CN114750162A - High-dynamic motion mass center compliant control method for humanoid robot - Google Patents

High-dynamic motion mass center compliant control method for humanoid robot Download PDF

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CN114750162A
CN114750162A CN202210533708.8A CN202210533708A CN114750162A CN 114750162 A CN114750162 A CN 114750162A CN 202210533708 A CN202210533708 A CN 202210533708A CN 114750162 A CN114750162 A CN 114750162A
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momentum
robot
contact
mass
centroid
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CN114750162B (en
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黄强
黄则临
余张国
陈学超
李庆庆
董宸呈
孟祥�
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Beijing Institute of Technology BIT
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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
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Abstract

The invention provides a high dynamic motion mass center compliance control method of a humanoid robot, which is characterized in that a feedback controller is designed based on a linear quadratic regulator, and the compensation quantity of the second derivative of the mass center momentum is calculated; and integrating the compensation quantity of the second derivative of the centroid momentum to obtain the compensation quantity of the centroid position and the momentum, superposing the compensation quantity of the centroid position and the momentum on the expected centroid position and the momentum, updating the expected track, and sending the solved joint track to the robot for execution. According to the method, the compensation quantity of the second derivative of the mass center momentum is calculated to obtain a feedback coefficient required by the compliance control, so that the time for adjusting the feedback coefficient is effectively reduced; the invention simultaneously considers the variation of the mass center line momentum and the angular momentum, realizes the soft control of the mass center in the moving direction and the rotating direction, and improves the stability of the high dynamic motion of the robot.

Description

High-dynamic motion mass center compliant control method for humanoid robot
Technical Field
The invention belongs to the technical field of humanoid robots, and particularly relates to a high-dynamic motion mass center compliant control method for a humanoid robot.
Background
Humanoid robot need maintain self-stability through adjusting terminal contact force when receiving external disturbance, because contact force and the whole barycenter of robot and momentum are closely related, consequently often need carry out gentle and agreeable control simultaneously to terminal and the barycenter of robot when carrying out stable control to the robot to make the robot can bear great external disturbance that lasts. At present, most of the center-of-mass compliance control of humanoid robots focuses on studying compliance control of movement related to the degree of freedom of center-of-mass movement (namely, center-of-mass position and center-of-mass linear momentum), and does not relate to compliance control of movement related to the degree of freedom of center-of-mass rotation (namely, angular momentum around the center of mass). Although the angular momentum of the robot around its center of mass is negligible when the robot is performing low speed or static motions (e.g., walking at a slow speed, standing, etc.), the angular momentum around the center of mass is not negligible and is critical to the completion of the motion when the robot is performing high dynamic motions (e.g., running, jumping, etc.). Therefore, when the robot performs high dynamic motion, the robot needs to perform compliance control on the relative motion of the mass center movement and the rotational freedom degree of the robot at the same time, so that the robot can realize stable high dynamic motion.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a high-dynamic-motion mass center compliance control method of a humanoid robot, which realizes the compliance control of the mass center state of the robot in the moving and rotating directions.
The present invention achieves the above-described object by the following means.
