CN113843799A - Quadruped robot posture reset control method, device and storage medium - Google Patents
Quadruped robot posture reset control method, device and storage medium Download PDFInfo
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- CN113843799A CN113843799A CN202111186898.2A CN202111186898A CN113843799A CN 113843799 A CN113843799 A CN 113843799A CN 202111186898 A CN202111186898 A CN 202111186898A CN 113843799 A CN113843799 A CN 113843799A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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 invention discloses a posture reset control method of a quadruped robot, which comprises the steps of obtaining the angular velocity, the acceleration, the posture angle and the like of the robot and calculating to obtain the real-time position and the real-time velocity of the robot; then, the foot end motion trail of each leg of the swing phase of the quadruped robot is carried out according to the expected motion speed, the real-time speed and the real-time position of the quadruped robot; calculating the angle of the rocker arm of the servo motor of each leg of the quadruped robot, and further generating a servo control output instruction to control the motion state of each leg; when each leg of the swing phase touches the ground, immediately stopping moving each leg as the swing phase and switching to the support phase, switching each leg as the support phase to the swing phase, then continuously acquiring data and performing attitude control of the next period; until the quadruped robot stops moving. The invention also discloses a four-legged robot posture reset control device and a storage medium.
Description
Technical Field
The invention relates to the field of quadruped robots, in particular to a posture reset control method and system of a quadruped robot.
Background
The bionic foot type robot has good application prospect in the fields of engineering exploration, anti-terrorism explosion prevention, military reconnaissance and the like, so the research on the bionic foot type robot is more and more popular, wherein the application of the bionic foot type robot is the most extensive because the quadruped robot has the stability superior to that of a biped robot and avoids the redundancy and complexity of a hexapod robot mechanism. However, the existing bionic foot type robot realizes the motion based on a control system of a steering engine, the speed of each joint of the robot is uncontrollable, the motion trail of a foot end is not smooth, the motion speed cannot be changed according to the actual situation, and the posture reset of the robot cannot be controlled.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the objects of the present invention is to provide a posture resetting control method for a quadruped robot, which can control the posture of the prior quadruped robot to be reset quickly.
Another object of the present invention is to provide a posture resetting control device for a quadruped robot, which can control the posture of the quadruped robot to be quickly reset.
It is a further object of the present invention to provide a storage medium capable of controlling a rapid reset of the posture of an existing quadruped robot.
One of the purposes of the invention is realized by adopting the following technical scheme:
a quadruped robot attitude reset control method comprises the following steps:
a data resolving step: acquiring the attitude angle, the acceleration and the angular velocity of the quadruped robot;
matrix resolving step: calculating the angular velocity, attitude angle and acceleration of the quadruped robot by adopting a kinematic forward solution to obtain the foot end position of each leg of the quadruped robot, and calculating the real-time position and real-time velocity of the quadruped robot by combining the size data of the quadruped robot through a mileometer;
a swing phase calculation step: acquiring and calculating a foot end motion track of each leg of the swing phase of the quadruped robot according to the expected motion speed, the real-time speed and the real-time position of the quadruped robot; meanwhile, the motion trail of the foot end of each leg of the swing phase of the quadruped robot is calculated by adopting a kinematic inverse solution to obtain the angle of the rocker arm of the servo motor of each leg of the swing phase of the quadruped robot;
and (3) a support phase calculation step: calculating the real-time speed and the real-time position of the quadruped robot by using a VMC three-channel control algorithm to obtain joint moments of all legs of a supporting phase of the quadruped robot, and converting the joint moments of all legs of the supporting phase of the quadruped robot into expected rotating speeds of a servo motor by adopting a pseudo moment model; simultaneously updating the rocker angle of the servo motor of each leg of the support phase of the quadruped robot; the control steps are as follows: generating a corresponding servo control command according to the angle of the servo motor rocker arm of each leg of the quadruped robot and the type of the servo motor and controlling the motion of each leg of the quadruped robot;
a detection step: when each leg of the swing phase of the quadruped robot touches the ground, immediately stopping the motion of each leg as the swing phase and switching the leg as the support phase into the swing phase, switching each leg as the support phase into the swing phase, and then executing a data calculation step; until the quadruped robot stops moving.
