CN114063490A - Intelligent bionic foot type robot control system and method - Google Patents
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Abstract
The invention relates to an intelligent bionic foot type robot control system and method, and aims to solve the technical problem that a foot type robot in the prior art is poor in dynamic stable walking capability in a complex terrain. The method comprises the steps of modeling and solving the force which needs to be distributed to an actuator when dealing with terrain sudden change and obstacle, the force which needs to be distributed to the actuator when dealing with contact force sudden change and the force which needs to be distributed to the actuator when dealing with external disturbance, weighting the force which needs to be distributed to the actuator and obtained through solving, carrying out vector normalization on the force to obtain the force which needs to be distributed to the actuator finally, and generating a corresponding control command according to the determined force which needs to be distributed to the actuator finally to drive the actuator to generate a set action. Therefore, the invention not only can improve the adaptability of the platform and a rigid undulating road surface and the moving capability of the platform on the ground with different materials, but also can ensure that the center of gravity of the platform can be quickly adjusted under the condition of complicated and large disturbance, realize dynamic balance and stable walking and improve the dynamic and stable walking capability of the foot robot in complicated terrains.
Description
Technical Field
The invention relates to an intelligent bionic foot type robot control system and method.
Background
The robot is known as the pearl on the top of the manufacturing crown, the development of the robot industry has very important significance for improving innovation capability, enhancing national comprehensive strength and driving overall economic development, and the robot technical innovation and the industrial development are important contents in China.
As the most important development of the intelligent mobile service robot in the future, the quadruped robot with smart maneuvering and autonomous operation is becoming the landmark research hotspot of the next generation intelligent mobile robot, and all countries around the world are developing without losing the strength. In 2009, China started project demonstration of high-performance quadruped robots. 2011 successive development project support such as ' high-performance quadruped robot ' and ' army ' accompanying guarantee quadruped robot '. In China, special fund support is set in projects such as a special robot plan of the army, a national key research and development plan of the department of science and technology, a major research plan of the natural fund committee co-fusion robot and the like, and the special fund support is intended to be developed vigorously and to exceed the world level.
At present, the problems of low bearing capacity, poor dynamic and stable walking capacity of complex terrains, insufficient cruising ability and the like generally exist in the aspect of quadruped robots at home and abroad, the requirement of the quadruped robots on the capacity of civil application is difficult to meet, and the bionic quadruped robots with high bearing capacity and flexible operation are becoming the trend of domestic and foreign research. Among these problems, the poor dynamic stability of the complex terrain is mainly achieved by improving the control system, and therefore, it is highly desirable to develop a robot control system and method capable of solving the above problems.
Disclosure of Invention
The invention aims to provide an intelligent bionic foot type robot control system to solve the technical problem that a foot type robot in the prior art is poor in dynamic stable walking capability on complex terrains; the invention also aims to provide an intelligent bionic foot type robot control method used in the intelligent bionic foot type robot control system.
In order to achieve the purpose, the intelligent bionic foot type robot control system adopts the following technical scheme:
an intelligent bionic foot type robot control system comprises a bottom layer servo control system and a motion gait planning system, wherein the bottom layer servo control system comprises an actuator, the motion gait planning system comprises an environment sensing unit, an inertia measurement unit and a controller, the environment sensing unit and the inertia measurement unit are connected to an input port of the controller, and the actuator is connected to an output port of the controller; the controller respectively solves the force required to be distributed to the actuator when dealing with terrain mutation and obstacle, the force required to be distributed to the actuator when dealing with contact force mutation and the force required to be distributed to the actuator when dealing with external disturbance according to the detection quantity of the environment sensing unit and the inertia measuring unit, then weights the force required to be distributed to the actuator obtained by the solving and carries out vector normalization to obtain the force required to be finally distributed to the actuator, the weight coefficient when each force is weighted is adjusted according to terrain information, six-dimensional state information and pose information collected by the inertia measuring unit, and the controller generates a corresponding control instruction according to the determined force required to be finally distributed to the actuator to drive the actuator to generate a set action.
When the force which needs to be distributed to the actuator when dealing with terrain mutation and obstacle is solved, a virtual servo model needs to be established, the pose information of the engine body measured by the inertia measuring unit is recorded, expected pose information is generated and serves as an input signal, the three-dimensional direction force of the engine body is subjected to virtual model modeling to obtain a virtual resultant force moment vector and a virtual resultant force vector of the engine body, the virtual resultant force vector is distributed to action supporting points of each platform and the ground through quadratic programming, and the expected force on the action points is distributed to the actuator through coordinate transformation.
