control torque.
7. The quadruped robot control method based on extreme point interpolation processing and trajectory tracking according to claim 6, characterized in that: and the servo driver periodically returns the rotation angle information of the leg joint motor to the controller so that the controller judges the rotation position of the leg joint motor, and the output of the control torque required next time is corrected when the judgment is not met.
8. A quadruped robot track tracking control device based on extreme point interpolation processing is characterized in that: comprises that
The acquisition module is used for respectively acquiring the angles of the leg joint motors according to the foot end tracks of the quadruped robot;
the inverse solution module is used for performing kinematic inverse solution on the foot end track of the quadruped robot to obtain the leg joint motor angle corresponding to the discrete moment in the period;
the extreme value module is used for confirming the time of the change of the rotation start of the leg joint motor so as to obtain the extreme value point of the change of the rotation angle of the leg joint motor;
and the calculation module is used for calculating the control torque required by the leg joint motor through the motor rotation angle between the extreme points so that the servo driver drives the leg joint motor to control the leg movement of the quadruped robot.
9. A computer-readable storage medium characterized by: the computer-readable storage medium stores computer instructions which, when executed by a processor, implement the quadruped robot control method based on extreme point interpolation processing and trajectory tracking according to any one of claims 1 to 7.
10. An electronic device, characterized in that: comprising at least one processor, and a memory communicatively coupled to the processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to cause the processor to perform the method for quadruped robot control based on extreme point interpolation processing and trajectory tracking according to any one of claims 1-7.
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| CN113843799A (en) * | 2021-10-12 | 2021-12-28 | 广州市优普科技有限公司 | Quadruped robot posture reset control method, device and storage medium |
| CN114454983A (en) * | 2022-03-02 | 2022-05-10 | 北京理工大学 | Turning control method and system for quadruped robot |
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| CN114454983A (en) * | 2022-03-02 | 2022-05-10 | 北京理工大学 | Turning control method and system for quadruped robot |
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