CN116985112A - Four-foot robot control method and four-foot robot - Google Patents
Four-foot robot control method and four-foot robot Download PDFInfo
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- CN116985112A CN116985112A CN202210877965.3A CN202210877965A CN116985112A CN 116985112 A CN116985112 A CN 116985112A CN 202210877965 A CN202210877965 A CN 202210877965A CN 116985112 A CN116985112 A CN 116985112A
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- 210000000629 knee joint Anatomy 0.000 claims description 71
- 210000001503 joint Anatomy 0.000 claims description 29
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The application discloses a control method of a quadruped robot and the quadruped robot, and relates to the field of robots. The quadruped robot includes a first leg, a second leg, and a base portion connecting the first leg and the second leg, the first leg and the second leg including a number of joints, the method comprising: controlling the moment of at least one joint of the plurality of joints to enable the quadruped robot to enter a biped motion state from a quadruped motion state; controlling the moment of at least one joint of the plurality of joints so that both ends of the second leg support the quadruped robot in balance; controlling the moment of at least one joint of the plurality of joints so that the quadruped robot enters the quadruped motion state from the biped motion state. According to the application, the joint moment of the four-foot robot is controlled, so that the first leg and the second leg are supported to be in different motion states, and the four-foot robot can perform bipedal motion.
Description
Technical Field
The embodiment of the application relates to the field of robots, in particular to a four-legged robot control method and a four-legged robot.
Background
With the wide application of artificial intelligence and robot technology in civil and commercial fields, robots based on the artificial intelligence and robot technology play an increasingly important role in the fields of intelligent transportation, intelligent home and the like, and also face higher requirements.
However, the four-foot robot in the related art generally only has a four-foot motion mode, and cannot meet the requirements of the two-foot motion mode of the robot in some motion scenes.
Disclosure of Invention
The application provides a control method of a four-foot robot and the four-foot robot, which support the four-foot robot to perform bipedal movement. The technical scheme is as follows:
according to an aspect of the present application, there is provided a four-legged robot control method including a first leg portion, a second leg portion, and a base portion connecting the first leg portion and the second leg portion, the first leg portion and the second leg portion including a plurality of joints, the method including:
controlling the moment of at least one joint of the plurality of joints in a swinging stage of bipedal movement so that the quadruped robot enters a bipedal movement state from a quadruped movement state, wherein the bipedal movement state is a state that the first leg leaves a supporting surface and two tail ends of the second leg are in contact with the supporting surface;
Controlling the moment of at least one joint of the plurality of joints during a balancing phase of the bipedal movement such that both ends of the second leg support the quadruped robot in balance;
and controlling the moment of at least one joint in the joints in the landing stage of the biped motion so as to enable the quadruped robot to enter the quadruped motion state from the biped motion state.
According to an aspect of the present application, there is provided a four-legged robot control device including:
a state control module, configured to control a moment of at least one joint of the plurality of joints in a swing stage of the bipedal movement, so that the quadruped robot enters a bipedal movement state from a quadruped movement state, where the first leg leaves a support surface and two ends of the second leg contact the support surface;
a balance control module for controlling the moment of at least one joint of the plurality of joints during a balance phase of the bipedal movement so that both ends of the second leg support the quadruped robot in balance;
The state control module is further configured to control a moment of at least one joint of the plurality of joints in a landing stage of the biped motion, so that the quadruped robot enters the quadruped motion state from the biped motion state.
According to another aspect of the present application, there is provided a four-legged robot including:
a first leg and a second leg, the first leg and the second leg including a plurality of joints;
a base portion connected to the first and second leg portions;
and the controller is arranged on the quadruped robot and is executed to realize the control method of the quadruped robot.
According to an aspect of the present application, there is provided a computer readable storage medium having stored therein a computer program for execution by a processor to implement the four-legged robot control method according to the above aspect.
According to an aspect of the present application, there is provided a chip comprising programmable logic circuits and/or program instructions, a four-legged robot on which the chip is mounted for implementing the four-legged robot control method as described in the above aspect.
According to an aspect of the present application, there is provided a computer program product comprising a computer program stored in a computer readable storage medium, from which a processor reads the computer program, the processor executing the computer program to implement the four-legged robot control method as described in the above aspect.
The technical scheme provided by the embodiment of the application has the beneficial effects that at least:
the joint moment of the quadruped robot is controlled in the swinging stage, the balancing stage and the landing stage, so that the robot performs biped motion, the first leg and the second leg of the quadruped robot are supported to be in different motion states, and the quadruped robot has the advantage characteristics of the biped robot.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 illustrates a schematic structural view of a four-legged robot provided in an exemplary embodiment of the present application;
FIG. 2 illustrates a partial structural schematic view of a four-legged robot provided in accordance with an exemplary embodiment of the present application;
FIG. 3 illustrates a perspective view of a four-foot robot in a four-foot motion provided in an exemplary embodiment of the present application;
FIG. 4 illustrates a perspective view of a four-legged robot in a bipedal motion state according to an exemplary embodiment of the present application;
FIG. 5 illustrates a perspective view of a quadruped robot in a bipedal motion provided in accordance with one exemplary embodiment of the present application;
FIG. 6 illustrates a flowchart of a method for controlling a four-legged robot according to one exemplary embodiment of the present application;
fig. 7 is a flow chart of a control method of a four-foot robot according to another exemplary embodiment of the present application;
FIG. 8 illustrates a state diagram of a balance phase of bipedal motion of a quadruped robot provided in accordance with an exemplary embodiment of the present application;
fig. 9 is a schematic flow chart of a control method of a four-foot robot according to another exemplary embodiment of the present application;
FIG. 10 illustrates a three-dimensional operational space schematic provided by another exemplary embodiment of the present application;
Fig. 11 is a schematic view showing the structure of a four-legged robot control device according to an exemplary embodiment of the present application;
fig. 12 shows a simplified block diagram of a four-legged robot according to an exemplary embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings. Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another.