A high dynamic motion mass center compliant control method of a humanoid robot is specifically as follows:
acquiring the position and posture of a floating base of the robot, and calculating the actual position and posture of the contacted tail end;
calculating the actual contact resultant force/moment applied to the robot according to the actual pose and stress of the tail end of the contacted robot;
designing a feedback controller based on a linear quadratic regulator, and calculating the compensation quantity of the second derivative of the mass center momentum;
integrating the compensation quantity of the second derivative of the centroid momentum to obtain the compensation quantity of the centroid position and the momentum, and updating the expected centroid position and the momentum trajectory by using the compensation quantity of the centroid position and the momentum;
the joint track obtained by solving is sent to the robot for execution;
the compensation quantity of the second derivative of the mass center momentum is as follows:
Figure BDA0003647045830000011
wherein ：
Figure BDA0003647045830000012
is the compensation quantity of the second derivative of the mass center momentum, mu is the control quantity, x is the state quantity, K is the feedback coefficient matrix
Figure BDA0003647045830000021
And weight matrix Q, R;
the coefficient matrix satisfies:
Figure BDA0003647045830000022
wherein: contact resultant force/moment error amount Δ λ ═ Δ f Δ τ]TError amount of contact resultant force/moment variation
Figure BDA0003647045830000023
Compensation quantity of robot momentum delta h ═ delta hl Δha]TCompensation amount of robot momentum variation
Figure BDA0003647045830000024
Compensation of second derivative of robot momentum
Figure BDA0003647045830000025
Resultant force of contactAmount of error of
Figure BDA0003647045830000026
Error amount of variation of resultant contact force
Figure BDA0003647045830000027
Error amount of contact resultant moment
Figure BDA0003647045830000028
Error amount of variation of contact resultant moment
Figure BDA0003647045830000029
Figure BDA00036470458300000210
And
Figure BDA00036470458300000211
respectively the compensation quantity of the second derivative of the centroid linear momentum and the angular momentum,
Figure BDA00036470458300000212
and
Figure BDA00036470458300000213
compensation, Δ h, of the first derivative of the linear and angular momenta of the center of mass, respectivelyl and ΔhaRespectively the compensation quantity of the centroid linear momentum and the angular momentum,
Figure BDA00036470458300000214
and
Figure BDA00036470458300000215
respectively measuring the expected contact resultant force and the expected contact moment of the robot,
Figure BDA00036470458300000216
and
Figure BDA00036470458300000217
respectively the expected values of the resultant force and the resultant moment of the robot contact,
Figure BDA00036470458300000218
as a measure of the variation of the resultant contact force,
Figure BDA00036470458300000219
for the desired value of the amount of change in the resultant contact force,
Figure BDA00036470458300000220
is a measure of the amount of change in contact torque,
Figure BDA00036470458300000221
the expected value of the variation of the contact resultant moment is T, the lag time is T, and the unit matrix is I;
the weight matrix satisfies:
Figure BDA00036470458300000222
wherein: j is the objective function.
According to the further technical scheme, the floating base pose of the robot is obtained by reading IMU positions and pose measurement values.
According to a further technical scheme, the actual pose of the contacted tail end is as follows:
Figure BDA00036470458300000223
wherein ,
Figure BDA00036470458300000224
is the actual attitude rotation matrix of the terminal i under the world coordinate system,
Figure BDA00036470458300000225
the actual position of the end i in the world coordinate system,
Figure BDA0003647045830000031
for robots in practiceThe actual position and posture under the coordinate system,
Figure BDA0003647045830000032
is the actual joint angle of the robot, FK_iThe positive kinematics algorithm for solving the pose of any connecting rod from the joint angle is shown in the specification, and C is a contacted tail end sequence number set.
In a further technical solution, the contacted terminal sequence number set C is:
Figure BDA0003647045830000033
wherein ,
Figure BDA0003647045830000034
is the vertical force measurement of the ith end force sensor, fsatIs the contact threshold.
In a further technical scheme, the actual contact resultant force/moment applied to the robot is as follows:
Figure BDA0003647045830000035
wherein ,
Figure BDA0003647045830000036
the actual position of the end i in the world coordinate system,
Figure BDA0003647045830000037
the actual mass center position of the robot under the world coordinate system,wfi mand
Figure BDA0003647045830000038
the stress and the moment of the terminal i are respectively expressed in a world coordinate system.
According to the further technical scheme, the expected centroid position and the expected momentum track are updated by utilizing the compensation quantity of the centroid position and the momentum, and the compensation quantity of the centroid position and the momentum is superposed on the expected centroid position and the momentum to update the expected track.
In a further technical solution, the updated trajectory is:
hd*＝Δh+hd
Figure BDA0003647045830000039
wherein ,hdAnd
Figure BDA00036470458300000310
respectively the original expected mass center momentum, the mass center position, hd*And
Figure BDA00036470458300000311
respectively the updated expected centroid momentum, centroid position.
According to a further technical scheme, the joint track angle is obtained by solving a joint angle through inverse kinematics:
Figure BDA00036470458300000312
Figure BDA00036470458300000313
wherein ：
Figure BDA00036470458300000314
is the angular acceleration of the joint and the angle of the joint, F, expected to be issuedIK() is a humanoid robot inverse kinematics solution method based on quadratic programming,
Figure BDA00036470458300000315
the desired tip position and pose.