When the force distributed to the actuator when external disturbance is solved, a virtual servo model needs to be established, when the virtual servo model is established, external acting moment needs to be applied to the hinged point of the body and the rod body or external acting force needs to be applied to the contact point, body pose information measured by the inertia measurement unit is recorded, expected pose information is generated and serves as an input signal, the three-dimensional direction force of the body is subjected to virtual model modeling to obtain a body virtual resultant force moment vector and a virtual resultant force vector, the virtual resultant force vector is distributed to acting support points of each platform and the ground through quadratic programming, and the expected force on the acting points is distributed to the actuator through coordinate transformation; the position of the contact point needs to be adjusted according to the speed and acceleration information of the platform.
When the force distributed to the actuator when the contact force is suddenly changed is solved, a virtual servo model needs to be established, the pose information of the machine body measured by the inertia measuring unit is recorded, expected pose information is generated and serves as an input signal, the three-dimensional direction force of the machine body is subjected to virtual model modeling to obtain a virtual resultant force moment vector and a virtual resultant force vector of the machine body, the corrected virtual resultant force vector is distributed to action support points of each platform and the ground through quadratic programming, the distributed moment vector and the distributed force vector are corrected and adjusted through the soil slip rate calculated in real time, so that the longitudinal slip rate of the corresponding platform calculated according to data after adjustment is 0.25-0.35, and the expected force on the action points is distributed to the actuator through coordinate transformation.
And when the longitudinal slip rate is calculated, deducing the longitudinal slip rate of the mobile platform by respectively adopting two control strategies of constant speed approach rate and index approach rate, and then calculating an average value according to the deduction result.
The invention discloses an intelligent bionic foot type robot control method, which adopts the following technical scheme:
the control method of the intelligent bionic foot type robot control system comprises the following steps that firstly, a controller receives terrain information, platform six-dimensional state information and platform pose information detected by an inertial measurement unit in real time, wherein the terrain information and the platform six-dimensional state information are detected by an environment sensing unit; secondly, respectively solving the force which needs to be distributed to the actuator when dealing with terrain sudden change and obstacle, the force which needs to be distributed to the actuator when dealing with contact force sudden change and the force which needs to be distributed to the actuator when dealing with external disturbance; thirdly, weighting the force to be distributed to the actuator obtained by solving in the second step, and carrying out vector normalization to obtain the force to be finally distributed to the actuator, wherein the weight coefficient of each weighted force is adjusted according to the terrain information and the six-dimensional state information acquired by the environment sensing unit and the pose information acquired by the inertia measurement unit; and fourthly, generating a corresponding control command according to the determined force which is finally distributed to the actuator to drive the actuator to generate a set action.
In the second step, the step of solving the force to be distributed to the actuator when dealing with the terrain abrupt change and the obstacle is as follows: firstly, establishing a virtual servo model; secondly, recording the pose information of the body measured by the inertia measurement unit, generating expected pose information and taking the expected pose information as an input signal, and carrying out virtual model modeling on the three-dimensional direction force of the body to obtain a virtual resultant moment vector and a virtual resultant force vector of the body; thirdly, distributing the virtual resultant force vector to action support points of each platform and the ground through quadratic programming; finally, the desired force at the point of action is distributed to the respective actuators by means of a coordinate transformation.
In the second step, the step of solving the force distributed to the actuator in response to the external disturbance is as follows: firstly, establishing a virtual servo model, wherein when the virtual servo model is established, an external acting moment is required to be applied to a hinged point of a machine body and a rod body or an external acting force is required to be applied to a contact point, and the position of the contact point is required to be adjusted according to the speed and acceleration information of a platform; secondly, recording the pose information of the body measured by the inertia measurement unit, generating expected pose information and taking the expected pose information as an input signal, and carrying out virtual model modeling on the three-dimensional direction force of the body to obtain a virtual resultant moment vector and a virtual resultant force vector of the body; thirdly, distributing the virtual resultant force vector to action support points of each platform and the ground through quadratic programming; finally, the desired force at the point of action is distributed to the actuators by coordinate transformation.
