WO2017092463A1 - 一种双足机器人的步态控制方法和装置 - Google Patents
一种双足机器人的步态控制方法和装置 Download PDFInfo
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- G—PHYSICS
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Definitions
- the present invention relates to the field of robot technology, and in particular, to a gait control method and apparatus for a biped robot.
- the biped robot is a robotic system that imitates the structure and motion form of the human leg. It has the motion characteristics of the human leg, and has complex interaction with the ground during the walking process.
- the biped robot has higher requirements for stability control when walking. Therefore, reasonable gait control is a prerequisite for realizing the dynamic walking of the biped robot.
- a complete gait of the biped robot includes three stages: start, middle step and stop.
- the start-up phase and the stop-step phase are very critical parts of gait control, and are related to whether the robot can successfully enter the walking state and end the walking state.
- the current research on biped robots mainly focuses on the gait control in the middle step, while the gait control in the starting and stopping stages is less studied.
- the walking phase and the stopping phase are poorly stable in walking, and the walking state cannot be stably entered and the walking state is stably ended.
- the invention provides a gait control method and device for a biped robot, which solves the problem that the existing biped robot gait control scheme has poor walking stability and can not stably enter the walking state and stably end in the initial stage and the stop stage.
- the problem of walking status is not stably enter the walking state and stably end in the initial stage and the stop stage.
- a gait control method for a biped robot including:
- the first value of each gait control parameter at the beginning of the centroid phase and the second value of the gait control parameter at the end of the middle step phase are obtained;
- the walking of the biped robot is controlled, so that the motion trajectory of the centroid of the biped robot satisfies the movement trajectories of the centroid in the starting phase, the middle step and the stopping phase, so as to realize the stable walking of the biped robot.
- a gait control apparatus for a biped robot comprising:
- the trajectory acquisition unit in the center of mass center is used to select the gait control parameters of the biped robot in the starting phase, the middle step phase and the stopping phase, and obtain the centroid of the biped robot when the zero moment point of the biped robot is located in the stable region The trajectory of the movement in the middle step;
- a parameter value obtaining unit configured to obtain a first value of each gait control parameter at the beginning of the middle step stage and a second value of each gait control parameter at the end of the middle step stage according to the motion trajectory of the center step phase centroid ;
- a constraint setting unit configured to set, by using the first value, a first constraint condition that the centroid needs to be satisfied at the end of the start phase, and use the second value to set a second constraint condition that the centroid needs to satisfy at the beginning of the stop phase;
- centroid start-stop phase trajectory calculation unit configured to calculate motion trajectories of the centroid in the starting phase and the stopping phase respectively based on the first constraint condition and the second constraint condition;
- the centroid trajectory control unit is used to control the walking of the biped robot, so that the motion trajectory of the center of mass of the biped robot satisfies the motion trajectories of the centroid in the starting phase, the middle step phase and the stopping phase, so as to realize the stable walking of the biped robot.
- the beneficial effects of the present invention are: the gait control scheme of the biped robot of the embodiment of the present invention, first selecting the gait control parameter of the biped robot, and acquiring the zero force of the biped robot
- the motion trajectory of the centroid in the middle step and the first value and the second value corresponding to the gait control parameters determine the motion trajectory of the centroid in the starting phase according to the first value, and use the second Numerically calculate the trajectory of the centroid in the stop phase, so that the gait control parameters are used to achieve the continuous connection between the start phase and the stop phase, respectively, and the mid-step phase is limited by the ZMP condition to ensure the stable walking of the robot.
- the scheme provides a new control scheme for the walking gait of the joints of the legs based on the centroid-based motion trajectory on the basis of ensuring that the robot's centroid satisfies the stable walking.
- This control scheme can further increase the stability of the walking process. Improve the efficiency of the entire walking process and achieve a stable start and end of the walking process.
- FIG. 1 is a schematic flow chart of a biped robot gait control method according to an embodiment of the present invention
- FIG. 2 is a front view of a two-legged model of a biped robot according to an embodiment of the present invention
- FIG. 3 is a side elevational view of a two-legged model of a biped robot according to an embodiment of the present invention
- FIG. 4 is a schematic diagram showing a walking position projection of a biped robot according to an embodiment of the present invention.