Further, the data calculating step further includes: the IMU data are obtained through the attitude sensor, the IMU data are preprocessed, then the processed IMU data and the processed IMU data are subjected to attitude calculation to obtain the attitude angle and the acceleration of the quadruped robot, and finally the angular velocity of the quadruped robot is calculated by combining the size data, the attitude angle and the acceleration of the quadruped robot.
Further, the data calculating step further includes: obtaining a mathematical model of the quadruped robot according to the size data of the quadruped robot, and obtaining the angular velocity of the quadruped robot according to the mathematical model, the attitude angle and the accelerometer of the quadruped robot; the mathematical model of the quadruped robot is mathematics formed by converting size data of the quadruped robot; the dimensional data of the quadruped robot includes the length, width, height, thigh length and shank length of the robot's body.
Further, the attitude sensor includes a three-axis gyroscope and a three-axis accelerometer; the preprocessing includes a median filtering process and/or a low-pass filtering process.
Further, the matrix solving step specifically includes:
firstly, obtaining a kinematics forward solution expression according to a trigonometric function and a cosine theorem as a formula (1):
wherein L is the virtual leg length, L1The length of the shank of the quadruped robot, L2Is the thigh length of the four-legged robot, theta ═ theta1,θ2]Driving the angle of the rocker arm for the motor;
then decomposing the virtual leg length l of the robot to obtain the position p of the foot end of each leg of the four-legged robot as [ x, z ]:
and then the angle theta of the motor driving rocker arm is calculated according to the formulas (1) and (2) to obtain the angle theta of the motor driving rocker arm1,θ2]Comprises the following steps:
and (3) carrying out deviation derivation on the formula (3) to obtain a Jacobian matrix:
wherein the content of the first and second substances,
and finally, converting the joint speed of each leg of the quadruped robot into the moving speed of the foot end according to the Jacobian matrix, and further obtaining the position of the foot end of each leg of the quadruped robot.
Further, the wobble phase calculating step further includes, before the wobble phase calculating step:
and (3) correcting: acquiring data of an external positioning sensor, and fusing the real-time speed and the real-time position of the quadruped robot calculated by the odometer with the data of the external positioning sensor to obtain the real-time speed and the real-time position of the quadruped robot; the data of the external positioning sensor comprises the real-time position and the real-time speed of the quadruped robot detected by the detection equipment.
Further, the correcting step further includes:
and fusing the real-time speed and the real-time position of the quadruped robot calculated by the odometer with the real-time speed and the real-time position of the quadruped robot detected by the external positioning sensor through a Kalman filtering algorithm to obtain the real-time speed and the real-time position of the quadruped robot.
Further, the correcting step further includes: acquiring data of an external positioning sensor and filtering the data of the external positioning sensor; the filtering process comprises a differential process and a low-pass filtering process; the external positioning sensor is a laser radar sensor.
The second purpose of the invention is realized by adopting the following technical scheme:
a quadruped robot posture reset control device comprises a memory, a processor and a computer program which is stored on the memory and runs on the processor, wherein the computer program is a quadruped robot posture reset control program, and the processor realizes the steps of the quadruped robot posture reset control method adopted by one of the purposes of the invention when executing the quadruped robot posture reset control program.
The third purpose of the invention is realized by adopting the following technical scheme:
a storage medium which is a computer-readable storage medium having stored thereon a computer program which is a quadruped robot attitude reset control program for executing the steps of a quadruped robot attitude reset control method employed as one of the objects of the present invention.