Fig. 1 shows a schematic structural view of a quadruped robot 10 according to an exemplary embodiment of the present application. The four-legged robot 10 includes a base portion 110, a first leg portion 120, a second leg portion 130, and the base portion 110 is connected to the first leg portion 120 and the second leg portion 130. Optionally, the first leg 120 and the second leg 130 are the same or different. The first leg 120 is divided into a left first leg and a right first leg, optionally, the left first leg and the right first leg are the same or different; the second leg 130 is divided into a left second leg and a right second leg, which may optionally be identical or different.
The embodiment of the present application is schematically illustrated by taking the example that the first leg 120 is identical to the second leg 130, and the left first leg and the right first leg of the first leg 120 are identical, and the left second leg and the right second leg of the second leg 130 are identical, but the present application is not meant to limit the leg structure of the quadruped robot.
The first leg 120 includes a first left leg link 1201, a second left leg link 1202, a first right leg link 1203, and a second right leg link 1204; the second leg 130 includes a third left leg link 1301, a fourth left leg link 1302, a third right leg link 1303, and a fourth right leg link 1304. A first end of the first left leg link 1201 is connected to the base portion 110, and a second end of the first left leg link 1201 is connected to a first end of the second left leg link 1202 to form a first left leg revolute pair; a first end of the first right leg link 1203 is connected to the base portion 110, and a second end of the first right leg link 1203 is connected to a first end of the second right leg link 1204 to form a first right leg revolute pair. A first end of the third left leg link 1301 is connected to the base portion 110, and a second end of the third left leg link 1301 is connected to a first end of the fourth left leg link 1302 to form a second left leg revolute pair; the first end of the third right leg link 1303 is connected to the base portion 110, and the second end of the third right leg link 1303 is connected to the first end of the fourth right leg link 1304 to form a second right leg revolute pair.
The first leg 120 and the second leg 130 have several joints, the first leg 120 having at least one joint, the second leg 130 having at least one joint. In some embodiments, the first leg 120 has a first hip joint 1205 and a first knee joint 1206, and the second leg 130 has a second hip joint 1305 and a second knee joint 1306.
Illustratively, as shown in FIG. 2, the left first leg includes a first hip joint 1205 located at a first end of the first left leg link 1201 and a first knee joint 1206 located at a second end of the first left leg link 1201. Optionally, the first hip joint 1205 includes a first hip roll joint 12051 and a first hip pitch joint 12052. Wherein, the first hip roll joint 12051 is used for driving the side swing of the whole left first leg to rotate, the first hip pitch joint 12052 is used for driving the rotation of the first left leg connecting rod 1201, and the first knee joint 1206 drives the rotation of the second left leg connecting rod 1202 through belt transmission. Alternatively, each joint has 12 degrees of freedom.
The joints of the first leg 120 and the second leg 130 are each coupled to a power take-off (e.g., a motor) that provides electrical power to drive each joint.
Fig. 3 is a perspective view illustrating a quadruped robot according to an exemplary embodiment of the present application in a quadruped motion state. In the four-foot motion state, the tip of the first leg 120 and the tip of the second leg 130 of the four-foot robot 10 support the four-foot robot 10 in balance, that is, the second end of the second left leg link 1202, the second end of the second right leg link 1204, the second end of the fourth left leg link 1302, and the second end of the fourth right leg link 1304 are all in contact with the support surface.
In the embodiment of the present application, the supporting surface is a surface structure such as a ground, a quincuncial pile, a box body, and a bridge body, which can provide supporting force for the bipedal movement of the quadruped robot 10, and the present application is not limited to the specific form of the supporting surface.
Fig. 4 is a perspective view illustrating a quadruped robot according to an exemplary embodiment of the present application in a bipedal motion state. In the bipedal motion state, the first leg 120 of the quadruped robot 10 is clear of the support surface and the distal end of the second leg 130 supports the quadruped robot 10 in balance, i.e., the second end of the second left leg link 1202 and the second end of the second right leg link 1204 are not in contact with the support surface and the second end of the fourth left leg link 1302 and the second end of the fourth right leg link 1304 are in contact with the support surface.
Fig. 5 is a perspective view illustrating a bipedal robot in a bipedal motion state according to an exemplary embodiment of the present application. In the bipedal movement state, the first leg 120 of the quadruped robot 10 moves away from the support surface and performs a first action, and the distal end of the second leg 130 supports the quadruped robot 10 in balance, i.e., the second end of the second left leg link 1202 and the second end of the second right leg link 1204 do not contact the support surface and perform the first action, and the second end of the fourth left leg link 1302 and/or the second end of the fourth right leg link 1304 contact the support surface. Wherein the first motion refers to a motion that can be performed by the rotation of the first hip joint 1205 and/or the first knee joint 1206 of the first left leg link 1201 and/or the second left leg link 1202 and/or the first right leg link 1203 and/or the second right leg link 1204 of the first leg 120, including at least one of swing, lift, support, pull, grab, place, exercise, and rotate. Illustratively, controlling the second left leg link 1202 to swing creates a "swing" effect; controlling the second left leg link 1202 to raise, creating a "hand lift" effect; the second left leg connecting rod 1202 and the second right leg connecting rod 1204 are controlled to support express delivery, and the express delivery can be transported; controlling the second left leg link 1202 to pull the door; controlling the second left leg link 1202 to grasp the toy on the ground; controlling the second left leg link 1202 to place the grasped toy on a table; the second left leg link 1202 and the second right leg link 1204 are controlled to rotate in different directions, and the entertainment effect is achieved.
Fig. 6 shows a flowchart of a control method of the four-legged robot according to an exemplary embodiment of the present application. Taking the example of the method being applied to the quadruped robot 10, the method includes at least some of the following steps:
step 620: in the swing stage of the bipedal movement, controlling the moment of at least one joint so that the quadruped robot 10 enters the bipedal movement state from the quadruped movement state;
the at least one joint refers to at least one joint of the several joints included in the first leg 120 and the second leg 130. The four-foot exercise state refers to a state in which both ends of the first leg portion 120 and both ends of the second leg portion 130 are in contact with the support surface, and the two-foot exercise state refers to a state in which the first leg portion 120 is separated from the support surface and both ends of the second leg portion 130 are in contact with the support surface.