- Figure 5 is a schematic diagram of the principle of a linear inverted pendulum model
- FIG. 6 is a front view of a support leg of a biped robot according to an embodiment of the present invention.
- FIG. 7 is a front view of a swinging leg of a biped robot according to an embodiment of the present invention.
- Figure 8 is a side elevational view of a biped robot with legs according to an embodiment of the present invention.
- FIG. 9 is a schematic diagram of a swing angle of a shoulder of a biped robot according to an embodiment of the present invention.
- FIG. 10 is a schematic diagram showing a joint angle control structure of a biped robot according to an embodiment of the present invention.
- the technical solution of the embodiment of the invention provides a complete gait control scheme for the biped robot to stabilize walking, which can achieve stable starting and stopping more effectively. Moreover, by obtaining the motion trajectory of the middle step stage while satisfying the zero moment point always falling in the stable area, the motion trajectory of the starting, stopping and middle step stages is reasonably connected in position, speed and/or acceleration. To ensure that stability conditions are met in both the start and stop phases.
- the scheme utilizes the transformation between potential energy and kinetic energy during the movement of the robot, and can quickly start and end the normal walking process in one step, avoiding the need for several stages in the existing solution to reach and end the normal walking state. The problem is to achieve a stable and fast walking of the biped robot.
- a biped robot gait control method includes the following steps:
- Step S11 selecting gait control parameters of the biped robot in the starting phase, the middle step phase and the stopping phase, and acquiring the zero moment point of the biped robot (Zero Moment Point, ZMP for short) is located in the stable region, the biped robot The trajectory of the center of mass in the middle step;
- Step S12 obtaining a first value of each gait control parameter at the beginning of the middle step and a second value of each gait control parameter at the end of the middle step at the center of the middle step according to the motion trajectory of the center step phase;
- Step S13 using the first value to set a first constraint condition that the centroid needs to be satisfied at the end of the start phase, and using the second value to set a second constraint condition that the centroid needs to satisfy at the beginning of the stop phase;
- Step S14 calculating motion trajectories of the centroid in the starting phase and the stopping phase respectively based on the first constraint condition and the second constraint condition;
- Step S15 controlling the walking of the biped robot, so that the motion trajectory of the centroid of the biped robot satisfies the motion trajectories of the centroid in the starting phase, the middle step phase and the stopping phase, thereby realizing the stable walking of the biped robot.
- the gait control parameters in step S11 include three parameters: position, velocity and acceleration, or the gait control parameters include position and velocity.
- each parameter of the gait control parameter includes three directional components in the forward, lateral, and vertical directions when the biped robot is walking.
- the gait control method of the biped robot of the present embodiment controls the trajectory of the centroid of the biped robot in both the starting and stopping phases, and controls the trajectory of the centroid of the biped robot while walking. It satisfies the movement trajectories of the center of mass in the starting phase, the middle step and the stopping phase, and realizes the stable walking of the biped robot. Due to the obtained centroid motion trajectory in the middle step, the stable walking condition is satisfied, and the corresponding calculus parameters determined by the centroid motion trajectory in the middle step are used to control the motion trajectory of the centroid in the starting phase and the stopping phase, and the stability can be ensured. .
- the method of the embodiment can ensure the stability of the start phase and the stop phase, and at the same time make the start phase better interface with the middle step, the middle step stage and the stop stage.
- the biped robot is able to walk stably during a complete walk.
- FIG. 2 is a front view of a two-legged model of a biped robot according to an embodiment of the present invention
- FIG. 3 is a side view of a two-legged model of a biped robot according to an embodiment of the present invention
- FIG. 4 is a side view of the present invention.
- M1 to m7 respectively indicate the mass of the link.
- the traveling direction of the biped robot is the x-axis (ie, the forward direction), and the lateral direction of the biped robot is the y-axis (such as the right side of the walking), in a direction perpendicular to the ground.
- the projection of the ankle joint of the support leg of the biped robot on the ground is taken as the coordinate origin, and the horizontal advancing direction is the X axis, and the lateral direction of the walking is the Y axis.
- XOY plane rectangular coordinate system
- the new support point is taken as the coordinate origin
- the horizontal advancing direction is the X axis
- the lateral direction of the walking is the Y axis
- the biped robot's own plane rectangular coordinate system (XOY) is constructed
- the termination state of the previous support point is The initial state
- the robot has started a new single step, and these single steps are connected to form the continuous walking mode of the robot.