Compared with the prior art, the invention has the beneficial effects that:
the invention obtains the attitude data of the quadruped robot through the attitude sensor arranged on the quadruped robot, then the attitude data is used for controlling the attitude of the quadruped robot, and the motion control and the attitude reset of the quadruped robot are realized through controlling the motion states of the support phase and the leg of the swing phase of the quadruped robot, thereby solving the problem that the quadruped robot in the prior art can not realize the attitude reset.
Drawings
FIG. 1 is a flow chart of a posture resetting control method for a quadruped robot provided by the invention;
fig. 2 is a detailed flowchart of step S5.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Example one
The invention is applied to a quadruped robot, the quadruped robot is used for dividing walking legs with angular gait, two legs on one diagonal are divided into a swing phase, the other leg on the other diagonal is divided into a support phase, and the switching of the legs of the quadruped robot between the swing phase and the support phase is controlled back and forth, so that the motion and posture reset control of the quadruped robot is realized.
The invention provides a preferred embodiment, a quadruped robot posture reset control method, as shown in fig. 1, comprising the following steps:
and step S1, acquiring the attitude angle, the acceleration and the angular velocity of the quadruped robot.
Specifically, the IMU data of the attitude sensor arranged on the quadruped robot can be used for carrying out attitude calculation on the IMU data to obtain the attitude angle and the acceleration of the quadruped robot, and then the angular velocity of the quadruped base person can be calculated according to the attitude angle, the acceleration and the size data of the quadruped robot.
The attitude sensor comprises a three-axis gyroscope and a three-axis accelerometer. For a gyroscope, the angular velocity of the rotation around the XYZ axes is measured, and the corresponding angle can be obtained by integrating the angular velocity.
Whereas for an accelerometer, the acceleration experienced in XYZ directions is tested. When the object is static, the measured acceleration is gravity acceleration; when the object is inclined, the corresponding inclination angle can be roughly calculated according to the component force of gravity. The acceleration measured by the accelerometer, in addition to including the gravity acceleration, may also superimpose the acceleration due to operation when the object is in motion.
That is, for a three-axis gyroscope, it needs to be able to perform measurements while the object is in motion; whereas for acceleration it needs to be stationary to achieve the measurement. Therefore, the IMU data needs to be pose-solved after it is acquired. The IMU data comprises angular velocity and acceleration, and the angular velocity and the acceleration are both data of the quadruped robot under a body coordinate system. And calculating the acceleration and the angular velocity through data solution to obtain the acceleration, the attitude angle and the like of the quadruped robot under the earth coordinate.
In addition, in order to ensure the accuracy of subsequent data calculation, the acquired IMU data is preprocessed. The preprocessing mode comprises median filtering processing and/or low-pass filtering processing.
More specifically, a mathematical model of the quadruped robot is obtained according to the size data of the quadruped robot, and the angular velocity of the quadruped robot is calculated according to the mathematical model of the quadruped robot, the attitude angle of the quadruped robot and the accelerometer.
The mathematical model of the quadruped robot is a mathematical model obtained by simplifying the actual structure of the quadruped robot, and the mathematical model comprises data such as the length, width, height, thigh length and shank length of a body part of the quadruped robot. Therefore, in the actual use process, the mathematical model of the quadruped robot is obtained by conversion according to the size data (such as the length, width and height of the body part, the length of the thigh, the length of the calf and the like) of the quadruped robot.
And step S2, calculating the angular velocity, attitude angle and acceleration of the quadruped robot by adopting a kinematics positive solution to obtain a Jacobian matrix, and further obtaining the foot end position of each leg of the quadruped robot according to the Jacobian matrix.
The jacobian matrix is a matrix formed by arranging first-order partial derivatives in a certain mode, and the determinant of the jacobian matrix is a jacobian determinant. The significance of the jacobian matrix is that it embodies an optimal linear approximation of a given point to a differentiable equation. The jacobian matrix is analogous to the derivative of a multivariate function.
