CN114115310A - Four-foot robot motion control method and system - Google Patents

Four-foot robot motion control method and system Download PDF

Info

Publication number
CN114115310A
CN114115310A CN202111401734.7A CN202111401734A CN114115310A CN 114115310 A CN114115310 A CN 114115310A CN 202111401734 A CN202111401734 A CN 202111401734A CN 114115310 A CN114115310 A CN 114115310A
Authority
CN
China
Prior art keywords
representing
reaction force
joints
ground reaction
motion
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202111401734.7A
Other languages
Chinese (zh)
Other versions
CN114115310B (en
Inventor
石青
贺一鸣
权小龙
高俊辉
金彦周
高子航
余张国
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Technology BIT
Original Assignee
Beijing Institute of Technology BIT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Technology BIT filed Critical Beijing Institute of Technology BIT
Priority to CN202111401734.7A priority Critical patent/CN114115310B/en
Publication of CN114115310A publication Critical patent/CN114115310A/en
Application granted granted Critical
Publication of CN114115310B publication Critical patent/CN114115310B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles

Abstract

The invention relates to a method and a system for controlling the motion of a quadruped robot, wherein the method comprises the following steps: selecting the ground reaction Fi of the limbs corresponding to the initial bottom control parameters from a graduation table; calculating a vector ri from the ith foot end position to the centroid position based on the initial bottom layer control parameters corresponding to the motion modality to be executed; inputting Fi and ri into a dynamic model of the quadruped robot to perform parameter optimization, and obtaining optimal bottom layer control parameters; determining driving angles of eight joints of four limbs in an asynchronous state mode based on the optimal bottom layer control parameters; calculating driving angles of two joints of the waist; the respective joints of the robot are driven based on the driving angles at the respective joints. The scheme disclosed by the invention performs open-loop multi-mode motion control on the miniature quadruped robot under the condition of no sensing information, has higher environmental robustness, and can adjust the gait track and the joint angle in real time according to different environments.