In the second step, the step of solving for the force assigned to the actuator in response to the sudden change in contact force is as follows: firstly, establishing a virtual servo model; secondly, recording the pose information of the body measured by the inertia measurement unit, generating expected pose information and taking the expected pose information as an input signal, and carrying out virtual model modeling on the three-dimensional direction force of the body to obtain a virtual resultant moment vector and a virtual resultant force vector of the body; thirdly, distributing the virtual resultant force vector to action support points of each platform and the ground through quadratic programming; thirdly, correcting and adjusting the distributed torque vector and the distributed force vector through the soil slip rate calculated in real time so that the longitudinal slip rate of the corresponding platform calculated according to the data after adjustment is 0.25-0.35; finally, the desired force at the point of action is distributed to the actuators by coordinate transformation.
And when the longitudinal slip rate is calculated, deducing the longitudinal slip rate of the mobile platform by respectively adopting two control strategies of constant speed approach rate and index approach rate, and then calculating an average value according to the deduction result.
The invention has the following beneficial effects: the method comprises the steps of respectively modeling and solving the force which needs to be distributed to an actuator when the terrain and the obstacle are suddenly changed, the force which needs to be distributed to the actuator when the contact force is suddenly changed, and the force which needs to be distributed to the actuator when the external disturbance is met, weighting the force which needs to be distributed to the actuator and is obtained through solving, carrying out vector normalization on the force, obtaining the force which needs to be distributed to the actuator finally, and generating a corresponding control command according to the determined force which needs to be distributed to the actuator finally to drive the actuator to generate a set action. Therefore, the invention not only can improve the adaptability of the platform and a rigid undulating road surface and the moving capability of the platform on the ground with different materials, but also can ensure that the center of gravity of the platform can be quickly adjusted under the condition of complicated and large disturbance, realize dynamic balance and stable walking and improve the dynamic and stable walking capability of the foot robot in complicated terrains.
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FIG. 1 is an architecture diagram of an embodiment of an intelligent bionic foot robot control system of the present invention;
fig. 2 is a control logic diagram of the intelligent bionic foot type robot control system in fig. 1.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below in connection with specific embodiments, but it should be understood by those skilled in the art that the embodiments described below are only for illustrating the present invention and should not be construed as limiting the scope 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.
The embodiment of the intelligent bionic foot type robot control system comprises the following steps:
the specific structure of the intelligent bionic foot type robot control system is shown in fig. 1-2, and comprises a bottom layer servo control system (namely a single-leg control system) and a movement gait planning system. The motion gait planning system is the most core content and is mainly responsible for generating action instructions of a plurality of execution units of the leg part, realizing the coordinated action of the whole machine and realizing a plurality of action capacities required by overall indexes. The single-leg control system is used for converting the commands generated by the movement gait planning system into the movement direction and the movement amplitude of the executive component.
The single-leg control system includes a single-joint servo motor 11, and the single-joint servo motor 11 (i.e., an actuator) is used to control the movement of the corresponding leg moving part. The motion gait planning system comprises an environment sensing unit 21, an inertial measurement unit 22 (IMU for short) and a controller 23, wherein the environment sensing unit 21 is used for detecting the surrounding environment and acquiring six-dimensional state information and terrain information of the platform, the inertial measurement unit 22 is used for detecting pose information of the platform, and the pose information comprises three-axis attitude angles and acceleration. The environment sensing unit 21 and the inertia measurement unit 22 are connected to different input ports of the controller 23, and the single-joint servo motor 11 is connected to an output port of the controller 23. The controller 23 performs path planning and path tracking according to the sensing information of the environment sensing unit 21, performs attitude estimation and stability control according to the detection information of the IMU22, and finally integrates the path tracking information and the stability control information to realize gait planning. The single-joint servo motor 11 is controlled to move according to the output signal of the controller 23 so as to drive the corresponding leg moving part to move.
The control method for controlling the walking of the intelligent bionic foot type robot by using the intelligent bionic foot type robot control system comprises the following steps: firstly, the controller 23 receives the six-dimensional state information of the platform collected by the environment sensing unit 21 and the pose information collected by the inertial measurement unit 22 in real time; secondly, respectively solving the force which needs to be distributed to the actuator when dealing with terrain sudden change and obstacle, the force which needs to be distributed to the actuator when dealing with contact force sudden change and the force which needs to be distributed to the actuator when dealing with external disturbance; thirdly, weighting the force which is obtained by solving in the second step and needs to be distributed to the actuator, and carrying out vector normalization to obtain the force which needs to be finally distributed to the actuator; and fourthly, generating a corresponding control command according to the determined force which is finally distributed to the actuator to drive the actuator to generate a set action.