- the projection of the ankle joint with the right support leg on the ground is taken as the coordinate origin (ie, the O point represents the projection of the biped robot's right leg in the plane rectangular coordinate system, and the O point is predetermined in the Y-axis direction.
- the point of the distance represents the projection of the left leg of the biped robot in the plane Cartesian coordinate system).
- the point on the X-axis represents the motion trajectory of the right support leg when the biped robot is walking
- the point on the left side of the X-axis and at a predetermined distance from the X-axis represents the motion trajectory of the left support leg.
- the gait control parameters are exemplified for position, velocity and acceleration.
- the biped robot gait control scheme must consider its stability.
- ZMP Zero Moment Point
- ZMP is used as an important basis for the dynamic walking stability of the biped robot.
- ZMP is the point of action of the combined force of the robot on the sole of the support leg, and at this point the resultant moment is zero in the horizontal direction.
- the stable area is the projection of the convex area formed by the support feet on the horizontal plane.
- the middle step is a stable periodic walking phase of the biped robot.
- a complete single step is divided into a single leg support period (set time T 1 ) and a two-leg support period (set time T 2 ), and the entire middle step stage has Multiple periodic single-leg support periods and two-leg support periods.
- the linear inverted pendulum model is used to control the trajectory of the centroid to ensure that the robot satisfies the stability condition when walking (ie, the zero moment point ZMP is always located in the stable region).
- the present invention is not limited to the linear inverted pendulum model, and other models may be used to calculate the motion trajectory of the centroid.
- the trajectory is used to obtain the value of each gait control parameter at the beginning of the middle step at the center of the middle step, and the centroid is obtained at the end of the middle step.
- the value of each gait control parameter is taken as the second value; more specifically, the following information is obtained for the biped robot: the position of the centroid in the x-axis direction of the coordinate system at the start of the centroid phase X d (0) ,speed And acceleration Position Y d (0), speed in the y-axis direction And acceleration And the position of the centroid in the x-axis direction of the coordinate system at the end of the middle step, X s (0), speed And acceleration Position Y s (0), speed in the y-axis direction And acceleration If the walking stability is maintained throughout the middle step, the center of mass of the biped robot is set to be constant, that is, the position of the centroid in the z-axis direction is constant, and the velocity and acceleration are
- the first value and the second value described above are obtained from the calculation result of the linear inverted pendulum model.
- the construction of the linear inverted pendulum model and the calculation of the linear inverted pendulum model are not the focus of the embodiment of the present invention, and can be implemented by using the prior art solution.
- the specific algorithm is not described again, and is only briefly described as follows.
- the robot with the two-leg support period is simplified into a virtual linear inverted pendulum model.
- FIG. 5 is a schematic diagram of the linear inverted pendulum model principle used in the embodiment, as shown in FIG.
- the model uses the ZMP point of the robot motion as the virtual pivot point, and the robot centroid 51 as the mass point of the linear inverted pendulum model.
- the support foot 52 and the support leg 53 are the two support legs of the robot with the two legs supporting period, and the ZMP point is the virtual pivot point of the inverted pendulum , located between the two support feet.
- the inverted pendulum model is characterized by a constant height of the center of mass and no torque at the bottom of the pendulum. That is, in the middle step stage, the height of the center of gravity of the biped robot is constant, which is a predetermined value Hz.
- the motion trajectory of the ZMP during the support period of the legs is first planned, and then the motion trajectory of the centroid is solved.
- the ZMP can be smoothly moved from the previous supporting foot to the later supporting foot, and the continuity of the centroid speed change can be ensured, thereby enhancing the stability of the robot walking movement.
- ZMP equation x (. 1) of the x coordinate of the ZMP, ZMP equation y (2) for the y-axis coordinates of the ZMP, Hz height centroid in step phase, g is the gravitational acceleration.
- the equation of motion of the centroid in the x-axis direction and the y-axis direction during the single-leg support period is:
- the ZMP position x ZMP and y ZMP need to be planned in advance in the support domain composed of the robot's two feet to make it move smoothly in the support domain. And to deal with the constraint relationship between the boundary conditions between the support period of the legs and the support period of the single leg, that is, the boundary between the formulas (1), (2) and the formulas (3), (4) is kept continuous to ensure that they A smooth transition between the two.