Description

Four-foot robot motion control method and system
Technical Field
The invention relates to the technical field of robot motion control, in particular to a method and a system for controlling the motion of a quadruped robot.
Background
The foot type robot can cross obstacles, almost can adapt to various complex terrains, and has wide market application prospect. However, in the present stage, the micro-miniature quadruped robot is used as a relatively complex research direction in the field of quadruped robots, and the work expectation of people on the micro-miniature quadruped robot not only meets the requirement of moving under a scene with a relatively simple structure, but also meets a scene with a relatively complex structure and more authenticity.
The motion control system of the complex quadruped robot is a nonlinear time-varying system. At present, most of motion control methods of the quadruped robot carry out real-time control based on foot end geometric trajectory planning and joint position control planning. The robot is subjected to simple geometric position or joint control, the robot is unstable due to self inertia, a boundary stability state and the like, and meanwhile, the gait of the quadruped robot determined manually according to a bionics principle can only adapt to a specified terrain and cannot adapt to various complex terrains, so that the problem of poor environment robustness exists.
Disclosure of Invention
The invention aims to provide a method and a system for controlling the motion of a quadruped robot so as to improve the environmental robustness.
In order to achieve the above object, the present invention provides a method for controlling the motion of a quadruped robot, the method comprising:
step S1: determining a motion modality to be executed by the robot; the motion mode to be executed is creeping, vertical or turning;
step S2: selecting initial bottom layer control parameters corresponding to the motion mode to be executed;
step S3: selecting the ground reaction force F of the limbs corresponding to the initial bottom layer control parameters from a graduation tablei，i∈[FL,FR,HL,HR]，Fi∈[FFL,FFR,FHL,FHR]FL represents the left forefoot, FR represents the right forefoot, HL represents the left rearfoot, HR represents the right rearfoot,FFLrepresenting the ground reaction force of the left forefoot, FFRRepresenting the ground reaction force of the right forefoot, FHLRepresenting the ground reaction force of the left hind foot, FHRRepresenting the ground reaction force of the right hind foot;
step S4: calculating a vector r from the ith foot end position to the centroid position based on the initial bottom layer control parameters corresponding to the motion mode to be executedi；
Step S5: f is to beiAnd riInputting the parameters into a dynamic model of the quadruped robot for parameter optimization to obtain optimal bottom layer control parameters;
step S6: determining driving angles of eight joints of four limbs in an asynchronous state mode based on the optimal bottom layer control parameters;
step S7: calculating driving angles of two joints of the waist;
step S8: the respective joints of the robot are driven based on the driving angles at the respective joints.
Optionally, before step S5, the method further includes:
the method comprises the following steps of (1) constructing a dynamic model of the quadruped robot, wherein the specific formula is as follows:
Figure BDA0003364897040000021
wherein the content of the first and second substances,
Figure BDA0003364897040000022
the velocity of the center of mass is represented,
Figure BDA0003364897040000023
the acceleration of the center of mass is represented,
Figure BDA0003364897040000024
the derivative of the attitude of the rigid body is represented,
Figure BDA0003364897040000025
representing angular acceleration of body rotation, m representing total mass, FiRepresents the ground reaction force corresponding to the ith foot, i belongs to [ FL, FR, HL, HR]，Fi∈[FFL,FFR,FHL,FHR]FL represents the left forefoot, FR represents the right forefoot, HL represents the left hind foot, HR represents the right hind foot, FFLRepresenting the ground reaction force of the left forefoot, FFRRepresenting the ground reaction force of the right forefoot, FHLRepresenting the ground reaction force of the left hind foot, FHRRepresenting the ground reaction force of the right hind foot, g representing the gravitational acceleration,
Figure BDA0003364897040000026
representing the rigid body attitude, i.e. the rotation matrix of the body coordinate system relative to the inertial coordinate system,Bω represents the angular velocity of the body rotation,Bi represents the moment of inertia of the rigid body,
Figure BDA0003364897040000027
derivative of the equation of state representing the dynamics of a single rigid body, riA vector representing the ith foot end position to the centroid position.
Optionally, the determining, based on the optimal underlying control parameter, driving angles of eight joints of the four limbs in an asynchronous state mode specifically includes:
step S61: determining phase signals of limbs in an asynchronous state mode based on the optimal bottom layer control parameters;
step S62: and calculating the driving angles of eight joints of the limbs by using the phase signals of the limbs in the asynchronous state mode.
Optionally, the calculating the driving angles at the two joints of the waist specifically includes:
step S71: calculating phase signals at two joints of the waist;
step S72: and calculating the driving angles of the two joints of the waist by using the phase signals of the two joints of the waist.
The invention also discloses a system for controlling the motion of the quadruped robot, which comprises:
the motion mode determining module is used for determining the motion mode to be executed by the robot; the motion mode to be executed is creeping, vertical or turning;
the initial bottom layer control parameter selection module is used for selecting initial bottom layer control parameters corresponding to the motion mode to be executed;
a ground reaction force determining module for selecting the ground reaction force F of the limbs corresponding to the initial bottom layer control parameters from the graduation tablei，i∈[FL,FR,HL,HR]，Fi∈[FFL,FFR,FHL,FHR]FL represents the left forefoot, FR represents the right forefoot, HL represents the left hind foot, HR represents the right hind foot, FFLRepresenting the ground reaction force of the left forefoot, FFRRepresenting the ground reaction force of the right forefoot, FHLRepresenting the ground reaction force of the left hind foot, FHRRepresenting the ground reaction force of the right hind foot;
a vector determination module for calculating a vector r from the ith foot end position to the centroid position based on the initial bottom layer control parameters corresponding to the motion modality to be executedi；
An optimal underlying control parameter determining module for determining FiAnd riInputting the parameters into a dynamic model of the quadruped robot for parameter optimization to obtain optimal bottom layer control parameters;
the four-limb joint driving angle calculation module is used for determining driving angles of eight joints of four limbs in an asynchronous state mode based on the optimal bottom layer control parameters;
the waist joint driving angle calculation module is used for calculating driving angles of two joints of the waist;
and the driving module is used for driving each joint of the robot based on the driving angle of each joint.
Optionally, the system further comprises:
the dynamic model building module is used for building a dynamic model of the quadruped robot, and the specific formula is as follows:
Figure BDA0003364897040000041
wherein the content of the first and second substances,