In some embodiments, in the quadruped motion state, the first hip joint 1205 of the first leg 120 and/or the first knee joint 1206 of the first leg 120 are controlled to cause the first leg 120 to elongate; and controlling the second hip joint 1305 of the second leg 130 and/or the second knee joint 1306 of the second leg 130 such that the base portion 110 rotates in a direction away from the support surface with the second hip joint 1305 of the second leg 130 or the second knee joint 1306 of the second leg 130 as a fulcrum, and the centroid of the base portion 110 is raised relative to the support surface into a bipedal motion state. Optionally, before controlling the first hip joint 1205 of the first leg 120 and/or the first knee joint 1206 of the first leg 120 such that the first leg 120 is elongated, the first knee joint 1206 of the first leg 120 and the second knee joint 1306 of the second leg 130 are also controlled such that the centroid of the base portion 110 is lowered relative to the support surface.
Step 640: during the balancing phase of bipedal movement, controlling the moment of at least one joint so that the two ends of the second leg 130 support the quadruped robot 10 in balance;
in some embodiments, the second hip joint 1305 of the second leg 130 and/or the second knee joint 1306 of the second leg 130 are controlled such that the second leg 130 centroid is at the same vertical line as the base 110 centroid such that the two ends of the second leg 130 support the quadruped robot 10 in balance; and/or controlling the second hip joint 1305 of the second leg 130 and/or the second knee joint 1306 of the second leg 130 to perform a stepping motion such that the second leg 130 centroid is dynamically balanced with the base portion 110 centroid. Wherein the stepping motion includes in-situ stepping or non-in-situ stepping.
In some embodiments, the second hip joint 1305 of the second leg 130 and/or the second knee joint 1306 of the second leg 130 are controlled to perform other movements (e.g., jump, run, rotate) such that the second leg 130 centroid is dynamically balanced with the base portion 110 centroid.
In some embodiments, during the balance phase of bipedal motion, the first hip joint 1205 of the first leg 120 and/or the first knee joint 1206 of the first leg 120 are also controlled to cause the first leg 120 to perform a first action. Wherein the first motion refers to a motion that can be performed by the rotation of the first hip joint 1205 and/or the first knee joint 1206 of the first left leg link 1201 and/or the second left leg link 1202 and/or the first right leg link 1203 and/or the second right leg link 1204 of the first leg 120, including at least one of swing, lift, support, hold, grab, place, play, rotate.
Step 660: during the landing phase of bipedal movement, the moment of at least one joint is controlled such that the quadruped robot 10 enters a quadruped state of motion from a bipedal state of motion.
In some embodiments, in the bipedal motion state, the second hip joint 1305 of the second leg 130 and/or the second knee joint 1306 of the second leg 130 are controlled such that the base portion 110 rotates in a direction approaching the support surface with the second hip joint 1305 of the second leg 130 or the second knee joint 1306 of the second leg 130 as a fulcrum, and the centroid of the base portion 110 is lowered relative to the support surface; the first hip joint 1205 of the first leg 120 and/or the first knee joint 1206 of the first leg 120, and the second hip joint 1305 of the second leg 130 and/or the second knee joint 1306 of the second leg 130 are controlled to bring the four-foot robot 10 into a four-foot motion state. Optionally, before controlling the second hip joint 1305 of the second leg 130 and/or the second knee joint 1306 of the second leg 130 such that the base portion 110 rotates in a direction approaching the support surface with the second hip joint 1305 of the second leg 130 or the second knee joint 1306 of the second leg 130 as a fulcrum, and the centroid of the base portion 110 is lowered relative to the support surface, the first hip joint 1205 of the first leg 120 and/or the first knee joint 1206 of the first leg 120 are also controlled such that the first leg 120 is shortened.
In summary, according to the method provided by the embodiment, the joint moment of the quadruped robot is controlled to enable the quadruped robot to perform biped motion, so that the first leg and the second leg of the quadruped robot are supported to be in different motion states, and the quadruped robot has the advantage characteristics of the biped robot.
Fig. 7 is a flow chart of a control method of a four-foot robot according to an exemplary embodiment of the present application. Taking the example of the method being applied to the quadruped robot 10, the method includes at least some of the following steps:
step 701: the quadruped robot 10 is in a quadruped motion state;
the quadruped motion state refers to the first leg and the second leg of the quadruped robot being in the same motion control state, including but not limited to: at least one of a four-foot standing state, a four-foot stepping state, a four-foot walking state, a four-foot running state, a four-foot jumping state, a four-foot rotating state and the like.
The present embodiment is schematically illustrated with the four-foot robot in a four-foot standing state as an example, and the four-foot robot 10 stands with four feet to maintain a balanced stationary state.
Step 702: controlling the first knee joint 1206 of the first leg 120 and the second knee joint 1306 of the second leg 130 to squat the four-foot robot 10;
This step lowers the center of mass of the base portion 110 relative to the support surface, increasing the travel for the next step of extension of the first leg 120, extending the extension time of the first leg 120, allowing the base portion 110 to be as vertical as possible after entering bipedal motion.
Step 703: controlling the first hip joint 1205 of the first leg 120 and/or the first knee joint 1206 of the first leg 120 to extend the first leg 120;
because the motor moment is limited, the base 110 is difficult to move to a vertical state only by the joint moment of the second leg 130, so that the first leg 120 is controlled to stretch, and an interaction force is generated between the first leg 120 and a supporting surface in the stretching process, and the first leg 120 can also be understood as stretching to pedal the ground, the supporting surface provides pitching direction angular acceleration for the base 110, and then the base 110 is finally vertical as much as possible after entering a bipedal movement state by being matched with the joint rotation of the second leg 130.