More specifically, step S2 further includes:
firstly, obtaining a kinematics forward solution expression according to a trigonometric function and a cosine theorem, wherein the formula is as shown in a formula (1):
wherein L is the virtual leg length, L1The length of the shank of the quadruped robot, L2Is the thigh length of the four-legged robot, theta ═ theta1,θ2]The motor drives the angle of the rocker arm.
Then, the working space coordinate system is fixed on the body axis of the robot, and the virtual leg length l is decomposed to obtain a foot end position p ═ x, z ] as:
and then obtaining the following equation set according to the formula (2) and inverse solution of kinematics, namely obtaining the angle of the motor-driven rocker arm by adopting the position of the foot end:
and (3) solving a partial derivative (solving a partial derivative of the foot end position to the angle of the motor drive rocker arm) according to a formula (4) to obtain a corresponding Jacobian matrix:
then there are:
wherein the content of the first and second substances,
and step S3, performing odometry calculation on the foot end position of each leg of the quadruped robot and the mathematical model to obtain odometry data.
Wherein the odometer data comprises a real-time position and a real-time velocity of the quadruped robot.
Odometers are a method of using data acquired from a motion sensor to estimate the change in the position of an object over time. The method is used in various robot systems, such as wheeled robots or legged robots, for estimating the position and velocity of an object.
More specifically, the invention also carries out filtering processing on the obtained foot end position of each leg of the quadruped robot. Wherein the filtering process includes a differentiation process and a low-pass filtering process.
Step S4, obtaining the expected movement speed of the quadruped robot, planning the foot falling point of the foot end of each leg of the swing phase of the quadruped robot by combining the real-time speed and the real-time position of the quadruped robot, and further calculating the foot end movement track of each leg of the swing phase of the quadruped robot; meanwhile, the motion trail of the foot end of each leg of the swing phase of the quadruped robot is calculated by adopting a kinematic inverse solution to obtain the angle of the rocker arm of the servo motor of each leg of the swing phase of the quadruped robot.
The swing phase in the invention comprises two legs of the quadruped robot, and the two legs are positioned on the same diagonal line. Similarly, two legs on the other diagonal of the quadruped robot are supporting phases. Wherein, the leg of the swing phase is in a motion state and is used for realizing the motion of the quadruped robot; while the legs of the support phase are stationary, touchdown, for supporting the quadruped robot in standing. The quadruped robot realizes the motion of the quadruped robot by switching the swing phase in the four legs of the quadruped robot to the leg of the supporting phase. The legs of the swing phase and the support phase are not fixed, namely, when two legs on one diagonal line of the quadruped robot are in the swing phase at a certain moment, two legs on the other diagonal line are in the support phase; on the contrary, if two legs on one object line of the quadruped robot are in the supporting phase, two legs on the other diagonal line are in the swinging phase. When the two legs of the swing phase move from the beginning to touch the ground, a gait cycle is completed.
That is, during the movement of the robot, the leg as the swing phase and the leg as the support phase are switched back and forth to ensure the continuous movement of the robot. For example, the four legs of a quadruped robot are A, B, C, D. Wherein A and D are on the same diagonal, and B and C are on the same diagonal. When A and D are the swing phase, B and C are the support phase. When B and C are the swing phases, A and D are the support phases. And the continuous movement of the robot is realized through the back-and-forth switching control of the swinging phase and the supporting phase.
And after a control command sent by the top-layer equipment is acquired, acquiring the expected movement speed of the quadruped robot, and then planning the foot falling point of the foot end of each leg of the swing phase of the quadruped robot according to the expected movement speed of the robot and the real-time speed and position of the robot, so as to obtain the foot end movement tracks of the two legs of the swing phase. Meanwhile, the joint angle of each leg of the swing phase of the quadruped robot is calculated according to the foot end motion trail of each leg of the swing phase of the quadruped robot by adopting a kinematic inverse solution.