Figure BDA0003364897040000042
the velocity of the center of mass is represented,
Figure BDA0003364897040000043
the acceleration of the center of mass is represented,
Figure BDA0003364897040000044
the derivative of the attitude of the rigid body is represented,
Figure BDA0003364897040000045
representing angular acceleration of body rotation, m representing total mass, FiRepresents the ground reaction force corresponding to the ith foot, i belongs to [ FL, FR, HL, HR]，Fi∈[FFL,FFR,FHL,FHR]FL represents the left forefoot, FR represents the right forefoot, HL represents the left hind foot, HR represents the right hind foot, FFLRepresenting the ground reaction force of the left forefoot, FFRRepresenting the ground reaction force of the right forefoot, FHLRepresenting the ground reaction force of the left hind foot, FHRRepresenting the ground reaction force of the right hind foot, g representing the gravitational acceleration,
Figure BDA0003364897040000046
representing the rigid body attitude, i.e. the rotation matrix of the body coordinate system relative to the inertial coordinate system,Bω represents the angular velocity of the body rotation,Bi represents the moment of inertia of the rigid body,
Figure BDA0003364897040000047
derivative of the equation of state representing the dynamics of a single rigid body, riA vector representing the ith foot end position to the centroid position.
Optionally, the module for calculating a driving angle of a joint of a limb specifically includes:
the four-limb joint phase signal calculation unit is used for determining phase signals of four limbs in an asynchronous state mode based on the optimal bottom layer control parameters;
and the four-limb joint driving angle calculating unit is used for calculating driving angles of eight joints of the four limbs by using the phase signals of the four limbs in the asynchronous state mode.
Optionally, the waist joint driving angle calculating module specifically includes:
the waist joint phase signal calculation unit is used for calculating phase signals at two joints of the waist;
and the waist joint driving angle calculating unit is used for calculating driving angles at the two joints of the waist by using the phase signals at the two joints of the waist.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the scheme disclosed by the invention can more directly, truly and accurately reflect different ground reaction forces corresponding to different bottom layer control parameters, the corresponding relation is used as prior, the feedforward control under the condition that a foot end force sensor, a coded disc and a current sensor cannot be equipped is realized, the open-loop multi-mode motion control is carried out on the micro-miniature quadruped robot under the condition of no sensing information, the environment robustness is higher, and meanwhile, the gait track and the joint angle can be adjusted in real time according to different environments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of the method for controlling the motion of a quadruped robot according to the present invention;
FIG. 2 is a schematic diagram of a ground reaction curve for a limb of the present invention;
FIG. 3 is a schematic diagram of the kinetic modeling of the quadruped robot of the present invention;
FIG. 4 is a graph of phase signals of the limbs of the walk gait of the present invention;
fig. 5 is a structural view of a motion control system of the quadruped robot of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method and a system for controlling the motion of a quadruped robot so as to improve the environmental robustness.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1
As shown in fig. 1, the invention discloses a method for controlling the motion of a quadruped robot, which comprises the following steps:
step S1: determining a motion modality to be executed by the robot; the motion mode to be executed is creeping, vertical or turning.
Step S2: and selecting initial bottom layer control parameters corresponding to the motion mode to be executed.
Step S3: selecting the ground reaction force F of the limbs corresponding to the initial bottom layer control parameters from a graduation tablei，i∈[FL,FR,HL,HR]，Fi∈[FFL,FFR,FHL,FHR]FL represents the left forefoot, FR represents the right forefoot, HL represents the left hind foot, HR represents the right hind foot, FFLRepresenting the ground reaction force of the left forefoot, FFRRepresenting the ground reaction force of the right forefoot, FHLRepresenting the ground reaction force of the left hind foot, FHRRepresenting the ground reaction force of the right hind foot.
Step S4: calculating a vector r from the ith foot end position to the centroid position based on the initial bottom layer control parameters corresponding to the motion mode to be executedi。
Step S5: f is to beiAnd riAnd inputting the parameters into a dynamic model of the quadruped robot for parameter optimization to obtain optimal bottom layer control parameters.
Step S6: and determining the driving angles of eight joints of the four limbs in the asynchronous state mode based on the optimal bottom layer control parameters.
Step S7: and calculating the driving angles of the two joints of the waist.
Step S8: the respective joints of the robot are driven based on the driving angles at the respective joints.
The individual steps are discussed in detail below:
before step S3, the method further includes: the method comprises the following steps of constructing a graduation table for storing ground reaction force curves of limbs under different motion modes, and specifically comprises the following steps:
1. selecting different motion modes; the different motion modalities include: creeping, standing and turning; the invention can select any motion mode of the quadruped robot according to the actual motion requirement of the quadruped robot, and the motion modules include but are not limited to creeping, turning, standing and the like.
2. Selecting initial bottom layer control parameters corresponding to the different motion modes; the initial underlying control parameters comprise walking frequency f, step length s, body height z and turning angle
Figure BDA0003364897040000061
And neck angle beta. In this embodiment, the bottom layer control parameters corresponding to different motion modes are roughly selected according to experience in actual use, and the selection interval of each bottom layer control parameter is not strictly limited herein.
3. Simulating different motion modes based on initial bottom layer control parameters corresponding to the different motion modes, and constructing a score table; the degree of distribution table is used for storing the ground reaction force curve of four limbs under different motion modes.
Because the invention needs to control the quadruped robot to carry out multiple motion modes under the micro scale, and simultaneously, the real-time closed-loop control under the micro scale is very difficult, the invention firstly simulates different motion modes based on different initial bottom layer control parameters, records the ground reaction forces under different motion modes under the environment of the force measuring table, then fits to obtain the ground reaction force curves of four limbs with the Ground Reaction Forces (GRF) under different motion modes changing along with the initial bottom layer control parameters, stores the ground reaction force curves of the four limbs under different motion modes into a score table, can obtain the ground reaction forces under different motion modes and different control parameters under the open-loop control according to the score table in the subsequent process, and further carries out the motion control on the robot according to the ground reaction forces.