The second leg 130 posture remains unchanged while step 703 is performed.
Step 704: judging whether the first leg 120 is elongated to a first threshold;
the first threshold is defined herein as:wherein L is thigh Length of first left leg link/first right leg link, L shank Length delta of second left leg link/second right leg link min The value range is 0.02-0.05 m for the safe length. Delta min The purpose of the value is to avoid that the first leg straightens to reach the singular point and the normal movement of the quadruped robot is affected. The singular point refers to a joint position with a jacobian matrix of a not full rank, when the robot reaches the singular point, the robot cannot move in certain directions, and when the robot joints move, the robot should be prevented from reaching the singular point.
If the first leg 120 is not elongated to the longest, go to step 705; if the first leg 120 is extended to the longest, then step 706 is entered.
The second leg 130 pose remains unchanged while step 704 is performed.
Step 705: continuing to execute step 703 and step 704;
the second leg 130 posture remains unchanged while step 705 is performed.
Step 706: controlling the first hip joint 1205 of the first leg 120 and/or the first knee joint 1206 of the first leg 120 to shorten the first leg 120;
the purpose of shortening the first leg 120 is to ensure that the first leg 120 does not collide with the support surface in error during its departure from the support surface.
Optionally, the first hip joint 1205 of the first leg 120 and/or the first knee joint 1206 of the first leg 120 are also controlled such that the first leg 120 is ready for a first action.
The second leg 130 pose remains unchanged while step 706 is performed.
Step 707: the second hip joint 1305 of the second leg 130 is controlled such that the base portion 110 is rotated until the base portion 110 is nearly in a vertical state.
The second hip joint 1305 of the second leg portion 130 is controlled to rotate in the pitch direction, and optionally, the second hip joint of the second leg portion 130 is controlled to rotate such that the base portion 110 rotates in a direction away from the support surface with the second hip joint 1305 as a fulcrum, and the centroid of the base portion 110 is raised relative to the support surface until the base portion 110 approaches the vertical state.
In summary, according to the method provided by the embodiment, the joint moment of the quadruped robot is controlled to enable the robot to enter the biped motion state from the quadruped motion state, so that the first leg and the second leg of the quadruped robot are supported to be in different motion states, and the quadruped robot has the advantage characteristics of the biped robot.
Fig. 8 is a schematic view showing a state in which the quadruped robot is in a balance stage of bipedal motion according to an exemplary embodiment of the application. The method is exemplified as applied to the four-legged robot 10.
In the balancing phase of the bipedal movement, the base portion 110 of the quadruped robot 10 is nearly vertical and the second leg 130 supports the quadruped robot 10 in a balanced state. The equilibrium state includes a foot-strike equilibrium state and/or a dynamic equilibrium state. The point foot balance state refers to a state that two tail ends of the second leg support the quadruped robot to keep balance, and the mass center of the quadruped robot and the mass center of the second leg are in the same vertical line; the dynamic balance state refers to a state that the second leg is in contact with the supporting surface and performs dynamic movement to keep the four-legged robot balanced.
To maintain this equilibrium state and support the first leg 120 for certain operational tasks, it is necessary to perform balance control on the quadruped robot 10, which includes at least the following three balance control methods:
the method comprises the following steps: the point foot contact control, that is, the control of maintaining the distal end of the second leg 130 in contact with the support surface, controls the second hip joint 1305 and the second knee joint 1306 of the second leg 130 such that the centroid of the base portion 110 and the centroid of the second leg 130 are on the same vertical line, such that the centroid of the four-foot robot 10 is above or directly above the distal end of the second leg 130, and the angular momentum of the four-foot robot 10 as a whole with respect to the distal end of the second leg 130 is 0, realizes the balance of the four-foot robot 10.
The second method is as follows: dynamic balancing, i.e., controlling the second hip joint 1305 and/or the second knee joint 1306 of the second leg 130 such that the second leg 130 performs dynamic movements, including, but not limited to: stepping motion, jumping motion, running motion, rotating motion, etc., to achieve a dynamically stable balance of the center of mass of the second leg 130 and the center of mass of the base portion 110, and ultimately to achieve a balance of the four-legged robot 10.
And a third method: the first and second methods are combined to achieve balancing of the quadruped robot 10.
During the balance phase of bipedal movement, the first leg 120 may perform a first motion, as shown in fig. 8, the first leg 120 performing a corrective action.
In summary, according to the method provided by the embodiment, the joint moment of the quadruped robot is controlled to keep the robot balanced in the biped motion state, so that the first leg and the second leg of the quadruped robot are supported to be in different motion states, and the quadruped robot has the advantage characteristics of the biped robot.
Fig. 9 is a flow chart of a control method of a four-foot robot according to an exemplary embodiment of the present application. Taking the example of the method being applied to the quadruped robot 10, the method includes at least some of the following steps:
step 901: the four-foot robot 10 is in a bipedal motion state;
the first leg 120 is spaced from the support surface and the second leg 130 is in contact with the support surface at both ends.
Step 902: controlling the first hip joint 1205 of the first leg 120 and/or the first knee joint 1206 of the first leg 120 such that the first leg 120 returns to the pre-extension state;
the first leg 120 is controlled to move from the first actuated state to the pre-extension state, for example, the first actuated state is actuated, and the first leg is controlled to move from the actuated closed state to the open state and extend until the state before step 703 in fig. 7 is restored.
The second leg 130 posture remains unchanged while step 902 is performed.
Step 903: controlling the second hip joint 1305 of the second leg 130 such that the base portion 110 is rotated until the base portion 110 is brought close to the horizontal state;
the second hip joint 1305 of the second leg portion 130 is controlled to rotate in the pitch direction, and optionally, the second hip joint of the second leg portion 130 is controlled to rotate such that the base portion 110 rotates in a direction approaching the support surface with the second hip joint 1305 as a fulcrum, and the centroid of the base portion 110 is lowered relative to the support surface until the base portion 110 approaches a horizontal state.