The swing phase of the quadruped robot, namely the leg striding of the robot to the expected direction is realized to ensure the continuous movement of the robot, and in order to ensure that the robot can have smaller impact force when striding and pushing and the dragging and retreating linearity can not occur, the impact force of the ground is generally reduced by adopting a cycloid locus.
Generally, there are various trajectory planning methods, and a polynomial fitting method, a sine and cosine combination method, an optimal trajectory algorithm, a cycloid planning algorithm and the like can be adopted. The cycloid planning algorithm can realize the planning of the track as long as the starting point and the middle point are required to be given as the end point positions as input.
For example, the current starting position of the foot end is set to ps＝[xs,ys,zs]The expected foot drop point is pf＝[xf,yf,zf]The height of the leg strides is h, and the midpoint position is
And (3) calculating a drop point by adopting a method proposed by Raibiert:
wherein, TsIn the gait cycle, lambda is the duty cycle of the support phase.
The coordinates of the foot-falling point are expected to change along with the change of the real-time speed of the robot by adjusting the gain parameters, namely, the pace is larger when the speed is larger, the pace is smaller when the speed is smaller, and the stepping is in place when the speed is zero.
For ZfIn other words, it may be directly equal to the current desired height Z of the legf＝ZexpThen the cycloid locus is as follows:
wherein the content of the first and second substances,
the corresponding toe position at each moment can be directly used to calculate by inverse kinematics solution after the leg-crossing track is obtainedRocker angle.
Step S5, calculating the real-time speed and the real-time position of the quadruped robot by using a VMC three-channel control algorithm to obtain the joint moment of each leg of the supporting phase of the quadruped robot, and converting the joint moment of each leg of the supporting phase of the quadruped robot into the expected rotating speed of the servo motor by adopting a pseudo moment model; and simultaneously updating the rocker angle of the servo motor of each leg of the supporting phase of the quadruped robot.
The VMC three-channel control algorithm is to establish and connect an internal action point of the robot or connect the action point with an external environment by using a visualized virtual spring, and generate corresponding virtual to drive the robot to realize the expected movement.
Firstly, calculating the real-time position and the real-time speed of the quadruped robot by adopting a VMC three-channel control algorithm to obtain a global virtual force, and then decomposing the global virtual force to each leg of the swing phase of the quadruped robot by adopting a VMC decomposition method to obtain the joint moment of each leg.
The VMC decomposition principle is as follows:
(1) for the x-axis: the global virtual force is decomposed into a front group of legs and a rear group of legs, the front legs and the rear legs provide forward power together, so that independent x-axis feedback controllers can be designed for the two legs respectively, and parameters are adjusted to be as follows:
(2) for the z-axis: the global virtual force is decomposed into a front leg and a rear leg, the front leg and the rear leg can complete the support at the same time, so that the z-axis controller can be independently designed, and the parameters are adjusted to
Meanwhile, for the axis with the longer machine body, the machine is expected to move along with the change of the ground angle as shown in the following figure, so that the machine can be set during moving:
(3) for the pitch axis: the robot can simply adjust the pitch angle to increase the different heights of the front and rear two groups of legs, so the control output of the pitch axis can be superposed on the original expected height in the same way, and the idea of designing a height controller on a certain hovering accelerator in a four-axis control algorithm is very similar to the idea, so that the following can be obtained:
and step S6, generating a corresponding servo control command according to the servo motor rocker angle of each leg of the quadruped robot and the type of the servo motor, and controlling the motion of each leg of the quadruped robot. Due to the type of servo motors used by the robot, such as steering engines, brushless motors, etc. The conversion method when converting the servo control output command is also different, and therefore, the type of the servo motor also needs to be acquired when generating the servo control output command.