Taking the turning mode of a laboratory prototype as an example, when the walking frequency f is 3Hz, the step length s is 40mm, the body height z is 85mm and the turning angle is
Figure BDA0003364897040000071
When the neck angle β is 0 °, the ground reaction force curve of the limb is shown in fig. 2.
Before step S5, the method further includes:
the method comprises the following steps of (1) constructing a dynamic model of the quadruped robot, wherein the specific formula is as follows:
Figure BDA0003364897040000072
wherein the content of the first and second substances,
Figure BDA0003364897040000073
the velocity of the center of mass is represented,
Figure BDA0003364897040000074
the acceleration of the center of mass is represented,
Figure BDA0003364897040000075
the derivative of the attitude of the rigid body is represented,
Figure BDA0003364897040000076
representing angular acceleration of body rotation, m representing total mass, FiRepresents the ground reaction force corresponding to the ith foot, i belongs to [ FL, FR, HL, HR]，Fi∈[FFL,FFR,FHL,FHR]FL represents the left forefoot, FR represents the right forefoot, HL represents the left hind foot, HR represents the right hind foot, FFLRepresenting the ground reaction force of the left forefoot, FFRRepresenting the ground reaction force of the right forefoot, FHLRepresenting the ground reaction force of the left hind foot, FHRRepresenting the ground reaction force of the right hind foot, g representing the gravitational acceleration,
Figure BDA0003364897040000077
representing the rigid body attitude, i.e. the rotation matrix of the body coordinate system relative to the inertial coordinate system,Bω represents the angular velocity of the body rotation,Bi represents the moment of inertia of the rigid body,
Figure BDA0003364897040000078
derivative of the equation of state representing the dynamics of a single rigid body, riVector, Σ, representing the ith foot end position to the centroid positioniFiRepresenting the resultant force of the ground reaction forces,
Figure BDA0003364897040000081
representing the resultant moment acting on the center of mass. The unlabeled and top left-hand index W are both represented in the world coordinate system by default, and the top left-hand index B is represented in the body coordinate system.
In general, the dynamic model of a quadruped robot can be simplified to a single rigid body dynamic model as shown in fig. 3, wherein in fig. 3, CoM represents the center of mass of the robot, CoP represents the center of pressure (also the projection of the resultant force of the foot end onto the xoy plane), and x representsB、yBAnd zBForm a body coordinate system, the ground reaction force F of the left forefootFLAnd ground reaction force F of right front footFRGround reaction forces F acting on two forelimbs, the left hind foot, respectivelyHLAnd ground reaction force F of the right hind footHRActing on both hind limbs. The concrete formula of the single rigid body dynamic model is as follows:
Figure BDA0003364897040000082
wherein p isCoMThe position of the center of mass is represented,
Figure BDA0003364897040000083
the velocity of the center of mass is represented,
Figure BDA0003364897040000084
the posture of the rigid body is shown,Bω denotes the angular velocity of the body rotation, xstateAn equation of state representing single rigid body dynamics.
The model simplified to the single rigid body is pushed forwards after the resultant force and resultant moment acting on the mass center, the resultant force generates acceleration corresponding to the mass center, and the resultant moment generates angular acceleration to the rigid body, so the single rigid body dynamic model can be written as formula (1), and the formula (1) is abbreviated as formula (1)
Figure BDA0003364897040000085
The input to this equation is the vector r from the ith foot end position to the centroid positioniAnd ground reaction force FiIn which F isiRepresents the ground reaction force corresponding to the ith foot, i belongs to [ FL, FR, HL, HR]，Fi∈[FFL,FFR,FHL,FHR]。
Step S5: f is to beiAnd riInputting the parameters into a dynamic model of the quadruped robot for parameter optimization to obtain optimal bottom layer control parameters; the optimal underlying control parameters comprise walking frequency f, step length s, body height z and turning angle
Figure BDA0003364897040000086
And neck angle β, the first three (f, s, z) being used to generate the foot end trajectory, the latter two
Figure BDA0003364897040000087
The centroid position p will be affectedCoMAnd moment of inertia of rigid bodyBI。
Step S6: determining the driving angles of eight joints of the four limbs in an asynchronous state mode based on the optimal bottom layer control parameters, and specifically comprising the following steps:
step S61: and determining phase signals of the limbs in the asynchronous state mode based on the optimal bottom layer control parameters. The frequency of the periodic signal output by the dynamic model of the quadruped robot can control the robot to reach the expected step frequency f and generate the target gait pattern. For a quadruped robot, the commonly used gait patterns are walk gait and trot gait.
The gait pattern adjuster uses a periodic triangular wave function to realize phase signals of limbs, wherein the phase signal phi of the ith limbi∈[0,1]，i∈[FL,FR,HL,HR]，Φi∈[ΦFL,ΦFR,ΦHL,ΦHR]，ΦFLRepresenting the phase signal of the left forefoot, phiFRRepresenting the phase signal of the right front foot limb, phiHLRepresenting the phase signal of the left hind limb, phiHRRepresenting the phase signal of the right hind paw limb. Wherein when the limb completes a complete period T-1/f, in the swing phase and the support phase, the time spent is TswAnd Tst. Since different gait patterns have different limb phase delays, a b-vector is defined to describe the phase delay relationship.
Phase delay vector in walk gait
Figure BDA0003364897040000091
Phase delay vector in trot gait
Figure BDA0003364897040000092
biRepresenting the phase delay of the ith group, i ∈ [ FL, FR, HL, HR]。
The mathematical model of the periodic triangular wave is combined with the phase delay vector in the former asynchronous mode to obtain the phase signals of the limbs in the asynchronous mode. The phase signals of the limbs are shown in the formula (3) in walk gait, and the phase signals of the limbs are shown in the formula (4) in trot gait.
Figure BDA0003364897040000101
Wherein phiiIndicating the phase signal of the ith leg, phii∈[0,1]，i∈[FL,FR,HL,HR]，Φi∈[ΦFL,ΦFR,ΦHL,ΦHR]，ΦFLRepresenting the phase signal of the left forefoot, phiFRRepresenting the phase signal of the right front foot limb, phiHLRepresenting the phase signal of the left hind limb, phiHRRepresenting the phase signal of the right hind limb, tiRepresents the time of each leg in the current period (the value is [0, T ]]) T represents the current time, bw,iRepresenting the phase delay relationship of the ith leg in walk gait,t represents a period, TswIndicating the time in the wobble phase, TstRepresenting the time in the support phase, f representing the desired step frequency, bwRepresenting the phase delay relationship of walk gait, and G () representing the phase signal generation function.
Fig. 4 is a graph of phase signals of limbs in walk gait. Wherein the ratio of the swing phase to the support phase is 1: 3.
Figure BDA0003364897040000102
Wherein phiiIndicating the phase signal of the ith leg, phii∈[0,1]，i∈[FL,FR,HL,HR]，Φi∈[ΦFL,ΦFR,ΦHL,ΦHR]，ΦFLRepresenting the phase signal of the left forefoot, phiFRRepresenting the phase signal of the right front foot limb, phiHLRepresenting the phase signal of the left hind limb, phiHRRepresenting the phase signal of the right hind limb, tiRepresents the time of each leg in the current period (the value is [0, T ]]) T represents the current time, bt,iShowing the phase delay relationship of the ith leg in trot gait, T showing the period, TswIndicating the time in the wobble phase, TstRepresenting the time in the support phase, f representing the desired step frequency, btRepresenting the phase delay relationship of walk gait, and G () representing the phase signal generation function.