Step 904: the first hip joint 1205 and/or the first knee joint 1206 of the first leg 120 and/or the second hip joint 1305 and/or the second knee joint 1306 of the second leg 130 are controlled to restore the quadruped robot 10 to the quadruped motion state.
This step may adjust the leg lengths of the first leg portion 120 and the second leg portion 130 such that the leg lengths of the first leg portion 120 and the second leg portion 130 are identical, allowing the base portion 110 to return to the horizontal state, and the four-foot robot 10 to return to the four-foot motion state, with the first leg portion 120 and the second leg portion 130 both contacting the support surface.
In summary, according to the method provided by the embodiment, the joint moment of the quadruped robot is controlled to enable the quadruped robot to recover from the biped motion state to the quadruped motion state, and the first leg and the second leg of the quadruped robot are supported to be in different motion states, so that the quadruped robot has the advantage characteristics of the biped robot.
To achieve bipedal motion of the quadruped robot 10, full body dynamics control of the quadruped robot is generally required, and three operation space tasks of a swing-up stage, a balance stage and a landing stage are mainly set.
Schematically, as shown in fig. 10, the present application establishes a right-hand cartesian coordinate system of a three-dimensional operation space for the four-legged robot 10, wherein an origin o point of coordinates is a centroid of the base portion 110, an x axis is a coordinate axis along an advancing direction of the four-legged robot 10, a y axis is a coordinate axis along a connecting direction of a first end portion of the first left leg link 1201 and a first end portion of the first right leg link 1203 of the first leg portion 120, and a z axis is a coordinate axis in a vertically upward direction. The pitch direction is the direction forming an included angle with the x-axis on the yoz plane.
First, the dynamics of the quadruped robot 10 is modeled, and the dynamics equation of the quadruped robot 10 is:wherein H represents an inertia matrix of the four-legged robot 10, C represents Coriolis Force and gravity vector, S represents a selection matrix, T represents a transpose of the matrix, J c Representing the Jacobian matrix of the contact point, τ representing the moment of the joint, λ representing the contact force of the contact point, q,/->The generalized position, the generalized velocity and the generalized acceleration are respectively expressed, and the generalized acceleration comprises a 6-degree-of-freedom floating base and a 12-degree-of-freedom joint.
Second, the acceleration of the operation space taskExpressed as: />Wherein J is t Representing the task jacobian matrix.
Combining the two formulas to obtainThe relationship with τ and λ is shown as follows:
is provided withDifferent operation space tasks are set according to different motion states>I.e., A and B are desired values, known amounts; let the unknown quantity be joint moment and contact force vector +.>
Then, an objective function is constructed: min AX-B| Q +||X|| R Wherein Q, R represents a positive diagonal weight matrix. Taking into account joint moment constraints and contact point friction cone constraints, the objective function value is minimized by using an optimization algorithm, such as quadratic programming optimization (Quadratic Programming, QP), so as to obtain an unknown quantity X, namely joint moment and contact force.
And finally, the obtained joint moment is sent to a motor to realize bipedal motion control.
In the application, the operation space task of bipedal exerciseAt least comprises part of the following four types of tasks:
(1) The second leg task, i.e. the second leg does not slide relative to the support surface, can be expressed as:
(2) Task of first leg, i.e. planning reference movement track of first legFor example, planning by means of spline interpolation. For example, a reference motion trajectory of motions such as an elongation motion, a shortening motion, a first motion in a balance phase, an elongation motion in a landing phase, and the like in a swing phase is planned. The first leg task is then derived based on the proportional differentiation (Proportional Plus Derivative, PD):
Wherein k is p Representing the proportional gain; k (k) d Representing the differential gain.
(3) Float-based tasks, i.e. planning pitch and yaw trajectories of the base partFor example, planning by means of spline interpolation. For example, in the pitching stage, the base portion gradually goes from a horizontal state to a vertical state in the pitching direction, and the yawing direction is kept unchanged; in the balancing stage, the base part keeps a vertical state in the pitching direction, and the yawing direction is planned according to the operation task. Then based on PD control, a floating base task is obtained:
(4) Centroid tasks, because the bipedal motion equilibrium state is an underactuated unstable state in the application, centroid following tasks and centroid reference tracks are required to be setCan be calculated by a first-order inverted pendulum or a second-order inverted pendulum model. For example, the quadruped robot centroid is maintained directly above the center of the second leg end link. Then based on PD control, the centroid task at equilibrium stage is obtained:
in summary, according to the method provided by the embodiment of the application, the joint moment of the quadruped robot is controlled to enable the quadruped robot to perform various operation space tasks, and the first leg and the second leg of the quadruped robot are supported to be in different motion states, so that the quadruped robot has the advantage characteristics of the biped robot.
Fig. 11 is a schematic structural view of a four-legged robot control device according to an exemplary embodiment of the present application. The device has the function of realizing the method for controlling the quadruped robot to perform bipedal movement, and the function can be realized by hardware or can be realized by executing corresponding software by hardware. The apparatus may be the four-legged robot 10 described above, or may be provided in the four-legged robot 10. The device comprises at least some of the following modules;
a state control module 112, configured to control a moment of at least one joint of the plurality of joints during a swing stage of the bipedal movement, so that the quadruped robot enters a bipedal movement state from a quadruped movement state, the bipedal movement state being a state in which the first leg leaves a support surface and two ends of the second leg are in contact with the support surface;
a balance control module 114 for controlling the moment of at least one of the several joints during a balance phase of the bipedal movement such that both ends of the second leg support the quadruped robot in balance;
the state control module 112 is further configured to control a moment of at least one joint of the plurality of joints during a landing stage of the bipedal movement, so that the quadruped robot enters the quadruped movement state from the bipedal movement state.