According to the further technical scheme, the robot expects that the resultant contact force and resultant moment meet the following requirements:
Figure BDA00036470458300000316
wherein ：
Figure BDA00036470458300000317
and
Figure BDA00036470458300000318
respectively, the expected mass core line momentum variation and the angular momentum variation, wherein M is the total mass of the robot, and G is the gravity acceleration vector.
The invention has the beneficial effects that:
(1) the invention constructs a linear model of the relation between the actual mass center state and the measured contact force, and calculates the feedback coefficient required by the compliance control based on the linear quadratic regulator, thereby effectively reducing the time for regulating the feedback coefficient;
(2) the method calculates the expected contact resultant force/moment, considers the mass center line momentum variation and the angular momentum variation, realizes the flexible control of the mass center in the moving direction and the rotating direction, and realizes the flexible control of the mass center state in the moving and rotating directions when the humanoid robot performs high dynamic motion (the angular momentum of the robot is not negligible), thereby improving the stability of the high dynamic motion of the robot.
Drawings
FIG. 1 is a flow chart of the high dynamic motion mass center compliance control of the humanoid robot of the present invention;
FIG. 2 is a schematic diagram of the centroid stress of the humanoid robot of the present invention;
FIG. 3 is a diagram of the relationship between the local terminal coordinate system and the world coordinate system according to the present invention.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in FIG. 1, the invention discloses a high dynamic motion mass center compliant control method of a humanoid robot, which comprises the following steps:
step (1), calculating expected contact resultant force/moment according to the expected mass center momentum of the current robot;
the invention considers that the expected centroid position and momentum trajectory are known, the expected contact resultant force/moment of the robot can be obtained by the humanoid robot mass cardiac mechanics (as shown in figure 2):
Figure BDA0003647045830000041
wherein ,
Figure BDA0003647045830000042
and
Figure BDA0003647045830000043
respectively are expected values of the resultant force and the resultant moment of the robot contact;
Figure BDA0003647045830000044
and
Figure BDA0003647045830000045
respectively obtaining the expected mass core line momentum variation and the angular momentum variation through differentiation of expected momentum traces; m is total mass of the robot, and gravity acceleration vector G is [ 00-G ]]TG is the acceleration of gravity; in fig. 2, f is a contact resultant force, and τ is a contact resultant moment.
Reading detection values of all tail end force sensors of the robot, judging whether the tail end of the robot is in contact with the environment or not according to the detection values, and acquiring a serial number of the contacted tail end;
because the force sensor has certain errors in measurement and the force in the vertical direction borne by the tail end is the largest, the force in the vertical direction borne by the tail end force sensor is used as a standard for judging whether to contact with the environment, and the judgment form is as follows:
Figure BDA0003647045830000046
wherein ,
Figure BDA0003647045830000047
is a vertical force measurement of the ith end force sensor; f. ofsatThe contact threshold value can be determined according to the practical application condition of the force sensor;
if the formula (2) is satisfied, the ith terminal is considered to be in contact with the environment, and if the formula (2) is not satisfied, the ith terminal is considered to be not in contact with the environment; let the robot end sequence number set C that satisfies the contact be:
Figure BDA0003647045830000051
reading the IMU position and the attitude measurement value as a robot floating base pose, and calculating the actual pose of the contacted tail end;
the invention considers that the position and the attitude of the humanoid robot floating base in a world coordinate system can be obtained by combining an IMU measured value and a state estimation algorithm (such as extended Kalman filtering), and the actual pose of the tail end which is in contact with the environment can be obtained by solving the positive kinematics algorithm of the humanoid robot:
Figure BDA0003647045830000052
wherein ,
Figure BDA0003647045830000053
is the actual attitude rotation matrix of the terminal i under the world coordinate system,
Figure BDA0003647045830000054
the actual position of the end i in the world coordinate system,
Figure BDA0003647045830000055
is the actual pose of the robot under the actual coordinate system,
Figure BDA0003647045830000056
is the actual joint angle of the robot, FK_i(. is a positive kinematics algorithm (Weitian Xiusi. humanoid robot [ M ] for solving the position and attitude of any connecting rod from the angle of joint]Mytilus canaliculus. Beijing: university of qinghua press, 2007: 50-54) can be used to calculate the terminal i pose.