Step S62: the driving angles of eight joints of the four limbs are calculated by utilizing the phase signals of the four limbs in an asynchronous state mode, and the specific formula is as follows:
θlimb＝L(s,Φ,M) (5)；
wherein, thetalimbRepresents the driving angles at eight joints of the limbs, s represents the step size, M represents the mode vector, Φ represents the phase signals of four legs, and L () represents the joint trajectory generation function.
Rising period TswRepresenting the swing phase of the limb, the fall period TstRepresenting the standing posture stage of the limbs, and then obtaining the driving angles theta of eight joints of the four limbs according to the target foot end tracklimb，θlimb＝[θFL、θFR、θHL、θHR]. It is noted that we add a mode vector M, and when we select the turn mode, we can choose different step sizes on the left and right to maintain the relative step size.
According to the inverse solution formula of kinematics and the planned foot end tracks of the swing stage and the support stage, the joint angle can be obtained
Figure BDA0003364897040000111
Wherein θ isswIndicates in the wobble phase, θstShown in the support phase.
Take the left front leg as an example, θFLθ s and θ e in (1) are driving angles at two joints of the left front leg, respectively.
Figure BDA0003364897040000112
Equation (6) relates the phase signal to a specific joint trajectory, where Δ φFLIs positive, i.e. the phase signal phiFLBecome large sign (Δ φ)FL) The function value is 1, otherwise it is 0. Based on this, a joint angle curve is fitted.
Step S7: calculating the driving angles of the two joints of the waist, specifically comprising:
step S71: calculating phase signals of two joints of the waist, wherein the specific formula is as follows:
Figure BDA0003364897040000121
wherein the content of the first and second substances,
Figure BDA0003364897040000122
represents a sign function when
Figure BDA0003364897040000123
When it is, then
Figure BDA0003364897040000124
When in use
Figure BDA0003364897040000125
When it is, then
Figure BDA0003364897040000126
SjA phase signal of j-th joint for waist to turn, j is a positive integer less than or equal to 2, S represents phase signals of two joints for waist to turn,
Figure BDA0003364897040000127
indicating the turning angle.
In this embodiment, the two joints of the waist are used for turning.
Step S72: the driving angles of the two joints of the waist are calculated by utilizing the phase signals of the two joints of the waist, and the specific formula is as follows:
Figure BDA0003364897040000128
wherein, thetawaistRepresenting the drive angles at the two joints of the waist,
Figure BDA0003364897040000129
represents the drive angle at the k-th joint of the waist,
Figure BDA00033648970400001210
respectively representing two corners of the waist.
Step S8: the respective joints of the robot are driven based on the driving angles at the respective joints.
Example 2
As shown in fig. 5, the present invention discloses a quadruped robot motion control system, which comprises:
a motion modality determining module 501, configured to determine a motion modality to be executed by the robot; the motion mode to be executed is creeping, vertical or turning.
An initial bottom-layer control parameter selecting module 502, configured to select an initial bottom-layer control parameter corresponding to the motion modality to be executed.
A ground reaction force determining module 503, configured to select, from the reference table, the ground reaction force F of the limbs corresponding to the initial underlying control parameteri，i∈[FL,FR,HL,HR]，Fi∈[FFL,FFR,FHL,FHR]，FFLRepresenting the ground reaction force of the left forefoot, FFRRepresenting the ground reaction force of the right forefoot, FHLRepresenting the ground reaction force of the left hind foot, FHRRepresenting the ground reaction force of the right hind foot.
A vector determination module 504, configured to calculate a vector r from the ith foot end position to the centroid position based on the initial bottom-layer control parameters corresponding to the motion modality to be executedi。
An optimal underlying control parameter determination module 505 for determining FiAnd riAnd inputting the parameters into a dynamic model of the quadruped robot for parameter optimization to obtain optimal bottom layer control parameters.
And the limb joint driving angle calculating module 506 is used for determining driving angles of eight joints of the limb in the asynchronous state mode based on the optimal bottom layer control parameters.
And a waist joint driving angle calculating module 507, configured to calculate driving angles at two joints of the waist.
A driving module 508 for driving the respective joints of the robot based on the driving angles at the respective joints.
As an optional implementation, the system of the present invention further includes:
the dynamic model building module is used for building a dynamic model of the quadruped robot, and the specific formula is as follows:
Figure BDA0003364897040000131
wherein the content of the first and second substances,
Figure BDA0003364897040000132
the velocity of the center of mass is represented,
Figure BDA0003364897040000133
the acceleration of the center of mass is represented,
Figure BDA0003364897040000134
the derivative of the attitude of the rigid body is represented,
Figure BDA0003364897040000135
representing angular acceleration of body rotation, m representing total mass, FiRepresents the ground reaction force corresponding to the ith foot, i belongs to [ FL, FR, HL, HR]，Fi∈[FFL,FFR,FHL,FHR]FL represents the left forefoot, FR represents the right forefoot, HL represents the left hind foot, HR represents the right hind foot, FFLRepresenting the ground reaction force of the left forefoot, FFRRepresenting the ground reaction force of the right forefoot, FHLRepresenting the ground reaction force of the left hind foot, FHRRepresenting the ground reaction force of the right hind foot, g representing the gravitational acceleration,
Figure BDA0003364897040000136
representing the rigid body attitude, i.e. the rotation matrix of the body coordinate system relative to the inertial coordinate system,Bω represents the angular velocity of the body rotation,Bi represents the moment of inertia of the rigid body,
Figure BDA0003364897040000137
derivative of the equation of state representing the dynamics of a single rigid body, riA vector representing the ith foot end position to the centroid position.
As an optional implementation manner, the module 506 for calculating a driving angle of a joint of a limb specifically includes:
and the four-limb joint phase signal calculation unit is used for determining phase signals of the four limbs in an asynchronous state mode based on the optimal bottom layer control parameters.
And the four-limb joint driving angle calculating unit is used for calculating driving angles of eight joints of the four limbs by using the phase signals of the four limbs in the asynchronous state mode.
As an optional implementation manner, the waist joint driving angle calculating module 507 of the present invention specifically includes:
and the waist joint phase signal calculation unit is used for calculating phase signals at two joints of the waist.
And the waist joint driving angle calculating unit is used for calculating driving angles at the two joints of the waist by using the phase signals at the two joints of the waist.
The same portions as those in embodiment 1 are not discussed one by one here.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (8)