- the trajectories of the centroids in the x-axis direction and the y-axis direction at the start of the two-leg support period in the middle step can be obtained, and the gait control parameters at the start time of the support period of the legs can be obtained.
- the first value corresponding to position, velocity and acceleration respectively: X d (0), Y d (0)
- the gait control parameters at the beginning of the one-leg support period respectively: X s (0), Y s (0)
- the acquired first and second values are then used for centroid trajectory control in the start and stop phases.
- the starting phase is the transition phase between the robot's static standing state from both feet and the mid-step gait with smooth periodicity. Let this phase be T 1 .
- the first constraint that the centroid is satisfied at the end of the start phase includes: a first forward constraint (ie, a constraint in the x-axis direction), a first lateral constraint (ie, a constraint in the y-axis direction), and a first vertical constraint.
- Condition ie constraint in the z-axis direction).
- the embodiment of the present invention reduces the center of gravity of the robot and converts the potential energy into kinetic energy as much as possible, so that the robot can enter the kinetic energy more quickly.
- the middle step ie the beneficial effect of starting in one step.
- the initial velocity of the centroid, as well as the kinetic energy and the potential energy, at the beginning of the intermediate step phase (the middle step of the step is the start of the second leg support period closest to the start phase) Transform the relationship and calculate the height Hz of the center of the biped robot at the end of the starting phase.
- the approximate distance ⁇ z at which the center of gravity is to be decreased is first estimated by the following formula (5).
- the initial velocity v 0 0 in the starting phase of the centroid
- v 1 is the final velocity of the centroid in the starting phase
- m is the mass of the robot
- g is the acceleration of gravity
- the height of the centroid in the middle step is maintained constant, which is equal to the height Hz of the centroid at the end of the starting phase.
- the constraint of the centroid in the first vertical direction includes: at the beginning of the starting phase, the position parameter value is equal to the initial height of the biped robot centroid, the speed parameter value is equal to 0, and the acceleration parameter value is equal to 0; at the end of the starting phase, the position parameter value is equal to the centroid
- the height Hz in the vertical direction at the end of the start phase, the speed parameter value is equal to 0, and the acceleration parameter value is equal to zero.
- Z(t) is the position of the centroid in the z-axis direction
- t is time
- Hz 0 is the initial height of the center of mass of the biped robot (ie, the height when t is equal to 0)
- Hz is the height of the centroid at the end of the starting phase (ie, when t is equal to T1).
- the height Hz of the centroid at the end of the starting phase in the formula (6) may be determined by the difference between the initial height H z0 of the centroid and the falling distance ⁇ z, or may be a difference from the difference not greater than A value within a predetermined range of values. That is, the specific value of Hz may be equal to the difference obtained by subtracting ⁇ z from H z0 , or may be equal to a value near the difference, which is not limited as long as a better value can be obtained to ensure the stability of walking. It can be understood that the first value of each gait control parameter can take other values near the value on the right side of each equation in equation (6) that are not too small.
- the polynomial interpolation is used, and according to the first constraint, the trajectory Z(t) of the centroid in the z-axis direction is:
- a 0 to a 5 are specific parameters, and the corresponding parameter value in the formula (6) is brought into the formula (7) to calculate the trajectory of the centroid in the z-axis direction with time t.
- the first derivative of equation (7) can be obtained first, and the velocity of the centroid in the Z direction is obtained as follows:
- the first forward constraint condition satisfied by the centroid includes: at the beginning of the start phase, the values of the position parameter value, the speed parameter value, and the acceleration parameter are all equal to 0; at the end of the start phase, the position parameter value is equal to the position parameter To the first value, the speed parameter value is equal to the forward value of the speed parameter; the value of the acceleration parameter is equal to the forward value of the acceleration parameter, that is, the position, velocity and acceleration of the centroid at the initial moment are both 0, at the end of the starting phase. At the moment, the center of mass is farthest from the support point. If it is guaranteed that the robot can still satisfy the stable condition (ie, the ZMP point is in the support domain), the biped robot is stable throughout the initial stage.
- the stable condition ie, the ZMP point is in the support domain
- the embodiment of the present invention sets the position, velocity and acceleration at the end of the starting phase to be the same as the initial position, velocity and acceleration of the two-leg support period in the middle step to ensure the gait between the starting phase and the mid-step gait. Smooth transition. Because the gait control is performed by the linear inverted pendulum model in the middle step, the stability condition is satisfied, so that it can be ensured that the starting condition also satisfies the stability condition. It can be seen that the first constraint that the centroid needs to satisfy in the x-axis direction is as follows:
- b 0 to b 5 are specific parameters, and the corresponding parameter value in the formula (8) is brought into the formula (9) to calculate the trajectory of the centroid in the x-axis direction with time t.
- the distance between the two feet of the robot is W.
- the first lateral constraint condition of the centroid satisfaction includes: at the beginning of the starting phase, the position parameter value is equal to half the distance between the biped robot's feet, the speed parameter value is equal to 0, the acceleration parameter value is equal to 0; and the position parameter is at the end of the starting phase
- the value is equal to the lateral value of the position parameter
- the velocity parameter value is equal to the first value of the velocity parameter
- the acceleration parameter value is equal to the lateral first value of the acceleration parameter; that is, the initial moment of the starting phase, the center of mass is at the middle of the distance of the biped, the velocity Both the acceleration and the acceleration are zero.
- the centroid At the end of the starting phase, the centroid is farthest from the support point.
- the position, velocity, and acceleration at the time of setting the y-axis direction are the same as the position, velocity, and acceleration at the beginning of the support period of the middle step.
- the first constraint that the centroid needs to satisfy in the y-axis direction is as follows:
- Y(0) with The initial position of the starting phase, the position, velocity and acceleration of the centroid, Y(T 1 ), with The position, velocity and acceleration of the center of mass of the biped robot in the y-axis direction at the end of the starting phase, Y(T 1 ), with The value of the centroid in the y-axis direction at the start of the two-leg support period calculated in the aforementioned mid-stage is Y d (0), speed And acceleration
- the polynomial interpolation method is used to obtain the trajectory y(t) of the centroid in the y-axis direction according to the constraint condition of the formula (10):
- c 0 to c 5 are specific parameters, and the corresponding parameter values in the formula (10) are brought into the equation (11) to calculate a trajectory in which the centroid changes with time t in the y-axis direction.
- the stop phase refers to the process in which the robot gradually reduces the speed from a smooth periodic mid-step gait until the smooth static standing state is restored. Let this phase of time be T 1 .
- the second constraint that the centroid needs to satisfy includes: a second forward constraint (ie, a constraint in the x-axis direction), a second lateral constraint (ie, a constraint in the y-axis direction), and a second vertical constraint (ie, Constraints in the z-axis direction).
- the second vertical direction constraint of the centroid includes: at the beginning of the stop phase, the position parameter value is equal to the height Hz in the vertical direction at the end of the start phase, the speed parameter value is equal to 0, and the acceleration parameter value is equal to 0; At the end of the phase, the position parameter value is equal to the initial height of the biped robot's centroid, the velocity parameter value is equal to 0, and the acceleration parameter value is equal to zero. Since the robot is decelerated from the walking speed in the middle step to 0, in order to speed up the stopping process, the energy conversion direction is opposite in the stopping phase and the starting phase.
- the embodiment of the invention improves the center of gravity of the robot, that is, the height of the center of mass from the middle step.
- the Hz is increased to the height Hz 0 at the beginning of the start, so that the kinetic energy is converted into potential energy as much as possible, so that the robot can enter the stationary stationary state more quickly (that is, the beneficial effect of stopping in one step).
- the position, velocity and acceleration of the initial time of the stop phase and the end time of the middle step phase are the same in the z-axis direction. . Therefore, the second constraint condition that the robot centroid should satisfy in the z-axis direction at the start of the stop phase can be obtained as follows:
- Z(0) with At the initial moment of the step-by-step phase, the position, velocity and acceleration of the centroid in the z-axis direction, Z(T 1 ), with At the end of the step-by-step phase, the position, velocity and acceleration of the center of mass of the biped robot in the z-axis direction, Zc is the height of the centroid at the initial moment of the stop phase (which can be equal to the height Hz of the center of mass in the middle step), Zc 0 is the stage of the double The height of the centroid of the foot robot initially stable and upright (can be equal to the initial height of the centroid of the starting phase, Hz 0 ).
- the second value of each gait control parameter can also take other values near the value on the right side of each equation in the formula (12) and the deviation is not too large, and is not limited to the equations in the formula (12). The value given on the right side.
- the polynomial interpolation is used, and according to the constraint condition (12), the trajectory Z(t) of the centroid in the z-axis direction is obtained as follows:
- a' 0 to a' 5 are specific parameters, and the corresponding parameter values in the formula (12) are brought into the equation (13) to calculate a trajectory in which the centroid changes with time t in the z-axis direction.
- the second forward constraint of the centroid includes: at the beginning of the stop phase, the position parameter value is equal to the forward value of the position parameter, the velocity parameter value is equal to the forward value of the velocity parameter, and the acceleration parameter value is equal to the acceleration parameter. Forward second value; at the end of the stop phase, the position parameter value and the speed parameter value, the acceleration parameter value are equal to zero.
- the position, velocity and acceleration of the centroid at the initial moment of the stop phase are the same as the position, velocity and acceleration of the end of the support period of the middle step, respectively, according to the symmetry and continuity, that is, respectively and the middle step
- the position, velocity and acceleration at the beginning of the single leg support period are the same to ensure a smooth transition between each other and to ensure The stop phase satisfies the stability conditions.
- the position, velocity and acceleration of the centroid are both zero to restore a stable static erect state. It can be seen that the second constraint that the centroid is satisfied at the beginning of the stop phase is as follows:
- the position of the center of mass at the start of the stop phase X (0), speed And acceleration The values of the center of mass in the x-axis direction at the start of the single-leg support period are the X s (0) and the velocity. And acceleration At the end of the stop phase, the position of the center of mass X(T 1 ) is equal to 0, speed Equal to 0, acceleration Equal to 0.
- b' 0 to b' 5 are specific parameters, and the corresponding parameter values in the formula (14) are brought into the equation (15) to calculate the trajectory of the centroid in the x-axis direction with time t.
- the second lateral constraint of the centroid includes: at the beginning of the stop phase, the position parameter value is equal to the lateral value of the position parameter, the velocity parameter value is equal to the lateral value of the velocity parameter, and the acceleration parameter value is equal to the acceleration parameter The second value is laterally; at the end of the stop phase, the position parameter value is equal to half the distance between the feet of the biped robot, and the speed parameter value and the acceleration parameter value are both equal to zero.
- the position, velocity and acceleration of the centroid at the start time of the stop phase are the same as the position, velocity and acceleration of the end of the two-leg support period in the middle step, respectively, according to the symmetry and continuity, that is, the separate and the middle step.
- the position of the center of mass at the start of the stop phase Y (0), speed And acceleration It is equal to the position Y s (0) and velocity of the centroid in the y-axis direction at the start of the single-leg support period calculated in the preceding step.
- the polynomial interpolation is used, and the y-axis y(t) of the centroid in the y-axis direction is obtained according to the constraint condition of the formula (16):
- c' 0 to c' 5 are specific parameters, and the corresponding parameter values in the formula (16) are brought to the equation (17) to calculate the trajectory of the centroid in the y-axis direction with time t.
- the center of mass of the biped robot can be traversed in the middle step, the start phase and the stop phase.
- the gait control parameters including position, velocity and acceleration
- the gait control parameters may include position and speed, when the gait
- the control parameters are position and speed
- the position parameter and the speed parameter are included in the three directions component of the forward, lateral and vertical directions of the biped robot.
- Yet another embodiment of the present invention controls the motion of joint points on the legs based on the motion trajectory of the center of mass.
- the method further comprises: calculating the trajectory of the ankle joint in the starting phase, the middle step and the stopping phase according to the desired moving height of the ankle joint of the biped robot, and utilizing the ankle joint
- the motion trajectory calculates the desired angular trajectory of the ankle joint at each stage.
- the trajectory of the knee joint at each stage is calculated;
- the trajectory of the joint in the starting phase, the middle step and the stopping phase is used to calculate the desired angular trajectory of the knee joint at each stage.