In some embodiments, the state control module 112 is further configured to control the first hip joint of the first leg and/or the first knee joint of the first leg to extend the first leg in the quadruped motion state;
and controlling the second hip joint of the second leg and/or the second knee joint of the second leg so that the base portion rotates in a direction away from the support surface with the second hip joint of the second leg or the second knee joint of the second leg as a fulcrum, and the center of mass of the base portion is raised relative to the support surface into the bipedal motion state.
In some embodiments, the state control module 112 is further configured to control the first knee joint of the first leg and the second knee joint of the second leg to lower the base section centroid relative to the support surface before the controlling the first hip joint of the first leg and/or the first knee joint of the first leg to extend the first leg.
In some embodiments, the balance control module 114 is further configured to control a second hip joint of the second leg and/or a second knee joint of the second leg such that the second leg centroid is at the same vertical line as the base centroid such that both ends of the second leg support the quadruped robot in balance;
And/or controlling a second hip joint of the second leg and/or a second knee joint of the second leg to perform a stepping motion such that the second leg centroid is dynamically balanced with the base centroid.
In some embodiments, the state control module 112 is further configured to control the first hip joint of the first leg and/or the first knee joint of the first leg during a balance phase of the bipedal motion to cause the first leg to perform a first motion.
In some embodiments, the first action includes at least one of swinging, lifting, supporting, pulling, grasping, placing, manipulating, rotating.
In some embodiments, the state control module 112 is further configured to control the second hip joint of the second leg and/or the second knee joint of the second leg in the bipedal motion state such that the base portion rotates in a direction approaching the support surface with the second hip joint of the second leg or the second knee joint of the second leg as a fulcrum, and the base portion centroid is lowered relative to the support surface;
controlling a first hip joint of the first leg and/or a first knee joint of the first leg, and a second hip joint of the second leg and/or a second knee joint of the second leg, such that the quadruped robot enters the quadruped motion state.
In some embodiments, the state control module 112 is further configured to control the first hip joint of the first leg and/or the first knee joint of the first leg to shorten the first leg before the controlling the second hip joint of the second leg and/or the second knee joint of the second leg such that the base portion rotates about the second hip joint of the second leg or the second knee joint of the second leg as a fulcrum in a direction approaching the support surface, and the base portion centroid is lowered relative to the support surface.
In summary, according to the device provided by the embodiment of the present application, in summary, the method provided by the embodiment of the present application controls the joint moment of the quadruped robot to make the quadruped robot perform biped motion, so that the first leg and the second leg of the quadruped robot are supported to be in different motion states, and the quadruped robot has the advantage characteristics of the biped robot.
It should be noted that: the apparatus provided in the above embodiment is only exemplified by the division of the above functional modules, and in practical application, the above functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to perform all or part of the functions described above. In addition, the apparatus provided in the foregoing embodiment belongs to the same concept as the method embodiment in the foregoing disclosure, and the specific implementation process of the apparatus is detailed in the method embodiment and will not be repeated herein.
Fig. 12 shows a simplified block diagram of a four-legged robot according to an exemplary embodiment of the present application. The quadruped robot 1200 may be the quadruped robot 10 described above, which is not limited in this embodiment of the application.
Alternatively, as shown in fig. 12, the quadruped robot 1200 includes at least a processor 1201 and a memory 1202.
Processor 1201 may include one or more processing cores, such as a 4-core processor, an 8-core processor, or the like. The processor 1201 may be implemented in hardware in at least one of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 1201 may also include a main processor, which is a processor for processing data in an awake state, also called a central processor (Central Processing Unit, CPU), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 1201 may be integrated with an image processor (Graphics Processing Unit, GPU) for taking care of rendering and rendering of content that the display screen is required to display. In some embodiments, the processor 1201 may also include an artificial intelligence (Artificial Intelligence, AI) processor for processing computing operations related to machine learning.
Memory 1202 may include one or more computer-readable storage media, which may be implemented by any type or combination of volatile or nonvolatile storage devices including, but not limited to: magnetic or optical disks, electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read Only Memory, EEPROM), erasable programmable Read-Only Memory (EPROM), static Random-Access Memory (SRAM), read-Only Memory (ROM), magnetic Memory, flash Memory, programmable Read-Only Memory (Programmable Read-Only Memory, PROM). In some embodiments, the computer readable storage medium in memory 1202 is configured to store at least one program for execution by processor 1201 to implement the method of controlling bipedal movement of a bipedal robot provided by the method embodiments of the application.
In some embodiments, the quadruped robot 1200 may optionally further include: a peripheral interface 1203, and at least one peripheral. The processor 1201, the memory 1202, and the peripheral interface 1203 may be connected by a bus or signal lines. The individual peripheral devices may be connected to the peripheral device interface 1203 via buses, signal lines, or a circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 1204, a display 1205, a camera assembly 1206, audio circuitry 1207, and a power supply 1209.
The peripheral interface 1203 may be used to connect at least one Input/Output (I/O) related peripheral to the processor 1201 and the memory 1202. In some embodiments, the processor 1201, the memory 1202, and the peripheral interface 1203 are integrated on the same chip or circuit board; in some other embodiments, either or both of the processor 1201, the memory 1202, and the peripheral interface 1203 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.
The Radio Frequency circuit 1204 is configured to receive and transmit Radio Frequency (RF) signals, also referred to as electromagnetic signals. The radio frequency circuit 1204 communicates with a communication network and other communication devices via electromagnetic signals. The radio frequency circuit 1204 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1204 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuit 1204 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the world wide web, metropolitan area networks, intranets, generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or wireless fidelity (Wireless Fidelity, wi-Fi) networks. In some embodiments, the radio frequency circuit 1204 may also include circuitry related to near field wireless communications (Near Field Communication, NFC), which is not limited by the present application.