1. A method of controlling the motion of a quadruped robot, the method comprising:
step S1: determining a motion modality to be executed by the robot; the motion mode to be executed is creeping, vertical or turning;
step S2: selecting initial bottom layer control parameters corresponding to the motion mode to be executed;
step S3: selecting the ground reaction force F of the limbs corresponding to the initial bottom layer control parameters from a graduation tablei，i∈[FL,FR,HL,HR]，Fi∈[FFL,FFR,FHL,FHR]FL represents the left forefoot, FR represents the right forefoot, HL represents the left hind foot, HR represents the right hind foot, FFLIndicating left forefootGround reaction force of (F)FRRepresenting the ground reaction force of the right forefoot, FHLRepresenting the ground reaction force of the left hind foot, FHRRepresenting the ground reaction force of the right hind foot;
step S4: calculating a vector r from the ith foot end position to the centroid position based on the initial bottom layer control parameters corresponding to the motion mode to be executedi；
Step S5: f is to beiAnd riInputting the parameters into a dynamic model of the quadruped robot for parameter optimization to obtain optimal bottom layer control parameters;
step S6: determining driving angles of eight joints of four limbs in an asynchronous state mode based on the optimal bottom layer control parameters;
step S7: calculating driving angles of two joints of the waist;
step S8: the respective joints of the robot are driven based on the driving angles at the respective joints.
2. The method for controlling the motion of a quadruped robot according to claim 1, wherein prior to step S5, the method further comprises:
the method comprises the following steps of (1) constructing a dynamic model of the quadruped robot, wherein the specific formula is as follows:
Figure FDA0003364897030000011
wherein the content of the first and second substances,
Figure FDA0003364897030000012
the velocity of the center of mass is represented,
Figure FDA0003364897030000013
the acceleration of the center of mass is represented,
Figure FDA0003364897030000014
the derivative of the attitude of the rigid body is represented,
Figure FDA0003364897030000021
representing angular acceleration of body rotation, m representing total mass, FiRepresents the ground reaction force corresponding to the ith foot, i belongs to [ FL, FR, HL, HR]，Fi∈[FFL,FFR,FHL,FHR]FL represents the left forefoot, FR represents the right forefoot, HL represents the left hind foot, HR represents the right hind foot, FFLRepresenting the ground reaction force of the left forefoot, FFRRepresenting the ground reaction force of the right forefoot, FHLRepresenting the ground reaction force of the left hind foot, FHRRepresenting the ground reaction force of the right hind foot, g representing the gravitational acceleration,
Figure FDA0003364897030000022
representing the rigid body attitude, i.e. the rotation matrix of the body coordinate system relative to the inertial coordinate system,Bω represents the angular velocity of the body rotation,Bi represents the moment of inertia of the rigid body,
Figure FDA0003364897030000023
derivative of the equation of state representing the dynamics of a single rigid body, riA vector representing the ith foot end position to the centroid position.
3. The method for controlling the motion of a quadruped robot according to claim 1, wherein the determining the driving angles of the eight joints of the four limbs in the asynchronous mode based on the optimal underlying control parameters specifically comprises:
step S61: determining phase signals of limbs in an asynchronous state mode based on the optimal bottom layer control parameters;
step S62: and calculating the driving angles of eight joints of the limbs by using the phase signals of the limbs in the asynchronous state mode.
4. The method for controlling the motion of a quadruped robot according to claim 1, wherein the calculating the driving angles at the two joints of the waist specifically comprises:
step S71: calculating phase signals at two joints of the waist;
step S72: and calculating the driving angles of the two joints of the waist by using the phase signals of the two joints of the waist.
5. A quadruped robotic motion control system, the system comprising:
the motion mode determining module is used for determining the motion mode to be executed by the robot; the motion mode to be executed is creeping, vertical or turning;
the initial bottom layer control parameter selection module is used for selecting initial bottom layer control parameters corresponding to the motion mode to be executed;
a ground reaction force determining module for selecting the ground reaction force F of the limbs corresponding to the initial bottom layer control parameters from the graduation tablei，i∈[FL,FR,HL,HR]，Fi∈[FFL,FFR,FHL,FHR]FL represents the left forefoot, FR represents the right forefoot, HL represents the left hind foot, HR represents the right hind foot, FFLRepresenting the ground reaction force of the left forefoot, FFRRepresenting the ground reaction force of the right forefoot, FHLRepresenting the ground reaction force of the left hind foot, FHRRepresenting the ground reaction force of the right hind foot;
a vector determination module for calculating a vector r from the ith foot end position to the centroid position based on the initial bottom layer control parameters corresponding to the motion modality to be executedi；
An optimal underlying control parameter determining module for determining FiAnd riInputting the parameters into a dynamic model of the quadruped robot for parameter optimization to obtain optimal bottom layer control parameters;
the four-limb joint driving angle calculation module is used for determining driving angles of eight joints of four limbs in an asynchronous state mode based on the optimal bottom layer control parameters;
the waist joint driving angle calculation module is used for calculating driving angles of two joints of the waist;
and the driving module is used for driving each joint of the robot based on the driving angle of each joint.
6. The quadruped robotic motion control system of claim 5, further comprising:
the dynamic model building module is used for building a dynamic model of the quadruped robot, and the specific formula is as follows:
Figure FDA0003364897030000031
wherein the content of the first and second substances,
Figure FDA0003364897030000032
the velocity of the center of mass is represented,
Figure FDA0003364897030000033
the acceleration of the center of mass is represented,
Figure FDA0003364897030000034
the derivative of the attitude of the rigid body is represented,
Figure FDA0003364897030000035
representing angular acceleration of body rotation, m representing total mass, FiRepresents the ground reaction force corresponding to the ith foot, i belongs to [ FL, FR, HL, HR]，Fi∈[FFL,FFR,FHL,FHR]FL represents the left forefoot, FR represents the right forefoot, HL represents the left hind foot, HR represents the right hind foot, FFLRepresenting the ground reaction force of the left forefoot, FFRRepresenting the ground reaction force of the right forefoot, FHLRepresenting the ground reaction force of the left hind foot, FHRRepresenting the ground reaction force of the right hind foot, g representing the gravitational acceleration,
Figure FDA0003364897030000041
representing the rigid body attitude, i.e. the rotation matrix of the body coordinate system relative to the inertial coordinate system,Bω represents the angular velocity of the body rotation,Bi represents the moment of inertia of the rigid body,
Figure FDA0003364897030000042
representing single rigid body powerDerivative of the equation of state of science, riA vector representing the ith foot end position to the centroid position.
7. The system for controlling motion of a quadruped robot according to claim 5, wherein the module for calculating the driving angles of the joints of the quadruped robot comprises:
the four-limb joint phase signal calculation unit is used for determining phase signals of four limbs in an asynchronous state mode based on the optimal bottom layer control parameters;
and the four-limb joint driving angle calculating unit is used for calculating driving angles of eight joints of the four limbs by using the phase signals of the four limbs in the asynchronous state mode.
8. The quadruped robot motion control system according to claim 5, wherein the waist joint driving angle calculation module specifically comprises:
the waist joint phase signal calculation unit is used for calculating phase signals at two joints of the waist;
and the waist joint driving angle calculating unit is used for calculating driving angles at the two joints of the waist by using the phase signals at the two joints of the waist.
CN202111401734.7A 2021-11-19 2021-11-19 Motion control method and system for four-foot robot Active CN114115310B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111401734.7A CN114115310B (en) 2021-11-19 2021-11-19 Motion control method and system for four-foot robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111401734.7A CN114115310B (en) 2021-11-19 2021-11-19 Motion control method and system for four-foot robot