In the third step, the weighting coefficients during weighting of each item of force are adjusted according to the terrain information and the six-dimensional state information collected by the environment sensing unit 21 and the pose information collected by the inertia measurement unit 22, and the item weight values with higher similarity to the terrain information collected in real time are larger.
The method for solving the force F1 to be distributed to the actuator when dealing with terrain sudden changes and obstacles (i.e. rigid undulating ground) is as follows: establishing a virtual servo model; recording the pose information of the machine body measured by the IMU22, generating expected pose information, carrying out virtual model modeling on three-dimensional direction force of the machine body aiming at the virtual servo model to obtain a virtual resultant force moment vector and a virtual resultant force vector of the machine body, and specifically solving the model as
In the formula, MmFor the virtual resultant moment vector of the body, FmIs a virtual resultant force vector of the body, kpIs a positive definite gain matrix, q is the actual pose vector of the fuselage, qdFor the desired pose vector of the fuselage, kvIs a matrix of positive definite differential coefficients,
is the actual pose velocity vector of the fuselage,
for the desired pose velocity vector, k, of the fuselageffIs a matrix of positive constant velocity feedforward coefficients,m is the platform mass, wherein the values of a positive definite gain matrix, a positive definite differential coefficient matrix and a positive definite speed feedforward coefficient matrix after the system is set are determined; distributing the virtual resultant force vectors to action support points of each platform and the ground through quadratic programming, wherein the specific distribution mode in quadratic programming needs to be adjusted according to six-dimensional state information and pose information; and the expected force on the action point is distributed to the actuator through coordinate transformation to realize the terrain adaptation of the platform pose.
The specific method for establishing the virtual servo model in the embodiment is as follows: the multi-foot platform is simplified into a single-foot platform, the platform body is simplified into a mass point, and a system formed by the swing rod and the platform body is simplified into an inverted pendulum system.
The step of solving for the forces assigned to the actuators when dealing with external disturbances is the same as the step of solving for the forces assigned to the actuators when dealing with terrain discontinuities and obstacles, with the only difference being: when the virtual servo model is established, external acting torque is applied to the hinged point of the machine body and the rod body or external acting force is applied to the contact point. Wherein the position of the contact point is adjusted according to the speed and acceleration information of the platform so as to quickly restore the balance and stability of the platform after the platform is disturbed by the outside world, and the specific adjustment mechanism is as follows: the greater the acceleration of the velocity, the further the contact point is from the hinge point.
The difference between the step of solving for the forces distributed to the actuators when dealing with contact force discontinuities (i.e. soft ground) and the step of solving for the forces distributed to the actuators when dealing with terrain discontinuities and obstacles is that: and estimating the soil slip rate on line according to the sensing measurement data, and introducing the soil slip rate to correct and adjust the virtual resultant force vector distributed to the action supporting points of each platform and the ground. The regulation mechanism is as follows: the larger the soil slip ratio is, the larger the virtual resultant force vector distributed to the action supporting point of the corresponding platform and the ground is, and the longitudinal slip ratio is close to 0.3 as much as possible by adjusting the virtual resultant force vector. In other embodiments, the adjustment target for the longitudinal slip ratio may also be made between 0.25 and 0.35.
When the longitudinal slip rate is deduced, two control strategies of constant speed approach rate and exponential approach rate can be adopted for deduction respectively, and then the average value is calculated according to the deduction result so as to reduce the error.
The embodiment of the control method of the intelligent bionic foot type robot comprises the following steps:
the intelligent bionic foot type robot control method comprises the following steps:
firstly, a controller receives platform six-dimensional state information detected by an environment sensing unit and platform pose information detected by an inertia measurement unit in real time; secondly, respectively solving the force which needs to be distributed to the actuator when dealing with terrain sudden change and obstacle, the force which needs to be distributed to the actuator when dealing with contact force sudden change and the force which needs to be distributed to the actuator when dealing with external disturbance; thirdly, weighting the force which is obtained by solving in the second step and needs to be distributed to the actuator, and carrying out vector normalization to obtain the force which needs to be finally distributed to the actuator; and fourthly, generating a corresponding control command according to the determined force which is finally distributed to the actuator to drive the actuator to generate a set action.