Step S7, when it is detected that each leg of the swing phase of the quadruped robot touches the ground, immediately stopping the motion of each leg as the swing phase and switching it to the support phase, switching each leg as the support phase to the swing phase, and then executing step S1 until the quadruped robot stops the motion or reaches a designated position.
That is, in this embodiment, since the supporting phase is always touching the ground during one gait cycle, the swinging phase moves according to the foot end trajectory. And when the two legs of the swing phase touch the ground, the two legs are changed into the support phase, and meanwhile, the two legs which are originally used as the support phase are switched into the swing phase, and then the robot is continuously controlled in the next gait cycle. The posture resetting of the quadruped robot can be quickly realized through the invention, and the control of the next gait cycle can be quickly started after one gait cycle is finished.
Preferably, as shown in fig. 2, step S3 further includes:
and step S31, acquiring detection data of the external positioning equipment.
And step S32, filtering the detection data of the external positioning equipment to obtain the real-time position and the real-time speed of the quadruped robot.
The external positioning sensor is a laser radar sensor and used for acquiring positioning data of the robot, and the positioning data is point cloud.
Specifically, when filtering the detection data of the external positioning device, the differential processing and the low-pass filtering processing are performed on the detection data.
And step S33, fusing the real-time position and the real-time speed of the quadruped robot calculated by the odometer and the real-time position and the real-time speed of the quadruped robot obtained by the external positioning sensor by adopting a Kalman filter to obtain the real-time speed and the real-time position of the quadruped robot.
Because the data calculated by the odometer may have a certain error, the real-time position and the real-time speed of the quadruped robot are modified by adopting the data acquired by the external positioning equipment, namely, the data of the quadruped robot and the real-time speed are fused by the Kalman filter to obtain the relatively accurate real-time speed and position of the robot.
Example two
The invention further provides a quadruped robot posture reset control device, which comprises a memory, a processor and a computer program stored in the memory and running on the processor, wherein the computer program is a quadruped robot posture reset control program, and the processor executes the quadruped robot posture reset control program to realize the steps of the quadruped robot posture reset control method provided by the embodiment.
EXAMPLE III
A storage medium which is a computer readable storage medium having stored thereon a computer program which is a quadruped robot pose resetting control program for executing the steps of a quadruped robot pose resetting control method as provided in one embodiment.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. An attitude reset control method for a quadruped robot, characterized by comprising the following steps:
a data resolving step: acquiring the attitude angle, the acceleration and the angular velocity of the quadruped robot;
matrix resolving step: calculating the angular velocity, attitude angle and acceleration of the quadruped robot by adopting a kinematic forward solution to obtain the foot end position of each leg of the quadruped robot, and calculating the real-time position and real-time velocity of the quadruped robot by combining the size data of the quadruped robot through a mileometer;
a swing phase calculation step: acquiring and calculating a foot end motion track of each leg of the swing phase of the quadruped robot according to the expected motion speed, the real-time speed and the real-time position of the quadruped robot; meanwhile, the motion trail of the foot end of each leg of the swing phase of the quadruped robot is calculated by adopting a kinematic inverse solution to obtain the angle of the rocker arm of the servo motor of each leg of the swing phase of the quadruped robot;
and (3) a support phase calculation step: calculating the real-time speed and the real-time position of the quadruped robot by using a VMC three-channel control algorithm to obtain joint moments of all legs of a supporting phase of the quadruped robot, and converting the joint moments of all legs of the supporting phase of the quadruped robot into expected rotating speeds of a servo motor by adopting a pseudo moment model; simultaneously updating the rocker angle of the servo motor of each leg of the support phase of the quadruped robot; the control steps are as follows: generating a corresponding servo control command according to the angle of the servo motor rocker arm of each leg of the quadruped robot and the type of the servo motor and controlling the motion of each leg of the quadruped robot;
a detection step: when each leg of the swing phase of the quadruped robot touches the ground, immediately stopping the motion of each leg as the swing phase and switching the leg as the support phase into the swing phase, switching each leg as the support phase into the swing phase, and then executing a data calculation step; until the quadruped robot stops moving.