The display 1205 is used to display a User Interface (UI). The UI may include graphics, text, icons, video, and any combination thereof. When the display 1205 is a touch display, the display 1205 also has the ability to collect touch signals at or above the surface of the display 1205. The touch signal may be input as a control signal to the processor 1201 for processing. At this time, the display 1205 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 1205 may be one, disposed on the front panel of the quadruped robot 1200; in other embodiments, the display 1205 may be at least two, respectively disposed on different surfaces of the quadruped robot 1200 or in a folded design; in other embodiments, the display 1205 may be a flexible display disposed on a curved surface or a folded surface of the quadruped robot 1200. Even more, the display 1205 may be arranged in an irregular pattern that is not rectangular, i.e., a shaped screen. The display 1205 can be made of materials such as a liquid crystal display (Liquid Crystal Display, LCD) and an Organic Light-Emitting Diode (OLED).
The camera assembly 1206 is used to capture images or video. Optionally, camera assembly 1206 includes a front camera and a rear camera. Typically, the front camera is disposed on the front panel of the terminal and the rear camera is disposed on the rear surface of the terminal. In some embodiments, the at least two rear cameras are any one of a main camera, a depth camera, a wide-angle camera and a tele camera, so as to realize that the main camera and the depth camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize a panoramic shooting and Virtual Reality (VR) shooting function or other fusion shooting functions. In some embodiments, camera assembly 1206 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The dual-color temperature flash lamp refers to a combination of a warm light flash lamp and a cold light flash lamp, and can be used for light compensation under different color temperatures.
The audio circuitry 1207 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 1201 for processing, or inputting the electric signals to the radio frequency circuit 1204 for voice communication. For the purpose of stereo acquisition or noise reduction, a plurality of microphones may be respectively disposed at different positions of the quadruped robot 1200. The microphone may also be an array microphone or an omni-directional pickup microphone. The speaker is used to convert electrical signals from the processor 1201 or the radio frequency circuit 1204 into sound waves. The speaker may be a conventional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only the electric signal can be converted into a sound wave audible to humans, but also the electric signal can be converted into a sound wave inaudible to humans for ranging and other purposes. In some embodiments, the audio circuitry 1207 may also include a headphone jack.
The power supply 1209 is used to power the various components in the four-legged robot 1200. The power source 1209 may be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power source 1209 comprises a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.
In some embodiments, the quadruped robot 1200 also includes one or more sensors 1210. The one or more sensors 1210 include, but are not limited to: acceleration sensor 1211, gyro sensor 1212, pressure sensor 1213, optical sensor 1214, and proximity sensor 1215.
The acceleration sensor 1211 may detect the magnitudes of accelerations on three coordinate axes of the coordinate system established with the four-legged robot 1200. For example, the acceleration sensor 1211 may be used to detect components of gravitational acceleration in three coordinate axes. The processor 1201 may control the display 1205 to display a user interface in either a landscape view or a portrait view based on the gravitational acceleration signal acquired by the acceleration sensor 1211. The acceleration sensor 1211 may also be used for the acquisition of motion data for a game or a four-legged robot 1200.
The gyro sensor 1212 may detect the body direction and the rotation angle of the quadruped robot 1200, and the gyro sensor 1212 may collect 3D motions of the quadruped robot 1200 in cooperation with the acceleration sensor 1211. The processor 1201 may implement the following functions based on the data collected by the gyro sensor 1212: motion sensing (e.g., changing UI according to tilting operation of the four-legged robot 1200), image stabilization at shooting, game control, and inertial navigation.
The pressure sensor 1213 may be positioned at a side frame of the quadruped robot 1200 and/or at a lower layer of the display 1205. When the pressure sensor 1213 is disposed at the side frame of the quadruped robot 1200, a grip signal of the quadruped robot 1200 by a user may be detected, and the processor 1201 performs a left-right hand recognition or a shortcut operation according to the grip signal collected by the pressure sensor 1213. When the pressure sensor 1213 is disposed at the lower layer of the display 1205, the processor 1201 controls the operability control on the UI interface according to the pressure operation of the user on the display 1205. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.
The optical sensor 1214 is used to collect the ambient light intensity. In one embodiment, processor 1201 may control the display brightness of display 1205 based on the intensity of ambient light collected by optical sensor 1214. Specifically, when the intensity of the ambient light is high, the display brightness of the display screen 1205 is turned up; when the ambient light intensity is low, the display brightness of the display screen 1205 is turned down. In another embodiment, processor 1201 may also dynamically adjust the shooting parameters of camera assembly 1206 based on the intensity of ambient light collected by optical sensor 1214.
The proximity sensor 1215, also referred to as a distance sensor, is typically disposed on the front panel of the quadruped robot 1200. The proximity sensor 1215 is used to capture the distance between the user and the front face of the quadruped robot 1200. In one embodiment, when the proximity sensor 1215 detects a gradual decrease in the distance between the user and the front face of the quadruped robot 1200, the processor 1201 controls the display 1205 to switch from the on-screen state to the off-screen state; when the proximity sensor 1215 detects that the distance between the user and the front face of the quadruped robot 1200 gradually increases, the processor 1201 controls the display screen 1205 to switch from the off-screen state to the on-screen state.
Those skilled in the art will appreciate that the configuration shown in fig. 12 is not limiting of the quadruped robot 1200 and may include more or fewer components than shown, or may combine certain components, or may employ a different arrangement of components.
The embodiment of the application also provides a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium and is used for being executed by a processor to realize the four-foot robot control method.
The embodiment of the application also provides a chip, which comprises a programmable logic circuit and/or program instructions, and the four-foot robot provided with the chip is used for realizing the control method of the four-foot robot.
The embodiment of the application also provides a computer program product, which comprises a computer program, the computer program is stored in a computer readable storage medium, a processor reads the computer program from the computer readable storage medium, and the processor executes the computer program to realize the four-foot robot control method.
Those skilled in the art will appreciate that in one or more of the examples described above, the functions described in the embodiments of the present application may be implemented in hardware, software, firmware, or any combination thereof. When implemented in software, these functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
The foregoing description of the preferred embodiments of the present application is not intended to limit the application, but rather, the application is to be construed as limited to the appended claims.
Claims (14)
1. A method of controlling a four-legged robot, the four-legged robot comprising a first leg, a second leg, and a base portion connecting the first leg and the second leg, the first leg and the second leg comprising a plurality of joints, the method comprising:
controlling the moment of at least one joint of the plurality of joints in a swinging stage of bipedal movement so that the quadruped robot enters a bipedal movement state from a quadruped movement state, wherein the bipedal movement state is a state that the first leg leaves a supporting surface and two tail ends of the second leg are in contact with the supporting surface;
controlling the moment of at least one joint of the plurality of joints during a balancing phase of the bipedal movement such that both ends of the second leg support the quadruped robot in balance;
and controlling the moment of at least one joint in the joints in the landing stage of the biped motion so as to enable the quadruped robot to enter the quadruped motion state from the biped motion state.
2. The method of claim 1, wherein the number of joints comprises: a first hip joint and a first knee joint of the first leg, and a second hip joint and a second knee joint of the second leg;
The controlling the moment of at least one joint of the plurality of joints to enable the quadruped robot to enter a biped motion state from a quadruped motion state comprises:
controlling a first hip joint of the first leg and/or a first knee joint of the first leg in the quadruped motion state to extend the first leg;
and controlling the second hip joint of the second leg and/or the second knee joint of the second leg so that the base portion rotates in a direction away from the support surface with the second hip joint of the second leg or the second knee joint of the second leg as a fulcrum, and the center of mass of the base portion is raised relative to the support surface into the bipedal motion state.
3. The method of claim 2, wherein prior to said controlling the first hip joint of the first leg and/or the first knee joint of the first leg to extend the first leg, the method further comprises:
the first knee joint of the first leg and the second knee joint of the second leg are controlled such that the base portion centroid is lowered relative to the support surface.
4. The method of claim 1, wherein the number of joints comprises: a first hip joint and a first knee joint of the first leg, and a second hip joint and a second knee joint of the second leg;
The controlling the moment of at least one joint of the number of joints such that the two ends of the second leg support the quadruped robot in balance includes:
controlling a second hip joint of the second leg and/or a second knee joint of the second leg such that the second leg centroid is at the same vertical line as the base centroid such that both ends of the second leg support the quadruped robot in balance;
and/or controlling a second hip joint of the second leg and/or a second knee joint of the second leg to perform a stepping motion such that the second leg centroid is dynamically balanced with the base centroid.
5. The method according to claim 4, wherein the method further comprises:
during a balancing phase of the bipedal movement, a first hip joint of the first leg and/or a first knee joint of the first leg is controlled such that the first leg performs a first motion.
6. The method of claim 5, wherein the first action comprises at least one of swinging, lifting, supporting, pulling, grasping, placing, and rotating.
7. The method of any one of claims 1 to 6, wherein the plurality of joints comprises: a first hip joint and a first knee joint of the first leg, and a second hip joint and a second knee joint of the second leg;
The controlling the moment of at least one joint of the plurality of joints to cause the quadruped robot to enter the quadruped motion state from the biped motion state includes:
in the bipedal exercise state, controlling the second hip joint of the second leg and/or the second knee joint of the second leg so that the base portion rotates in a direction approaching the support surface with the second hip joint of the second leg or the second knee joint of the second leg as a fulcrum, and the base portion centroid is lowered with respect to the support surface;
controlling a first hip joint of the first leg and/or a first knee joint of the first leg, and a second hip joint of the second leg and/or a second knee joint of the second leg, such that the quadruped robot enters the quadruped motion state.
8. The method of claim 7, wherein prior to said controlling the second hip joint of the second leg and/or the second knee joint of the second leg such that the base portion rotates about the second hip joint of the second leg or the second knee joint of the second leg in a direction toward the support surface, and the base portion centroid is lowered relative to the support surface, the method further comprises:
The first hip joint of the first leg and/or the first knee joint of the first leg are controlled such that the first leg is shortened.
9. The method according to any one of claims 1 to 8, wherein,
the first leg includes: the first end part of the first left leg connecting rod is connected with the first end part of the second left leg connecting rod to form a first left leg revolute pair, the first end part of the first right leg connecting rod is connected with the base part, and the second end part of the first right leg connecting rod is connected with the first end part of the second right leg connecting rod to form a first right leg revolute pair;
the second leg includes: the first end of the third left leg connecting rod is connected with the base portion, the second end of the third left leg connecting rod is connected with the first end of the fourth left leg connecting rod to form a second left leg revolute pair, the first end of the third right leg connecting rod is connected with the base portion, and the second end of the third right leg connecting rod is connected with the first end of the fourth right leg connecting rod to form a second right leg revolute pair.
10. A four-legged robot control device, the device comprising:
a state control module, configured to control a moment of at least one joint of the plurality of joints in a swing stage of the bipedal movement, so that the quadruped robot enters a bipedal movement state from a quadruped movement state, where the first leg leaves a support surface and two ends of the second leg contact the support surface;
a balance control module for controlling the moment of at least one joint of the plurality of joints during a balance phase of the bipedal movement so that both ends of the second leg support the quadruped robot in balance;
the state control module is further configured to control a moment of at least one joint of the plurality of joints in a landing stage of the biped motion, so that the quadruped robot enters the quadruped motion state from the biped motion state.
11. A quadruped robot, the quadruped robot comprising:
a first leg and a second leg, the first leg and the second leg including a plurality of joints;
A base portion connected to the first and second leg portions;
a controller provided on the four-legged robot and executed to implement the four-legged robot control method according to any one of claims 1 to 9.
12. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program for execution by a processor to implement the four-legged robot control method according to any one of claims 1 to 9.
13. A chip comprising programmable logic circuits and/or program instructions, a quadruped robot on which the chip is mounted for implementing a quadruped robot control method according to any one of claims 1 to 9.
14. A computer program product, characterized in that it comprises a computer program stored in a computer readable storage medium, from which a processor reads the computer program, which processor executes the computer program to implement the four-legged robot control method according to any one of claims 1 to 9.
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