Publications (2)

Publication Number Publication Date
CN114115310A true CN114115310A (en) 2022-03-01
CN114115310B CN114115310B (en) 2023-12-15

Family

ID=80371562

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111401734.7A Active CN114115310B (en) 2021-11-19 2021-11-19 Motion control method and system for four-foot robot

Country Status (1)

Country Link
CN (1) CN114115310B (en)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080208391A1 (en) * 2004-08-02 2008-08-28 Honda Motor Co., Ltd. Gait Pattern Generating Device and Controller of Legged Mobile Robot
FR2947236A1 (en) * 2009-06-30 2010-12-31 Aldebaran Robotics METHOD FOR CONTROLLING THE MARKET OF A MOBILE ROBOT AND ROBOT USING THE METHOD
EP2497610A1 (en) * 2011-03-09 2012-09-12 Syco Di Hedvig Haberl & C. S.A.S. System for controlling a robotic device during walking, in particular for rehabilitation purposes, and corresponding robotic device
CN103057620A (en) * 2013-02-05 2013-04-24 武汉大学 Foot structure of humanoid robot based on modularized array sensor
CN107045552A (en) * 2017-04-28 2017-08-15 齐鲁工业大学 A kind of quadruped robot motion control method and control device based on sinusoidal diagonal gait Yu quick look-up table
CN108089578A (en) * 2017-12-07 2018-05-29 东莞深圳清华大学研究院创新中心 A kind of walking movement planing method for bipod walking robot
CN109129560A (en) * 2018-08-30 2019-01-04 浙江大学 A kind of flexible waist structure and its design method suitable for biped robot
CN109871018A (en) * 2019-02-25 2019-06-11 北京航空航天大学 A kind of control method with waist degree of freedom four-footed robot
CN111631727A (en) * 2020-06-11 2020-09-08 国家康复辅具研究中心 Evaluation method and evaluation device for artificial limb adaptation effect
CN111891252A (en) * 2020-08-06 2020-11-06 齐鲁工业大学 Body posture slope self-adaptive control method of four-footed bionic robot