Step (4), calculating the actual contact resultant force/moment of the robot according to the actual pose and stress of the contacted tail end;
first, the measurement value of the end force sensor is measured under the local coordinate system of the end, so that the measurement value needs to be converted under the world coordinate system, the relation between the local coordinate system of the end force sensor and the world coordinate system is shown in fig. 3, and the measurement value is converted as follows:
Figure BDA0003647045830000057
wherein ,wfi mand
Figure BDA0003647045830000058
respectively representing the stress and the moment of the tail end i in a world coordinate system, fi mAnd
Figure BDA0003647045830000059
force and moment measured by a force sensor corresponding to the tail end i respectively; in fig. 3, R is a rotation matrix of the local coordinate system relative to the world coordinate system, and p is a position of the origin of the local coordinate system in the world coordinate system;
then, all the contact tail ends are stressed and the moment is translated to the center of mass for summation, and the actual contact resultant force/moment can be obtained:
Figure BDA00036470458300000510
wherein ,
Figure BDA00036470458300000511
and
Figure BDA00036470458300000512
respectively measuring the expected contact resultant force and the expected contact moment of the robot,
Figure BDA00036470458300000513
the actual mass center position of the robot under the world coordinate system can be obtained by a mature commercial kinematics tool [ ·]×The expression converts the vector in square brackets into a diagonal matrix, I is an identity matrix.
Step (5), calculating the current contact resultant force error of the robot, designing a feedback controller based on a linear quadratic regulator, and calculating the compensation quantity of the second derivative of the mass center momentum;
since there is usually a lag in the actual robot sensor measurements, there are:
Figure BDA0003647045830000061
Figure BDA0003647045830000062
wherein ,
Figure BDA0003647045830000063
is the true value of the current actual contact resultant force,
Figure BDA0003647045830000064
the expected resultant contact force corresponding to the actual true value of the resultant contact force,
Figure BDA0003647045830000065
the method is a first-order inertia link, and T is lag time which is determined by the specific running condition of the actual robot; the truth value of the current actual contact resultant force and the corresponding expected value thereof are as follows according to the centroid dynamics:
Figure BDA0003647045830000066
Figure BDA0003647045830000067
wherein ,
Figure BDA0003647045830000068
is the variation of the momentum of the mass center line of the robot,
Figure BDA0003647045830000069
is the true value of the variation of the angular momentum of the robot around the centroid,
Figure BDA00036470458300000610
is an expected value corresponding to the variation of the momentum of the mass center line of the robot,
Figure BDA00036470458300000611
the expected value corresponds to the true value of the variation of the angular momentum around the centroid of the robot;
simultaneous (7) and (9), (8) and (10) give:
Figure BDA00036470458300000612
Figure BDA00036470458300000613
and (3) performing difference on the (11) and the (12) and sorting to obtain a linear model of the relation between the actual mass center state and the measured contact force:
Figure BDA00036470458300000614
wherein the error amount of the contact resultant force/moment Δ λ ═ Δ f Δ τ]TError amount of contact resultant force/moment variation
Figure BDA00036470458300000615
Compensation quantity of robot momentum delta h ═ delta hl Δha]TCompensation amount of robot momentum variation
Figure BDA0003647045830000071
Compensation of second derivative of robot momentum
Figure BDA0003647045830000072
Error amount of resultant force of contact
Figure BDA0003647045830000073
Error amount of variation of resultant contact force
Figure BDA0003647045830000074
Error amount of contact resultant moment
Figure BDA0003647045830000075
Error amount of variation of contact resultant moment
Figure BDA0003647045830000076
Figure BDA0003647045830000077
Is the compensation quantity of the second derivative of the centroid linear momentum and the angular momentum,
Figure BDA0003647045830000078
compensation of first derivative of linear and angular momentums of mass center, Δ hl、ΔhaIs the compensation quantity of the centroid linear momentum and the angular momentum,
Figure BDA0003647045830000079
as a measure of the variation of the resultant contact force,
Figure BDA00036470458300000710
for the desired value of the amount of change in the resultant contact force,
Figure BDA00036470458300000711
as a measure of the amount of resultant torque change,
Figure BDA00036470458300000712
the expected value of the variation of the contact resultant moment is;
take the following objective function J:
Figure BDA00036470458300000713
wherein the state quantity
Figure BDA00036470458300000714
Control quantity
Figure BDA00036470458300000715
Q, R is a weight matrix;
the feedback controller can be designed based on linear quadratic regulator, so that the compensation quantity of the second derivative of the mass center momentum
Figure BDA00036470458300000716
Comprises the following steps:
Figure BDA00036470458300000717
wherein K is a feedback coefficient matrix, which is represented by the coefficient matrix of equation (13) ((
Figure BDA00036470458300000718
And
Figure BDA00036470458300000719
) And the weight matrix determination of equation (14).