2. The quadruped robot pose resetting control method according to claim 1, wherein the data calculating step further comprises: the IMU data are obtained through the attitude sensor, the IMU data are preprocessed, then the processed IMU data and the processed IMU data are subjected to attitude calculation to obtain the attitude angle and the acceleration of the quadruped robot, and finally the angular velocity of the quadruped robot is calculated by combining the size data, the attitude angle and the acceleration of the quadruped robot.
3. The quadruped robot pose resetting control method according to claim 2, wherein the data calculating step further comprises: obtaining a mathematical model of the quadruped robot according to the size data of the quadruped robot, and obtaining the angular velocity of the quadruped robot according to the mathematical model, the attitude angle and the accelerometer of the quadruped robot; the mathematical model of the quadruped robot is mathematics formed by converting size data of the quadruped robot; the dimensional data of the quadruped robot includes the length, width, height, thigh length and shank length of the robot's body.
4. The quadruped robot attitude reset control method of claim 2, wherein the attitude sensor comprises a three-axis gyroscope and a three-axis accelerometer; the preprocessing includes a median filtering process and/or a low-pass filtering process.
5. The quadruped robot attitude reset control method according to claim 1, wherein the matrix solving step specifically comprises:
firstly, obtaining a kinematics forward solution expression according to a trigonometric function and a cosine theorem as a formula (1):
wherein L is the virtual leg length, L1The length of the shank of the quadruped robot, L2Is the thigh length of the four-legged robot, theta ═ theta1,θ2]Driving the angle of the rocker arm for the motor;
then decomposing the virtual leg length l of the robot to obtain the position p of the foot end of each leg of the four-legged robot as [ x, z ]:
and then the angle theta of the motor driving rocker arm is calculated according to the formulas (1) and (2) to obtain the angle theta of the motor driving rocker arm1,θ2]Comprises the following steps:
and (3) carrying out deviation derivation on the formula (3) to obtain a Jacobian matrix:
wherein the content of the first and second substances,
and finally, converting the joint speed of each leg of the quadruped robot into the moving speed of the foot end according to the Jacobian matrix, and further obtaining the position of the foot end of each leg of the quadruped robot.
6. The pose resetting control method of a quadruped robot according to claim 1, wherein the step of calculating the swing phase further comprises:
and (3) correcting: acquiring data of an external positioning sensor, and fusing the real-time speed and the real-time position of the quadruped robot calculated by the odometer with the data of the external positioning sensor to obtain the real-time speed and the real-time position of the quadruped robot; the data of the external positioning sensor comprises the real-time position and the real-time speed of the quadruped robot detected by the detection equipment.
7. The quadruped robot pose resetting control method according to claim 6, wherein the correcting step further comprises:
and fusing the real-time speed and the real-time position of the quadruped robot calculated by the odometer with the real-time speed and the real-time position of the quadruped robot detected by the external positioning sensor through a Kalman filtering algorithm to obtain the real-time speed and the real-time position of the quadruped robot.
8. The quadruped robot pose resetting control method according to claim 6, wherein the correcting step further comprises: acquiring data of an external positioning sensor and filtering the data of the external positioning sensor; the filtering process comprises a differential process and a low-pass filtering process; the external positioning sensor is a laser radar sensor.
9. A quadruped robot posture reset control apparatus comprising a memory, a processor and a computer program stored in the memory and run on the processor, wherein the computer program is a quadruped robot posture reset control program, characterized in that the processor implements the steps of a quadruped robot posture reset control method according to any one of claims 1 to 8 when executing the quadruped robot posture reset control program.
10. A storage medium which is a computer-readable storage medium having stored thereon a computer program which is a quadruped robot attitude reset control program characterized by being used for executing the steps of a quadruped robot attitude reset control method according to any one of claims 1 to 8.
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