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080208391A1 (en) * 2004-08-02 2008-08-28 Honda Motor Co., Ltd. Gait Pattern Generating Device and Controller of Legged Mobile Robot
FR2947236A1 (en) * 2009-06-30 2010-12-31 Aldebaran Robotics METHOD FOR CONTROLLING THE MARKET OF A MOBILE ROBOT AND ROBOT USING THE METHOD
EP2497610A1 (en) * 2011-03-09 2012-09-12 Syco Di Hedvig Haberl & C. S.A.S. System for controlling a robotic device during walking, in particular for rehabilitation purposes, and corresponding robotic device
CN103057620A (en) * 2013-02-05 2013-04-24 武汉大学 Foot structure of humanoid robot based on modularized array sensor
CN107045552A (en) * 2017-04-28 2017-08-15 齐鲁工业大学 A kind of quadruped robot motion control method and control device based on sinusoidal diagonal gait Yu quick look-up table
CN108089578A (en) * 2017-12-07 2018-05-29 东莞深圳清华大学研究院创新中心 A kind of walking movement planing method for bipod walking robot
CN109129560A (en) * 2018-08-30 2019-01-04 浙江大学 A kind of flexible waist structure and its design method suitable for biped robot
CN109871018A (en) * 2019-02-25 2019-06-11 北京航空航天大学 A kind of control method with waist degree of freedom four-footed robot
CN111631727A (en) * 2020-06-11 2020-09-08 国家康复辅具研究中心 Evaluation method and evaluation device for artificial limb adaptation effect
CN111891252A (en) * 2020-08-06 2020-11-06 齐鲁工业大学 Body posture slope self-adaptive control method of four-footed bionic robot

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
CHANG LI 等: "Bioinspired Phase-Shift Turning Action for a Biomimetic Robot", IEEE/ASME TRANSACTIONS ON MECHATRONICS, vol. 25, no. 1, XP011773019, DOI: 10.1109/TMECH.2019.2959375 *
李康 等: "机器鼠的仿鼠运动程度评估", 机器人, vol. 39, no. 3, pages 347 - 354 *
胡贵钱 等: "四足步行机器人力位混合控制的实验研究与分析", 实验技术与管理, vol. 21, no. 5, pages 26 - 30 *

Also Published As

Publication number Publication date
CN114115310B (en) 2023-12-15

Similar Documents

Publication Publication Date Title
CN112051741B (en) Dynamic motion generation and control method for biped robot
Rodriguez et al. DeepWalk: Omnidirectional bipedal gait by deep reinforcement learning
US20210162589A1 (en) Systems and methods for learning agile locomotion for multiped robots
CN109760761B (en) Four-footed robot motion control method based on bionics principle and intuition
CN103149933A (en) Closed-loop control-based humanoid robot omnidirectional walking method
Kim et al. Computationally-robust and efficient prioritized whole-body controller with contact constraints
CN114248855B (en) Biped robot space domain gait planning and control method
Hauser et al. Biologically inspired kinematic synergies enable linear balance control of a humanoid robot
Sun et al. Dynamically stable walk control of biped humanoid on uneven and inclined terrain
CN116619382A (en) Robot motion control method and system and electronic equipment
CN114115310A (en) Four-foot robot motion control method and system
Lim et al. Control design to achieve dynamic walking on a bipedal robot with compliance
Meriçli et al. Improving biped walk stability using real-time corrective human feedback
JP2004148492A (en) Motion editing device and motion editing method for the robotic device, robotic device and control method therefor, and computer program
JP2002210681A (en) Motion control device and method for leg-type moving robot, and robot device
CN107485540A (en) A kind of intelligence that is used for assists the energy injection system for walking walking stick
Chao et al. Unification of locomotion pattern generation and control lyapunov function-based quadratic programs
Huang et al. Task-space whole-body control with variable contact force control for position-controlled humanoid adaptation to unknown disturbance
Ames et al. Hybrid zero dynamics control of legged robots
Lee et al. Realization of Natural Human Motion on a 3D Biped Robot For Studying the Exoskeleton Effective
Machbub et al. Slope Balancing Strategy for Bipedal Robot Walking Based on Inclination Estimation Using Sensors Fusion.
Zhang et al. Whole-body Humanoid Robot Locomotion with Human Reference
CN114911164B (en) Open loop control method and system for jumping motion of mouse-like quadruped robot
Han Action Planning and Design of Humanoid Robot Based on Sports Analysis in Digital Economy Era
JP4539291B2 (en) Robot apparatus and operation control method thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant