CN1258436C - Method and device for controlling robot simulating animal foot movement - Google Patents
Method and device for controlling robot simulating animal foot movement Download PDFInfo
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Abstract
The present invention relates to a method and a device for controlling a foot-type bionic robot realizing animal rhythmic movement, which belongs to the technical field of bionic robot movement control. The present invention uses the rhythm movement control mechanism similar to that of animals to carry out control by using a highlevel control layer, a pattern generation layer and a drive execution layer, wherein the pattern generation layer uses a neuron oscillator to form a mode generator by the mutual coupling of weighting matrixes; the pattern generation layer generates a rhythmic movement signal of the hip joint of the robot; an association control signal of the knee joint of the same leg is obtained by carrying out the hip-knee joint mapping function conversion on the rhythmic movement signal in order to make the robot have flexible, varied, quick and adaptive bionic movement functions. The robot can generate four typical gaits of the animal, such as free walking, trot, stroll and running. The free walking speed is about 0.3 m/s. The mutual transformation among the gaits can be carried out, and the functions of upgrading slopes of which the gradient is about 10 degrees, crossing obstacles of which the height is 2cm can be realized.
Description
Technical field
The present invention relates to a kind of sufficient formula bio-robot control method and device of realizing the animal rhythmic movement, belong to bio-robot movement control technology field.
Background technology
Coordinate control for the polypody of legged type robot, mainly contain two kinds of methods: based on the method for model with based on the method for behavior.Method based on model is a kind of traditional legged type robot motion control method, and it is based on the motion planning of routine, and the motion of robot is subjected to the restriction of environment, is suitable for carrying out ability of posture control, static walking; Motion control method based on behavior is representative with the legged type robot that the researcher was researched and developed headed by the Brooks (Brooks) of U.S. MIT, will there be the main foundation of some local condition's reflector elements as the legged type robot motion control in this method in the biological basic act, lay particular emphasis on the robot bottom is carried out local control, not having high-rise biological neural management and regulation and control, is a kind of simple biological allocinesis.Generally speaking, although said method can be realized the motion of robot to a certain extent, but owing to be subjected to the restriction of its control system structure and the control method that adopted, on flexibility, stability and adaptability, compare with adaptive rhythmic movement gap is still arranged with the high stability that has of animal.
The biologist studies show that, the common motion mode of animal is the rhythmic movement (as walk, run, jump, swim, fly etc.) with spacetime symmetry, this rhythmic movement has the stability and the adaptability of height, has benefited from the rhythmic movement control system of self exquisiteness.
Summary of the invention
The objective of the invention is to propose a kind of sufficient formula bio-robot control method and device thereof of realizing the animal rhythmic movement, adopt the rhythmic movement control mechanism similar, make the entire machine robot system realize more flexible and changeable, the quick bionic movement that adapts to animal.
Technical scheme of the present invention is as follows:
A kind of sufficient formula bionic robot control device of realizing the animal rhythmic movement, this device comprises and contains controlled hip joint and kneed sufficient formula bionic machine human body, servo amplifier, sensing device and control computer, system power supply is characterized in that: each joint drives by servomotor; Described sensing device comprises and the coaxial encoder that is connected of servomotor, be installed in the attitude surveyed in the robot body obliquity sensor, be installed in the limit switch on each joint swinging track, the anterior contact-making switch of foot end; Described control computer comprises the control host computer that contains high-rise regulation and control software and contains the control slave computer of robot being carried out the rhythmic movement control program that the control host computer links to each other with the control slave computer by isa bus; It is the multiple-axis servo motion controller of core that described slave computer adopts with the digital signal processor, and this multiple-axis servo motion controller contains the timer that can produce interrupt signal; Described obliquity sensor links to each other with the mould/number conversion passage of slave computer, and described limit switch links to each other with the digital input end of slave computer respectively with contact-making switch; The output of described encoder links to each other with the encoder interfaces of servo amplifier and slave computer respectively; The D/A switch passage of control slave computer links to each other with the servosignal receiving terminal on the servo amplifier, its digital output end links to each other with enable port on the servo amplifier, and servo amplifier links to each other with each servomotor on the robot body by the servosignal output again; The neuron oscillator formation rhythm generator that is coupled mutually, produce rhythm and pace of moving things signal, position signalling as the robot hip joint, the corresponding robot hip joint of the output of one of them neuron oscillator, the position signalling of this hip joint obtains with the kneed related control signal of leg by conversion simultaneously.
Multiple-axis servo motion controller of the present invention contains 8 D/A ALT-CH alternate channels, 8 encoder interfaces, 12 digital input ends, 8 digital output ends and 1 mould/number conversion passage at least.
A kind of sufficient formula bio-robot control method that realizes the animal rhythmic movement that the present invention proposes, it is characterized in that: this method adopts three functional layers to control, high-rise key-course simulated animal higher nervous center is to the regulating and controlling effect of motion, the robot motion is initial in decision, realize the speed adjusting of robot and the selection and the conversion of motor pattern, realize by the control host computer; The pattern genetic horizon utilizes the neuron oscillator formation rhythm generator that is coupled mutually, rhythm generator produces rhythm and pace of moving things signal, the corresponding robot hip joint of the output of one of them neuron oscillator, position signalling as the robot hip joint, the position signalling of this hip joint obtains with the kneed related control signal of leg by conversion simultaneously, is realized by the control slave computer; The control slave computer is carried out SERVO CONTROL according to the hip joint that is produced and eval signal to joint separately, by the function that drives execution level usefulness electromechanical servo system simulated animal muscle-skeleton motion system; Described control method comprises the steps:
(1) the control host computer sends robot motion's instruction, movement instruction is interpreted as corresponding command control word, data transfer function in the dynamic link library that utilization control slave computer provides is sent to this command control word in the communication buffer district of control slave computer, the control slave computer reads this command control word, begins to carry out;
(2) control slave computer initialization and detection hardware, servomotor kinematic axis basic exercise control parameter, each kinematic axis position closed loop, encoder hardware parameter, D/A switch side-play amount, proportional-integral-differential constant are set, servomotor enables and sensor signal input channel state parameter, the timer of opening slave computer afterwards interrupts, interrupt being triggered and handling interrupt through each sampling period, carry out the communication Infinite Cyclic with the control host computer simultaneously;
(3) the control slave computer enters and interrupts handling, adopt the neuron oscillator to set up the rhythm generator model, the number of neuron oscillator is identical with robot hip joint number, and according to four weight matrix of four kinds of typical gaits definition, the neuron oscillator is coupled mutually by weight matrix;
(4) the control slave computer is selected the corresponding weights matrix according to the gait that will produce in a sampling period, find the solution the rhythm generator model, obtain the output of rhythm and pace of moving things signal, position signalling as each hip joint of robot, this position signalling is obtained with the kneed related control signal of leg through hip-knee joint mapping function conversion, according to the hip joint position signalling that produces and kneed related control signal the servomotor in joint is separately carried out proportional-integral-differential control, make servomotor kinematic axis arrival assigned address; Circulation is found the solution the rhythm generator model and is controlled each joint servo motor, thereby makes robot realize walking forward with a kind of gait;
(5) run into obstacle when the contact-making switch of robot foot end, the contact-making switch start pulse signal is sent to the slave computer digital input port, slave computer detects this port status to be changed, change flexor reflex item parameter in the rhythm generator model, the output of rhythm generator is changed, its result makes robot lift the leg height to be increased, thus obstacle detouring;
(6) when the robot upslope, described obliquity sensor detects the ramp angles signal, this signal is delivered to the mould/number conversion interface of slave computer, slave computer reads this interface signal, change vestibular reflexes item parameter in the rhythm generator model, the output of rhythm generator is changed, consequently make the robot leg orientation adapt to ramp angles and change, thereby go up a slope;
(7) the control host computer sends the robot gait conversion instruction, repeats above-mentioned steps (1), adopts the pairing weight matrix of gait to be converted in the rhythm generator model of control slave computer operation, repeats above-mentioned steps (3), (4).
Robot is with adopting a self-defining hip-knee joint mapping function between the hip of leg, the knee joint, determine the functional relation of position angle each other, its method is: the motion of robot leg in one-period is divided into supports and swing mutually, it is motionless to be in support phase time knee joint, be in the swing phase time, obtain kneed control curve by the upset of hip joint control curve negotiating, translation transformation, i.e. hip-knee joint mapping function, formula is as follows:
The joint formal denotation:
A wherein
h, A
kBe hip, knee joint wobble amplitude; θ
h, θ
kBe respectively hip, knee angle control signal.Multi-form according to the robot leg joint, define symbol function sgn (ψ), when being knee formula joint, sgn (ψ) is-1, sgn (ψ) is 1 during for elbow formula joint.
The present invention compared with prior art has the following advantages and the high-lighting effect: 1. the present invention has set up a kind of system architecture that realizes the sufficient formula bio-robot motion control of animal rhythmic movement, and its hierarchy is corresponding with animal rhythmic movement control hierarchy.2. a kind of legged type robot control method that realizes the animal rhythmic movement has been proposed, by animal rhythmic movement control model is carried out engineering simulation, simplification and improvement, overcome the flexibility and the adaptability that lack based on model method, and based on high-rise adjusting function that behavioral approach lacked; 3. adopt described sufficient formula bio-robot control method, relevant parameter makes the robot generation more press close to the motor behavior of animal in the rhythm generator model by regulating, can produce four kinds of typical gaits (walking freely, the step of trotting, saunter, run) of animal, walking freely speed is about 0.3m/s, and can carry out the mutual conversion between the gait; 4. in control system, comprised reflection and regulated, need not environment or robot body are carried out modeling, made robot have adaptive capacity to environment preferably, can realize slope, 10 ° of left and right sides, cross over the high functions such as obstacle of 2cm; 5. control system hardware satisfies for realizing multi-foot robot (as six foots, eight foots etc.) rhythmic movement control desired properties, the neuron oscillator number that is comprised by expansion rhythm generator model in control system software can be realized the rhythmic movement control of multi-foot robot, is applicable to the simulation of animal rhythmic movement widely.
Description of drawings
Fig. 1 is a sufficient formula bio-robot control system overall plan of the present invention.
Fig. 2 is that sufficient formula bio-robot control system hardware of the present invention connects block diagram.
Fig. 3 is the control upper computer software flow chart described in the present invention.
Fig. 4 is the control slave computer software main program flow chart described in the present invention.
Fig. 5 is the control slave computer software interrupt service routine flow chart described in the present invention.
The sufficient formula bio-robot that Fig. 6 realizes for the present invention carries out rhythmic movement with four kinds of typical gaits control network topology structure.
The specific embodiment
The present invention is further illustrated below in conjunction with accompanying drawing.
Fig. 1 is a sufficient formula bio-robot control system overall plan of the present invention and since the rhythmic movement control system of animal be considered to layering with modular, can be divided into high-rise key-course, pattern genetic horizon and drive execution level.Its key-course on the middle and senior level sends movement instruction, and the rhythmic movement of control animal is initial; The pattern genetic horizon produces the rhythmic movement signal in multiple joint, thereby makes animal realize different motor patterns, and can carry out conversion each other; By driving execution level, promptly the skeletal muscle system of animal produces motion output.
Control network class seemingly with the animal rhythmic movement, set up the robot movement-control system who comprises three functional layers.Its key-course decision robot motion on the middle and senior level is initial, realizes the speed adjusting of robot and selection, the conversion of motor pattern, is realized by the control host computer; The pattern genetic horizon utilizes the neuron oscillator formation rhythm generator that is coupled mutually, neuron oscillator number is identical with robot hip joint number, each neuron oscillator produces a rhythm and pace of moving things signal, position signalling as the corresponding hip joint of robot, the position signalling of this hip joint obtains with the kneed related control signal of leg by conversion simultaneously, and the pattern genetic horizon is realized by the control slave computer; Drive the function of execution level, make robot produce motion with electromechanical servo system simulated animal muscle-skeleton motion system.
In control system scheme of the present invention, be that high-rise regulation and control had both been accepted at the center with the pattern genetic horizon, the transducing signal according to lower floor reflects adjusting again.It is according to biological reflectance mechanism that reflection is regulated, and to animal movement reflection carrying out engineering simulation, improves the adaptability of robot to environment.The present invention has set up three kinds of reflections, and wherein the stretching emission makes robot produce stable operation, and flexor reflex is used to make the robot obstacle detouring, and vestibular reflexes are used to make the robot climbing, and the collection of reflected signal is realized by corresponding sensing device.
Fig. 2 is that control system hardware of the present invention connects block diagram.Servomotor hardware layout and line on each joint of robot are all identical, and I is the control host computer among the figure; II is the control slave computer; III is servomotor and the sensing device on the robot body.The operating voltage of servo amplifier is provided by external power supply among Fig. 2.The driving voltage of servomotor is provided by corresponding servo amplifier.
Described control host computer is a PC, and the ISA slot is arranged on the PC mainboard, and vacant base I/O port address is arranged; It is the multiple-axis servo motion controller of core that described control slave computer adopts with digital signal processor (DSP), is industrial products, has general a plurality of servomotor kinematic axis to be carried out servo-controlled function.Adopt isa bus to link to each other between the upper and lower machine, the setting, the program that are used for slave computer are downloaded and operating data transmission.Need be used for communication between the upper and lower machine in advance at the base I/O port address of host computer appointment to the slave computer I/O.
The core of multiple-axis servo motion controller is a dsp chip, provide timer internal to interrupt, this outer controller also comprises outer internal memory of sheet and corresponding outside port, as comprising 8 D/A ALT-CH alternate channels at least, 12 programmable digital inputs, 4 digital output ends, 8 encoder interfaces, 1 mould/number changes passage etc.
Control object of the present invention is artificially routine with a four-leg bionic machine, every leg of this robot has a hip joint and a knee joint, drive by servomotor separately respectively, reach by control and robot is produced walk hip joint and knee joint servomotor; Simultaneously every leg also has a foot ankle-joint and is used for the passive adaptation landform.Sensing device is installed on robot body is collected feedback information: wherein, encoder is connected with the servomotor in each joint is coaxial, measures joint rotation angle and rotating speed; An inclinometer is installed in robot trunk center, and robot measurement body posture inclination angle (angle of pitch) is output as analog signal; Limit switch is installed on the extended line of each hip joint and knee joint swinging track, limits extreme position and definite encoder absolute zero position of joint swing, start pulse signal when thigh and calf is run into limit switch; Contact-making switch is installed on robot foot end front portion, when switch is run into obstacle, has a pulse signal to trigger.
When slave computer of the present invention moves, the control signal that produces passes to by the D/A switch passage on the control signal receiving terminal of servo amplifier, is converted to voltage signal through the servo amplifier internal circuit and links to each other with each joint servo motor by the servosignal output.Before the servomotor motion, also need to open and enable, enable signal sends to motor enable port on the servo amplifier by slave computer by digital output end, the enabled state of a corresponding servomotor of digital state output terminal, high level represents that unlatching enables, and low level is represented to forbid enabling.Slave computer is gone back the feedback signal of receiving sensor simultaneously, comprise: encoder is measured the corner and the rotating speed of servomotor, the encoder interfaces that feeds back on the control slave computer constitutes position closed loop, and slave computer is carried out proportional-integral-differential (PID) control mode to position closed loop; The pulse signal input of contact-making switch and limit switch links to each other with the digital input end of control slave computer, when pulse-triggered, the digital input port of correspondence is changed to high level; Obliquity sensor detection machine people attitude drift angle, the gained angle signal links to each other with the mould/number conversion passage of control slave computer.
Simultaneously, servomotor corner that encoder records and tach signal feed back to encoder interfaces on the servo amplifier by holding wire, carry out speed closed loop control, and speed closed loop is finished automatically by servo amplifier.
The layering and the modularization of corresponding control system hardware, control system software also is divided into upper computer software and slave computer software, and the two programmed environment all is installed on the host computer.After wherein program of lower computer is compiled, is linked as file destination, be downloaded to operation automatically the slave computer internal memory from host computer.Is industrial products for the multiple-axis servo motion controller as slave computer, comprised the dynamic link library that offers host computer, the function that comprises in these dynamic link libraries is used in the pc control procedure to be handled slave computer, comprises that whether intact detect lower computer hardware and to the value in hardware initialization, the read-write slave computer specified memory unit, read-write lower computer hardware setting functions such as (as sample rate, mould/number conversion side-play amount, PID constants).In addition, slave computer self comprises that also basic I/O function is used for reading and writing the data on each class interface that slave computer comprises; Comprise the servo motion control function and be used for finishing servo motion control function.
Upper computer software mainly comprises three subsystems: 1) robot higher nervous center subsystem, be used to realize be subjected to the function of the bio-robot higher nervous center of rhythmic movement control, and for example to the adjustment of rhythm generator model, comprise adjustment to parameter; 2) robot motion instructs transmission, be that host computer can send movement instruction to robot as high level regulation and control layer, include: servomotor enables, robot location's initialization, robot motion/stop, robot gait conversion, robot reset etc., for example allow the robot setting in motion, then can send 200 command control words to slave computer; 3) robot motion's parameter echo is used for the robot running status is monitored and regulated, and as the rhythm and pace of moving things signal and the difference between the joint of robot actual motion curve that slave computer relatively sends, judges according to these differences whether robot moves normal.The realization of above-mentioned all functions all depends on the communication between control host computer and the control slave computer.
For realizing the communication need between the control system upper and lower machine, four structure variablees have respectively been defined at the upper and lower machine, four shared spaces of structure variable are the communication buffer district, be respectively: 1) control slave computer SERVO CONTROL parameter, each is used to connect the D/A switch channel offset amount of servo amplifier, all encoder Clock Multiplier Factor and encoder resolution etc. to comprise servomotor kinematic axis PID constant, slave computer, these parameters hand down to slave computer, since less in the variation of slave computer run duration, so the static parameter of being used as; 2) various status informations, the digital input end state that comprises all hip joints of robot and motion of knee joint curve, sensor-lodging, send the digital output end state of servo channel enable signal, the mould/number conversion numerical value of reception inclinometer angle signal etc., these parameters are returned to host computer by slave computer; 3) be used for the rhythm generator model parameter that rhythm and pace of moving things signal produces, comprise coefficient, the original state matrix in the model and be used for weight matrix of gait conversion or the like, pass to slave computer, also as static parameter; 4) motion control commands, orders such as for example robot location's initialization, gait conversion, these control commands are corresponding to different command control words.In addition, for judging whether the variable that defines in the said structure body needs to upgrade, and also needs to increase an indexed variable in each structure in addition, and for example regulation is when indexed variable is 111, the expression structure can be updated, and represents that when indexed variable is 0 structure is non-renewable.
The method of carrying out data transmission between the upper and lower computer is: when the data that read from host computer the slave computer, then utilize the function of reading the slave computer specified memory in the described dynamic link library, by given slave computer and address, host computer connectivity port, target data address, the parameters such as position deposited, then can obtain the target data in the slave computer; When host computer writes data to slave computer, also, call corresponding function in the dynamic link library then by parameters such as given slave computer and host computer link slogan, deposit data address, target datas.
The control system host computer procedure flow chart that Fig. 3 realizes for the present invention.The control host computer is carried out following steps as high-rise key-course:
A) at first set up host computer to the controling environment of slave computer, comprising: load the dynamic link library that slave computer (multiple-axis servo motion controller) offers the host computer programmed environment, shown in step 30; The compiler and the linker instrument that utilize slave computer to provide compile, link program of lower computer, produce file destination, utilizing the program loader that file destination is downloaded in the slave computer internal memory moves, this moment is not because slave computer receives the host computer movement instruction, so robot does not move, shown in step 31; The function that utilizes described dynamic link library to provide carries out initialization to lower computer hardware, and whether detect hardware that slave computer comprises normal, so that the communication of setting up between the upper and lower computer connects, shown in step 32; Foundation is used for the communication buffer district of upper and lower computer communication, and storage allocation space, the function that reads the slave computer specified memory that utilizes dynamic link library to provide obtains upper and lower machine address, host computer can be by the position machine transmission various command downwards of this address, slave computer can return running status to host computer by this address simultaneously, shown in step 33.
B) the read machine people moves global variable, if 1 expression robot is movable, shown in step 34, host computer is waited for the user command input afterwards, as step 35, various command is interpreted as different command control words, as step 36, utilize provide in the dynamic link library write the function of data to the slave computer internal memory, this command control word is put into the address of the reception host computer command control word of slave computer communication buffer district setting, as step 37, slave computer reads these data, produces motion accordingly.These orders comprise: servomotor enables, robot operation front position initialization, operation/stop (comprising reflection regulate, as obstacle detouring, upward slope), gait conversion, robot reset etc.Detect slave computer ruuning situation, and will show the result, as step 38.
C) if robot operation global variable is 0, the expression robot is out of service, utilizes the function in the dynamic link library that lower computer hardware is returned to the preceding state of operation; The dynamic link library that calls in discharging a) simultaneously, as step 39,40, host computer procedure finishes.
Following table is corresponding control word for the robot motion orders:
| Robot motion's instruction | The unlatching servomotor enables | Robot operation front position initialization | Move/stop | The gait conversion | Robot resets | Change the configuration of leg relative bearing |
| Command control word | 198 | 199 | 200 | 201 | 202 | 203 |
Program of lower computer can be divided into two tasks: 1) be provided with to the more servo-controlled basic parameters of robot, with upper machine communication, handling interrupt etc., be arranged in main program; 2) according to the method for rhythmic movement control robot is carried out motion control,, be arranged in the interrupt service routine of a timer with the basis that is sampled as to the time.Wherein main program flow chart is mainly carried out following steps as shown in Figure 4:
A) import basic I/O function and the servo motion control function storehouse that the slave computer motion control provides, some specifying informations before the designated movement control, comprise: servomotor kinematic axis number on the robot body is made as 8, will be made as 12ms the sampling period (can according to slave computer speed of service choose reasonable) etc., shown in step 1; The initialization function that utilizes slave computer to provide comes initialization lower computer hardware structure, checks whether each parts that slave computer comprised are normal, shown in step 2;
B) the PID controller of all SERVO CONTROL passages of initialization slave computer, so that servomotor kinematic axis all on the robot body is carried out proportional-integral-differential (PID) control, wherein SERVO CONTROL passage of slave computer is controlled a corresponding servomotor kinematic axis, shown in step 3; For with the upper machine communication allocation buffer, the size of buffering area is taken up space by 4 structure variablees of top said definition, shown in step 4;
C) be provided with some basic parameters before the robot SERVO CONTROL, operation to all servomotor kinematic axis is all identical, so carry out cycling, realize by the SERVO CONTROL function that utilizes slave computer to provide, be respectively: all servomotor kinematic axis basic exercise control parameters are set, the servomotor that the motion control passage of slave computer is corresponding different respectively, and the significant level type of appointment SERVO CONTROL passage and the direction passage and the significant level of servo motion axle, the control signal that makes all servomotor kinematic axis is the numerical value of exporting in the corresponding D/A switch passage that slave computer had, shown in step 5; The position feedback information of each servomotor kinematic axis is set, comprises the signal type and the feedback channel that carry out position feedback, servo-controlled position feedback passage is identical with the slave computer SERVO CONTROL channel number of this servomotor of control, shown in step 6; Initialization codes device hardware comprises that the encoder channel number is identical with the servomotor channel number of coaxial connection, specifies its Clock Multiplier Factor, signal polarity, PG constant is set and to all encoder channel counts value zero clearings, shown in step 7; The side-play amount of all D/A switch passages that implementation is controlled to servomotor is set, shown in step 8; Proportional-integral-differential (PID) the control parameter (the general integral constant is a high-order a small amount of, and derivative constant is zero) of all servomotor kinematic axis is set, shown in step 9; Send " forbidding enabling " signal for all servomotor enable signal passages, method is with the zero setting of corresponding digital state output terminal, thereby makes each servomotor kinematic axis keep motionless, shown in step 10; With each digital input end state zero setting, thus the pulse signal of transmissions such as shielding limit switch, contact-making switch, and with mould/number conversion passage reading zero setting, shown in step 11;
D) after aforesaid operations is finished, open timer and interrupt, shown in step 12, the beginning handling interrupt, shown in step 14, each sampling period interrupts once, will transfer to the task that robot carries out rhythmic movement control to interrupt handling; And enter upper and lower machine communication Infinite Cyclic, shown in step 13, respond the various movement instructions that host computer transmits, and the slave computer state is returned to host computer.
Control slave computer handling interrupt, use the timer interrupt service routine to come the concrete function of handling machine people rhythmic movement control, the method that adopts is as follows: adopt the neuron oscillator to set up the rhythm generator model in interrupting processing, the number of neuron oscillator is identical with robot hip joint number, according to four weight matrix of four kinds of typical gait definition, the neuron oscillator is coupled mutually by weight matrix; In a sampling period, select the corresponding weights matrix according to the gait that will produce, find the solution the rhythm generator model, obtain the output of rhythm and pace of moving things signal, position signalling as each hip joint of robot, this position signalling is obtained with the kneed related control signal of leg through hip-knee joint mapping function conversion, according to the hip joint position signalling that produces and kneed related control signal the servomotor in joint is separately carried out proportional-integral-differential control, make servomotor kinematic axis arrival assigned address; Circulation is found the solution the rhythm generator model and is controlled each joint servo motor, thereby makes robot realize walking forward with a kind of gait;
When the contact-making switch of robot foot end is run into obstacle, the contact-making switch start pulse signal is sent to the slave computer digital input port, slave computer detects this port status to be changed, change flexor reflex item parameter in the rhythm generator model, the output of rhythm generator is changed, making robot lift the leg height increases, thus obstacle detouring;
When the robot upslope, described obliquity sensor detects the ramp angles signal, this signal is delivered to the mould/number conversion interface of slave computer, slave computer reads this interface signal, change vestibular reflexes item parameter in the rhythm generator model, the output of rhythm generator is changed, and its effect is to make the robot leg orientation adapt to ramp angles to change, thereby goes up a slope;
In the time will carrying out the gait conversion, send the robot gait conversion instruction by the control host computer, in the rhythm generator model, adopt the pairing weight matrix of gait to be converted to participate in computing, repeat above-mentioned steps, can finish the gait conversion.
It is as follows to carry out the initialized method of robot location: when robot leg is run into limit switch separately as counting zero point of each joint encoder, make servomotor motion in the other direction regulation count value then, count value is determined according to the angle that will swing, PG constant and Clock Multiplier Factor etc., then transforms to the initialized location of robot.
It is as follows to carry out the method that robot resets: control each servomotor and on the current location basis, continue equidirectional motion, when all legs are run into limit switch separately, but this moment robot all large and small leg levels place ground, reset so reached.
Fig. 5 is a timer interrupt service routine flow chart, and promptly the step 14 in the slave computer main program flow chart is carried out gait with robot and is converted to example, the main following steps of carrying out in a sampling period:
A) enter interrupt to handle after, the state when reading the operation of systems such as each digital input of slave computer, state output terminal, servomotor kinematic axis current location, and state value write corresponding communication buffer district is kept supplying machine-readable the getting in position, shown in step 20;
B) read the indexed variable that is provided with in the described slave computer communication buffer district and judge whether the static parameter of slave computer needs to refresh, shown in step 21, static parameter in the buffering area is mainly the lower computer hardware setting, as PID constant, D/A switch side-play amount, PG constant and Clock Multiplier Factor etc.; Also comprise the rhythm generator Model parameter in addition, these parameters are constant substantially during the robot motion;
C) reading the indexed variable that is provided with in the slave computer communication buffer district and judge whether the command parameter of slave computer needs to refresh, mainly is the various command control word of down passing on from host computer, shown in step 22;
D) compare the servomotor enabled state (reading the digital output end state that enables the pairing slave computer of passage) that is provided with in the communication buffer district, when if enabled state takes place from the saltus step of forbidding allowing, promptly change to 1 from 0, obtain motor movement axle current location value, initial position when this numerical value carries out PID control with work to servomotor, and return to host computer as the robot running status, shown in step 23;
E) read and judge that robot moves/cease and desist order global variable (1 expression operation, 0 expression stops) whether be " RUN ", shown in step 24, if, processing c) the action command control word in the step, allow robot carry out corresponding motion, be converted to the example explanation with robot gait: read the communication buffer district, if command control word is 201, represent that then robot need transform to another gait from current gait, shown in step 25, change the weight matrix of current employing in the rhythm generator model, transform to the pairing weight matrix of gait to be converted, shown in step 26, make the rhythm generator model produce output again through an iteration, the rhythm and pace of moving things output signal sequence of this moment is gait burst to be converted, shown in step 27, with the position signalling of this burst as the robot hip joint, and with the target location of this position signalling as servomotor, with d) difference of the servomotor current location value that obtains in the step is as the deviation signal of PID control, shown in step 29, finally make each joint arrive the target location, the target location of hip joint motor obtains the target location of knee joint motor through conversion simultaneously, shown in step 28, defer to same PID control law, make the knee joint motor arrive the target location.After an interrupt cycle, produce timer again and interrupt, enter next round then and interrupt handling, shown in step 32, repeat from a) to d) several steps, its result is exactly that servomotor drive robot constantly travels forward with another gait; Global variable is represented " robot stops " if move/stop, and the servomotor that respectively allows to enable is remained on d) the middle current location that is provided with.
The core algorithm of above-mentioned interrupt service routine is the rhythm generator model, and weight matrix, the reflection that produces hip-knee joint mapping function, the gait conversion of motion of knee joint curve in addition in addition regulated etc., realizes according to following method respectively in program:
The rhythm generator model:
The generation of rhythmic movement signal produces by the rhythm generator Mathematical Modeling in the control system of the present invention, we have carried out perfect to the neuron oscillator of loose hilllock clear sharp (Matsuoka) and Kimura's great (Kimura) central pattern generator (cpg) model, obtained quadruped rhythm generator Differential Equation Model: for quadruped robot, connect four oscillators by weighted digraph, constitute network model, each hip joint of robot is controlled by an oscillator, four oscillators are as four summits of digraph, adopt holohedral symmetry to connect between the summit, that is, there is directed edge between any two summits.Adjacency matrix W=(the w of prototype network figure
Ij)
1 * 1As the weight matrix of rhythm generator model, element w
IjExpression oscillator j is to the connection weight of i.The rhythm generator model is described by equation group (1):
g(u)＝max(u，0)
(i，j＝1，…，n；k＝1，…，m)
(·＝d/dt)
Wherein, i, f, e represent i oscillator, musculus flexor, extensor neuron respectively.The formula left side is the cell state item, u
iBe the inside neurons state; First on the right is a cell endoadaptation item, v
iBe neuron fatigue (suppressing certainly) degree, b is an accommodation coefficient; Second is the iuntercellular coupling terms, and a is the iuntercellular rejection coefficient; The 3rd is coupling terms between oscillator, y
i E, fBe neuronic output, w
IjBe the connection weight of neuron j to i; The 4th external feedback item for rhythm generator control network, s
JkBe k the external feedback input of oscillator i, h
kFor suppressing weight; The 5th c is the live input from high level; T
rBe rise-time constant, T
aBe the adaptation time constant; G (u) is the threshold function; y
iFor the rhythm and pace of moving things signal output of oscillator, as the position control signal of joint of robot.
For making the oscillator starting of oscillation, definition u[4] [4] (every row element is respectively u
i f, u
i e, v
i f, v
i e) as the original state matrix, each element is to be no more than 1 random number in the matrix.In equation group, can obtain different output y by regulating relevant parameter
i, obtaining the different motion pattern of robot, method is: regulate c and change output amplitude, can change the wobble amplitude of robot leg, be essentially linear relationship; By regulating T
rObtain different cycles of oscillation, change the robot ambulation cycle.Above-mentioned central pattern generator (cpg) model can utilize classical 4 rank dragon lattice one storehouse tower method to find the solution.
Hip one knee joint mapping function:
Adopt a self-defined mapping function to be associated between the hip of identical leg, the knee joint, to determine the functional relation of position angle, i.e. the output y of hip joint each other
iThrough mapping function, obtain the kneed position control signal of identical leg, thereby knee joint is carried out association control.Generally speaking, the leg of mammal experience is swung phase and is supported two stages mutually, and as a period of motion, in the swing phase of motion, knee joint and hip joint are synchronized with the movement.In hip joint preceding 1/4 cycle of swing, knee joint shrinks, and in swing phase midpoint, it is maximum that amount of contraction reaches; In back 1/4 cycle of hip joint swing, knee joint stretches, and at swing phase terminal point, sets back.Supporting phase, the hip joint swing, it is motionless that knee joint keeps substantially.We are according to the characteristics of motion of animal shank, robot leg motion is divided into swing and supports mutually, it is motionless to be in support phase time knee joint, is in the swing phase time, obtain kneed control curve by the upset of hip joint control curve negotiating, translation transformation, i.e. hip-knee joint mapping function:
The joint formal denotation:
Shown in equation group (2), A wherein
h, A
kBe hip, knee joint wobble amplitude; θ
h(t), θ
k(t) be respectively hip, knee angle control signal.Multi-form according to the robot leg joint, define symbol function sgn (ψ), when being knee formula joint, sgn (ψ)=-1 is sgn (ψ)=1 during for elbow formula joint.
The generation of four kinds of typical gaits and gait conversion:
Regulate the weight matrix W (w in the above-mentioned equation group (1)
Ij) make output present different phase sequences, realize different motion gaits and the mutual conversion between the different gait, concrete grammar is as follows:
The four-footed mammal has four kinds of typical gaits, (1) walking freely; (2) trot; (3) saunter the step; (4) run.Walking freely refers to that each foot rises and falls successively, and phase difference is 1/4 gait; Trotting is the diagonal angle gait, and the diagonal angle leg rises and falls in pairs, and phase difference is 1/2 between two pairs; Sauntering to go on foot is meant that the leg of homonymy rises and falls in pairs, and phase difference is 1/2 gait between two pairs; Running is meant that the front and back leg rises and falls in pairs, and phase difference is 1/2 gait between two pairs.In the rhythm generator network model, the connection weight matrix can be described the phase relation between the neuron oscillator, and has specific corresponding relation between the gait.For the mammiferous sufficient formula bio-robot of similar four-footed, it is netted to adopt four oscillator holohedral symmetrys to connect and compose, and a hip joint of each oscillator control robot is as Fig. 6.Element w among the weight matrix W
IjBe defined as the connection weight of leg (also being oscillator) j to i.We have proposed three value principles of W:
1) do not exist in the rhythm generator network from suppressing.Therefore, the connection weight of every leg self is 0, and the leading diagonal element of W all is 0.
2) inhibition of any two legs relation is mutual, equal.Therefore, W is a symmetrical matrix.
3) if two legs has same phase relation arbitrarily, adopt excitability to connect, respective element is 1; Have out-phase or anti-phase relation, adopt inhibition to connect, respective element is-1.
According to top value principle, can determine weight matrix.Arrow is depicted as the robot direction of advance among Fig. 6, and Fig. 6 a is a walking freely gait topological structure, adopts the holohedral symmetry syndeton, connects (representing with-1), weight matrix w for inhibition between the leg arbitrarily
IjShown in following (a); Fig. 6 b is the topological structure of trotting, and the diagonal angle leg adopts excited connect (representing with+1), and left and right sides leg adopts and suppresses to connect weight matrix w
IjShown in (b); Fig. 6 c is the topological structure in step of sauntering, and corresponding leg be excited the connection, about and adopt between the diagonal angle leg and suppress connection, weight matrix w
IjShown in (c); Fig. 6 d is the topological structure of running, and is excited the connection between the leg of the left and right sides, adopts between front and back and the diagonal angle leg and suppresses to connect weight matrix w
IjShown in (d).By changing following 4 kinds of gait corresponding weights matrix W, can realize the conversion of corresponding gait.
The reflection regulation mechanism of robot:
The present invention has set up three kinds of reflection regulation mechanisms: stretch reflex (being used for stable operation), vestibular reflexes (being used for going up a slope), musculus flexor emission (realization obstacle detouring), and reflect adjusting and mainly utilize feedback term s in the above-mentioned rhythm generator model
Jk, S (s
Jk) be one 4 * 4 matrix, every row are represented stretch reflex item parameter, vestibular reflexes item parameter, flexor reflex item parameter from left to right successively.Every row is represented left front, right front, right back, the left back hip joint of robot from top to bottom successively, and wherein stretch reflex is mainly restrained by driving executive system employing PID SERVO CONTROL and realized, so s
JkStretch reflex item parameter is zero entirely in first row.With the robot obstacle detouring is example, its method is: the bar leg is run into obstacle when robot, with this leg as the reflection leg, place the anterior contact-making switch of emission leg foot end to trigger, the pulse signal that sends is sent to the digital input end of control slave computer, slave computer detects this digital input end state variation, revises reflection matrix S (s
Jk), the flexor reflex model is added.The flexor reflex model is divided into two stages: 1) retraction stage, reflection model are a negative constant, and the output amplitude of rhythm generator is diminished, reflection leg retraction; 2) protract the stage, reflection model is a positive constant, and the output amplitude of rhythm generator is increased, and the reflection leg protracts.Retraction stage, knee joint keep motionless, protract the stage, and knee joint increases to maximum amplitude with maximum capacity.The Union Movement of knee hip joint makes the robot foot end increase in the terrain clearance of barrier point, thus leaping over obstacles.Vestibular reflexes incorporate reflection matrix S (s by the ramp angles signal that obliquity sensor is collected
Jk) in, the output frequency of rhythm generator is reduced, regulate leg and slope angle before and after the robot simultaneously, thereby realize going up a slope.
Claims (4)
1. sufficient formula bionic robot control device of realizing the animal rhythmic movement, this device comprises and contains controlled hip joint and kneed sufficient formula bionic machine human body, servo amplifier, sensing device and control computer, system power supply is characterized in that: each joint drives by servomotor; Described sensing device comprises and the coaxial encoder that is connected of servomotor, be installed in the attitude surveyed in the robot body obliquity sensor, be installed in the limit switch on each joint swinging track, the anterior contact-making switch of foot end; Described control computer comprises the control host computer that contains high-rise regulation and control software and contains the control slave computer of robot being carried out the rhythmic movement control program that the control host computer links to each other with the control slave computer by isa bus; It is the multiple-axis servo motion controller of core that described slave computer adopts with the digital signal processor, and this multiple-axis servo motion controller contains the timer that can produce interrupt signal; Described obliquity sensor links to each other with the mould/number conversion passage of slave computer, and described limit switch links to each other with the digital input end of slave computer respectively with contact-making switch; The output of described encoder links to each other with the encoder interfaces of servo amplifier and slave computer respectively; The D/A switch passage of control slave computer links to each other with the servosignal receiving terminal on the servo amplifier, its digital output end links to each other with enable port on the servo amplifier, and servo amplifier links to each other with each servomotor on the robot body by the servosignal output again; The neuron oscillator formation rhythm generator that is coupled mutually, produce rhythm and pace of moving things signal, position signalling as the robot hip joint, the corresponding robot hip joint of the output of one of them neuron oscillator, the position signalling of this hip joint obtains with the kneed related control signal of leg by conversion simultaneously.
2. according to the described sufficient formula bionic robot control device of claim 1, it is characterized in that: described multiple-axis servo motion controller contains 8 D/A ALT-CH alternate channels, 8 encoder interfaces, 12 digital input ends, 8 digital output ends and 1 mould/number conversion passage at least.
3. sufficient formula bio-robot control method that realizes the animal rhythmic movement, it is characterized in that: this method adopts three functional layers to control, high-rise key-course simulated animal higher nervous center is to the regulating and controlling effect of motion, the robot motion is initial in decision, realize the speed adjusting of robot and the selection and the conversion of motor pattern, realize by the control host computer; The pattern genetic horizon utilizes the neuron oscillator formation rhythm generator that is coupled mutually, produce rhythm and pace of moving things signal, position signalling as the robot hip joint, the corresponding robot hip joint of the output of one of them neuron oscillator, the position signalling of this hip joint obtains with the kneed related control signal of leg by conversion simultaneously, is realized by the control slave computer; The control slave computer is carried out SERVO CONTROL according to the hip joint that is produced and eval signal to joint separately, by the function that drives execution level usefulness electromechanical servo system simulated animal muscle-skeleton motion system; Described control method comprises the steps:
(1) the control host computer sends robot motion's instruction, movement instruction is interpreted as corresponding command control word, data transfer function in the dynamic link library that utilization control slave computer provides is sent to this command control word in the communication buffer district of control slave computer, the control slave computer reads this command control word, begins to carry out;
(2) control slave computer initialization and detection hardware, servomotor kinematic axis basic exercise control parameter, each kinematic axis position closed loop, encoder hardware parameter, D/A switch side-play amount, proportional-integral-differential constant are set, servomotor enables and sensor signal input channel state parameter, the timer of opening slave computer afterwards interrupts, interrupt being triggered and handling interrupt through each sampling period, carry out the communication Infinite Cyclic with the control host computer simultaneously;
(3) the control slave computer enters and interrupts handling, adopt the neuron oscillator to set up the rhythm generator model, wherein neuron oscillator number is identical with robot hip joint number, and according to four weight matrix of four kinds of typical gaits definition, the neuron oscillator is coupled mutually by weight matrix;
(4) the control slave computer is selected the corresponding weights matrix according to the gait that will produce in a sampling period, find the solution the rhythm generator model, wherein the output of the rhythm and pace of moving things signal of each neuron oscillator is as the position signalling of the corresponding hip joint of legged type robot, this position signalling is obtained with the kneed related control signal of leg through hip-knee joint mapping function conversion, according to the hip joint position signalling that produces and kneed related control signal the servomotor in joint is separately carried out proportional-integral-differential control, make servomotor kinematic axis arrival assigned address; Circulation is found the solution the rhythm generator model and is controlled each joint servo motor, makes robot realize walking forward with a kind of gait;
(5) run into obstacle when the contact-making switch of robot foot end, the contact-making switch start pulse signal is sent to the slave computer digital input port, slave computer detects this port status to be changed, change flexor reflex item parameter in the rhythm generator model, the output of rhythm generator is changed, its result makes robot lift the leg height to be increased, thus obstacle detouring;
(6) when the robot upslope, described obliquity sensor detects the ramp angles signal, this signal is delivered to the mould/number conversion interface of slave computer, slave computer reads this interface signal, change vestibular reflexes item parameter in the rhythm generator model, the output of rhythm generator is changed, consequently make the robot leg orientation adapt to ramp angles and change, thereby go up a slope;
(7) the control host computer sends the robot gait conversion instruction, repeats above-mentioned steps (1), adopts the pairing weight matrix of gait to be converted in the rhythm generator model of control slave computer operation, repeats above-mentioned steps (3), (4).
4. according to the described control method of claim 3, it is characterized in that: robot is with adopting a self-defining hip-knee joint mapping function between the hip of leg, the knee joint, determine the functional relation of position angle each other, its method is: the motion of robot leg in one-period is divided into supports and swing mutually, it is motionless to be in support phase time knee joint, be in the swing phase time, obtain kneed control curve by the upset of hip joint control curve negotiating, translation transformation, be hip-knee joint mapping function, formula is as follows:
The joint formal denotation:
A wherein
h, A
kBe hip, knee joint wobble amplitude; θ
h(t), θ
k(t) be respectively hip, knee angle control signal; Multi-form according to the robot leg joint, define symbol function sgn (ψ), when being knee formula joint, sgn (ψ) is-1, sgn (ψ) is 1 during for elbow formula joint.
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