Integrating the compensation quantity to obtain the compensation quantity of the centroid position and the momentum, superposing the compensation quantity of the centroid position and the momentum on the expected centroid position and the momentum, and updating the expected track;
and (3) calculating the compensation quantity of the centroid position and the momentum through integration:
Figure BDA00036470458300000720
where Δ h is the compensation for the moment of the center of mass, Δ xCoGA compensation quantity for the centroid position;
and (16) superposing the expected centroid position and the momentum track to obtain an updated track:
Figure BDA00036470458300000721
wherein ,hdAnd
Figure BDA00036470458300000722
respectively the original expected mass center momentum, the mass center position, hd*And
Figure BDA00036470458300000723
respectively the updated expected centroid momentum, centroid position.
Step (7), solving inverse kinematics according to the updated expected centroid related track, sending the obtained joint track to the robot, and executing the joint track by the robot;
inverse kinematics solution of joint angles:
Figure BDA0003647045830000081
wherein ,
Figure BDA0003647045830000082
is the angular acceleration of the joint and the angle of the joint, F, expected to be issuedIK(. to) is a method for solving inverse kinematics of humanoid robot based on quadratic programming (K.Bouyamane, et al.Quadrative programming for multirot and task-space force control [ J.].IEEE Transactions on Robotics.2019,35(1):64-77.)，
Figure BDA0003647045830000083
The desired tip position and pose are given by the planning algorithm and are considered known by the present invention.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.

Claims (9)

1. A high dynamic motion mass center compliant control method of a humanoid robot is characterized in that:
acquiring the position and posture of a floating base of the robot, and calculating the actual position and posture of the contacted tail end;
calculating the actual contact resultant force/moment applied to the robot according to the actual pose and stress of the tail end of the contacted robot;
designing a feedback controller based on a linear quadratic regulator, and calculating the compensation quantity of the second derivative of the mass center momentum;
integrating the compensation quantity of the second derivative of the centroid momentum to obtain the compensation quantity of the centroid position and the momentum, and updating the expected centroid position and the momentum trajectory by using the compensation quantity of the centroid position and the momentum;
the joint angle obtained by solving is sent to the robot for execution;
the compensation quantity of the second derivative of the mass center momentum is as follows:
Figure FDA0003647045820000011
wherein ：
Figure FDA0003647045820000012
the compensation quantity of the second derivative of the centroid momentum is mu, x is the control quantity, K is the feedback coefficient matrix
Figure FDA0003647045820000013
And a weight matrixQ, R, determining;
the coefficient matrix satisfies:
Figure FDA0003647045820000014
wherein: contact resultant force/moment error amount Δ λ ═ Δ f Δ τ]TError amount of contact resultant force/moment variation
Figure FDA0003647045820000015
Compensation quantity of robot momentum delta h ═ delta hl Δha]TCompensation amount of robot momentum variation
Figure FDA0003647045820000016
Compensation of second derivative of robot momentum
Figure FDA0003647045820000017
Error amount of resultant force of contact
Figure FDA0003647045820000018
Error amount of variation of resultant contact force
Figure FDA0003647045820000019
Error amount of contact resultant moment
Figure FDA00036470458200000110
Error amount of variation of contact resultant moment
Figure FDA00036470458200000111
Figure FDA00036470458200000112
And
Figure FDA00036470458200000113
two of the centroid linear momentum and the angular momentum respectivelyThe amount of compensation for the order-derivative,
Figure FDA00036470458200000114
and
Figure FDA00036470458200000115
compensation, Δ h, of the first derivative of the linear and angular momentums of the center of mass, respectivelyl and ΔhaRespectively the compensation quantity of the centroid linear momentum and the angular momentum,
Figure FDA00036470458200000116
and
Figure FDA00036470458200000117
respectively measuring the expected contact resultant force and the expected contact moment of the robot,
Figure FDA00036470458200000118
and
Figure FDA00036470458200000119
respectively the expected values of the resultant force and the resultant moment of the robot contact,
Figure FDA00036470458200000120
as a measure of the variation of the resultant contact force,
Figure FDA00036470458200000121
for the desired value of the amount of change in the resultant contact force,
Figure FDA0003647045820000021
is a measure of the amount of change in contact torque,
Figure FDA0003647045820000022
the expected value of the variation of the contact resultant moment is T, the lag time is T, and the unit matrix is I;
the weight matrix satisfies:
Figure FDA0003647045820000023
wherein: j is the objective function.
2. The method for controlling the compliance of the high dynamic motion center of mass of the humanoid robot as claimed in claim 1, wherein the robot floating base pose is obtained by reading IMU position and attitude measurement values.
3. The method for controlling the compliance of the high dynamic motion center of mass of the humanoid robot as claimed in claim 2, wherein the actual pose of the contacted terminal is:
Figure FDA0003647045820000024
wherein ,
Figure FDA0003647045820000025
is the actual attitude rotation matrix of the terminal i under the world coordinate system,
Figure FDA0003647045820000026
the actual position of the end i in the world coordinate system,
Figure FDA0003647045820000027
is the actual pose of the robot under the actual coordinate system,
Figure FDA0003647045820000028
is the actual joint angle of the robot, GK_i(. C) is a positive kinematic algorithm for solving any link pose from joint angles, and is a contacted terminal sequence number set.
4. The high-dynamic motion center of mass compliant control method of a humanoid robot of claim 3, characterized in that the contacted terminal sequence number set C is:
Figure FDA0003647045820000029
wherein ,
Figure FDA00036470458200000210
is the vertical force measurement of the ith end force sensor, fsatIs the contact threshold.
5. The method for controlling the compliance of the high dynamic motion center of mass of the humanoid robot as claimed in claim 1, wherein the resultant force/moment of actual contact applied to the robot is:
Figure FDA00036470458200000211
wherein ,
Figure FDA00036470458200000212
the actual position of the end i in the world coordinate system,
Figure FDA00036470458200000213
the actual mass center position of the robot under the world coordinate system,wfi mand
Figure FDA00036470458200000214
the stress and the moment of the terminal i are respectively expressed in a world coordinate system.
6. The method according to claim 1, wherein the desired centroid position and momentum trajectory are updated by using the compensation amount of the centroid position and momentum by superimposing the compensation amount of the centroid position and momentum on the desired centroid position and momentum to update the desired trajectory.
7. The high dynamic motion centroid compliance control method of the humanoid robot as claimed in claim 6, wherein the updated trajectory is:
hd*＝Δh+hd
Figure FDA0003647045820000031
wherein ,hdAnd
Figure FDA0003647045820000032
respectively the original expected mass center momentum, the mass center position, hd*And
Figure FDA0003647045820000033
respectively, the updated expected centroid momentum, centroid position.
8. The method for controlling the high dynamic motion mass center of the humanoid robot to be compliant according to claim 7, wherein the joint track angle is obtained by solving a joint angle through inverse kinematics:
Figure FDA0003647045820000034
Figure FDA0003647045820000035
wherein ：
Figure FDA0003647045820000036
is the angular acceleration of the joint and the angle of the joint, F, expected to be issuedIK() is a humanoid robot inverse kinematics solution method based on quadratic programming,
Figure FDA0003647045820000037
the desired tip position and pose.
9. The method for controlling the compliance of the high dynamic motion center of mass of the humanoid robot as claimed in claim 1, wherein the desired contact resultant force and resultant moment of the robot satisfy:
Figure FDA0003647045820000038
wherein ：
Figure FDA0003647045820000039
and
Figure FDA00036470458200000310
respectively, the expected mass core line momentum variation and the angular momentum variation, wherein M is the total mass of the robot, and G is the gravity acceleration vector.
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