In the second step, the step of solving the force to be distributed to the actuator when dealing with the terrain abrupt change and the obstacle is as follows: firstly, establishing a virtual servo model; secondly, recording the pose information of the body measured by the inertia measurement unit, generating expected pose information and taking the expected pose information as an input signal, and carrying out virtual model modeling on the three-dimensional direction force of the body to obtain a virtual resultant moment vector and a virtual resultant force vector of the body; thirdly, distributing the virtual resultant force vector to action support points of each platform and the ground through quadratic programming; finally, the desired force at the point of action is distributed to the respective actuators by means of a coordinate transformation.
In the second step, the step of solving the force distributed to the actuator when dealing with the external disturbance is similar to the step of solving the force required to be distributed to the actuator when dealing with the terrain sudden change and the obstacle, and the difference is only that: when the virtual servo model is established, external acting torque is applied to the hinged point of the machine body and the rod body or external acting force is applied to the contact point. The position of the contact point is adjusted according to the speed and acceleration information of the platform so that the platform can quickly recover balance and stability after being disturbed by the outside.
In the second step, the step of solving the force to be distributed to the actuator when dealing with the abrupt change in contact force is similar to the step of solving the force to be distributed to the actuator when dealing with the abrupt change in terrain and the obstacle, with the difference that: after the virtual resultant moment vector and the virtual resultant vector of the engine body are obtained through modeling, the obtained virtual resultant moment vector and the obtained virtual resultant vector are corrected through the soil slip ratio calculated in real time.
And when the soil slip rate is calculated, controlling the longitudinal slip rate to be about 0.3, and deducing the slip rate of the mobile platform by respectively adopting two control strategies of constant-speed approach rate and exponential approach rate.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. The utility model provides a bionical sufficient formula robot control system of intelligence which characterized in that: the system comprises a bottom servo control system and a motion gait planning system, wherein the bottom servo system comprises an actuator, the motion gait planning system comprises an environment sensing unit, an inertia measurement unit and a controller, the environment sensing unit and the inertia measurement unit are connected to an input port of the controller, and the actuator is connected to an output port of the controller; the controller respectively solves the force required to be distributed to the actuator when dealing with terrain mutation and obstacle, the force required to be distributed to the actuator when dealing with contact force mutation and the force required to be distributed to the actuator when dealing with external disturbance according to the detection quantity of the environment sensing unit and the inertia measuring unit, then weights the force required to be distributed to the actuator obtained by the solving and carries out vector normalization to obtain the force required to be finally distributed to the actuator, the weight coefficient when each force is weighted is adjusted according to terrain information, six-dimensional state information and pose information collected by the inertia measuring unit, and the controller generates a corresponding control instruction according to the determined force required to be finally distributed to the actuator to drive the actuator to generate a set action.
2. The intelligent bionic foot type robot control system according to claim 1, characterized in that: when the force which needs to be distributed to the actuator when dealing with terrain mutation and obstacle is solved, a virtual servo model needs to be established, the pose information of the engine body measured by the inertia measuring unit is recorded, expected pose information is generated and serves as an input signal, the three-dimensional direction force of the engine body is subjected to virtual model modeling to obtain a virtual resultant force moment vector and a virtual resultant force vector of the engine body, the virtual resultant force vector is distributed to action supporting points of each platform and the ground through quadratic programming, and the expected force on the action points is distributed to the actuator through coordinate transformation.
3. The intelligent bionic foot type robot control system according to claim 1, characterized in that: when the force distributed to the actuator when external disturbance is solved, a virtual servo model needs to be established, when the virtual servo model is established, external acting moment needs to be applied to the hinged point of the body and the rod body or external acting force needs to be applied to the contact point, body pose information measured by the inertia measurement unit is recorded, expected pose information is generated and serves as an input signal, the three-dimensional direction force of the body is subjected to virtual model modeling to obtain a body virtual resultant force moment vector and a virtual resultant force vector, the virtual resultant force vector is distributed to acting support points of each platform and the ground through quadratic programming, and the expected force on the acting points is distributed to the actuator through coordinate transformation; the position of the contact point needs to be adjusted according to the speed and acceleration information of the platform.
4. The intelligent anti-podiatric robot control system according to claim 1, wherein: when the force distributed to the actuator when the contact force is suddenly changed is solved, a virtual servo model needs to be established, the pose information of the machine body measured by the inertia measuring unit is recorded, expected pose information is generated and serves as an input signal, the three-dimensional direction force of the machine body is subjected to virtual model modeling to obtain a virtual resultant force moment vector and a virtual resultant force vector of the machine body, the corrected virtual resultant force vector is distributed to action support points of each platform and the ground through quadratic programming, the distributed moment vector and the distributed force vector are corrected and adjusted through the soil slip rate calculated in real time, so that the longitudinal slip rate of the corresponding platform calculated according to data after adjustment is 0.25-0.35, and the expected force on the action points is distributed to the actuator through coordinate transformation.
5. The intelligent anti-podiatric robot control system according to claim 4, wherein: and when the longitudinal slip rate is calculated, deducing the longitudinal slip rate of the mobile platform by respectively adopting two control strategies of constant speed approach rate and index approach rate, and then calculating an average value according to the deduction result.
6. The control method of the intelligent bionic foot robot control system according to any one of claims 1 to 5, characterized in that: the method comprises the following steps that firstly, a controller receives terrain information, platform six-dimensional state information and platform pose information detected by an inertial measurement unit in real time, wherein the terrain information and the platform six-dimensional state information are detected by an environment sensing unit; secondly, respectively solving the force which needs to be distributed to the actuator when dealing with terrain sudden change and obstacle, the force which needs to be distributed to the actuator when dealing with contact force sudden change and the force which needs to be distributed to the actuator when dealing with external disturbance; thirdly, weighting the force to be distributed to the actuator obtained by solving in the second step, and carrying out vector normalization to obtain the force to be finally distributed to the actuator, wherein the weight coefficient of each weighted force is adjusted according to the terrain information and the six-dimensional state information acquired by the environment sensing unit and the pose information acquired by the inertia measurement unit; and fourthly, generating a corresponding control command according to the determined force which is finally distributed to the actuator to drive the actuator to generate a set action.
7. The control method of the intelligent bionic foot robot control system according to claim 6, characterized in that: in the second step, the step of solving the force to be distributed to the actuator when dealing with the terrain abrupt change and the obstacle is as follows: firstly, establishing a virtual servo model; secondly, recording the pose information of the body measured by the inertia measurement unit, generating expected pose information and taking the expected pose information as an input signal, and carrying out virtual model modeling on the three-dimensional direction force of the body to obtain a virtual resultant moment vector and a virtual resultant force vector of the body; thirdly, distributing the virtual resultant force vector to action support points of each platform and the ground through quadratic programming; finally, the desired force at the point of action is distributed to the respective actuators by means of a coordinate transformation.
8. The control method of the intelligent bionic foot robot control system according to claim 6, characterized in that: in the second step, the step of solving the force distributed to the actuator in response to the external disturbance is as follows: firstly, establishing a virtual servo model, wherein when the virtual servo model is established, an external acting moment is required to be applied to a hinged point of a machine body and a rod body or an external acting force is required to be applied to a contact point, and the position of the contact point is required to be adjusted according to the speed and acceleration information of a platform; secondly, recording the pose information of the body measured by the inertia measurement unit, generating expected pose information and taking the expected pose information as an input signal, and carrying out virtual model modeling on the three-dimensional direction force of the body to obtain a virtual resultant moment vector and a virtual resultant force vector of the body; thirdly, distributing the virtual resultant force vector to action support points of each platform and the ground through quadratic programming; finally, the desired force at the point of action is distributed to the actuators by coordinate transformation.
9. The control method of the intelligent bionic foot robot control system according to claim 6, characterized in that: in the second step, the step of solving for the force assigned to the actuator in response to the sudden change in contact force is as follows: firstly, establishing a virtual servo model; secondly, recording the pose information of the body measured by the inertia measurement unit, generating expected pose information and taking the expected pose information as an input signal, and carrying out virtual model modeling on the three-dimensional direction force of the body to obtain a virtual resultant moment vector and a virtual resultant force vector of the body; thirdly, distributing the virtual resultant force vector to action support points of each platform and the ground through quadratic programming; thirdly, correcting and adjusting the distributed torque vector and the distributed force vector through the soil slip rate calculated in real time so that the longitudinal slip rate of the corresponding platform calculated according to the data after adjustment is 0.25-0.35; finally, the desired force at the point of action is distributed to the actuators by coordinate transformation.
10. The control method of the intelligent bionic foot robot control system according to claim 9, characterized in that: and when the longitudinal slip rate is calculated, deducing the longitudinal slip rate of the mobile platform by respectively adopting two control strategies of constant speed approach rate and index approach rate, and then calculating an average value according to the deduction result.
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