- the swinging ankle joint must pass through three key points, namely the initial point, the highest point and the end point. According to the position, velocity and acceleration constraints at these three points, similar to the previous one, the polynomial interpolation can be used to find the trajectory of the swinging ankle joint.
- FIG. 6 is a front view of a biped robot support leg according to an embodiment of the present invention
- FIG. 7 is a front view of a biped robot swing leg according to an embodiment of the present invention, as shown in FIG. 6 and
- L c represents the distance from the center of mass of the biped robot to the hip joint
- L k is the distance from the hip joint to the knee joint
- L a represents the knee
- H h in Fig. 6, and H h1 in Fig. 7 indicate the distance from the hip joint to the ankle joint.
- ⁇ a , ⁇ h , ⁇ k , and ⁇ a1 , ⁇ h1 , and ⁇ k1 are intermediate calculation processes.
- the auxiliary angle used is calculated.
- Figure 8 is a side elevational view of a biped robot's legs, similarly, as shown in Figure 8, in a lateral plane (i.e., projection of the robot motion in the yoz plane), centroid (see Figure 8).
- the black solid circle shown in the figure is half the distance between the feet of the biped robot W/2, the distance between the center of mass and the hip joint is z ch , the distance from the hip joint to the ankle joint is z ce , and the hip joint is relative to the support foot
- the y coordinate is y ce .
- the upper body needs to be vertical and the sole of the foot is kept horizontal, which can simplify the front view plane travel to a degree of freedom problem.
- the angle associated with gait is the rolling of the ankle joint (rotation around the x-axis) and the freedom of rolling of the hip joint.
- the angles and directions of the two ankle joints are the same, and the angles of the two hip joints are equal, and the direction is opposite to that of the ankle joint.
- the trajectory of the centroid and the trajectory of the ankle joint can obtain the joint angle of the oscillating leg: the ankle joint angle ⁇ a1 , the knee joint joint angle ⁇ k1 and the hip joint joint angle ⁇ h1 , and the angle with time The trajectory of change.
- the angles ⁇ and ⁇ ce in FIG. 8 are the left-right angles between the line and the vertical direction of the hip joint and the ankle joint when the robot is walking, and are auxiliary calculation angles.
- the calculation process of calculating the motion trajectory of the ankle joint in the starting phase, the middle step phase and the stopping phase is: presetting the desired motion height of the ankle joint (for example, , H h ), this height is the highest point of ankle joint motion, the position, velocity and acceleration of the starting point of the ankle joint are all 0, the position, velocity and acceleration of the end point are both 0, and the position of the highest point is H h , speed and acceleration are 0.
- H h the desired motion height of the ankle joint
- the constraints of the ankle joint are calculated, and according to the constraint conditions, the motion trajectory of the ankle joint from the starting point to the highest point and the motion trajectory from the highest point to the ending point can be calculated by applying polynomial interpolation.
- the spatial position of the centroid and the ankle joint at each moment is obtained according to the movement trajectory of the centroid and the ankle joint at each stage during walking
- the hip joint is obtained according to the geometric center position of the robot and the geometric position of the hip joint.
- the position and angle of the knee joint are calculated by the triangular geometric relationship, and the knee joint is obtained.
- the joint angle of the ankle joint, the knee joint, and the hip joint of the biped robot is calculated by a triangular geometric relationship.
- other algorithms may also be used to complete the above.
- the calculation process can be performed as long as the desired angle of the biped robot's leg joint and hip joint can be calculated.
- Other algorithms such as inverse kinematics analysis. Inverse kinematics solves the corresponding joint variables based on the known position and attitude of the end effector.
- Various calculation schemes for example, analytical methods, geometric methods, geometric analytical methods, and numerical solutions) are provided in the prior art.
- the prior art solution can realize the desired angular trajectory of the hip joint according to the motion trajectory of the hip joint (that is, the trajectory of the joint angle of the hip joint with time), and the embodiment of the present invention does not limit the inverse kinematics analysis method.
- how to solve the desired angle trajectory is not the focus of the embodiment of the present invention, and any one of the inverse kinematics analysis may be adopted in the specific implementation, and details are not described herein again.
- the present embodiment uses polynomial interpolation to calculate the motion trajectory of the centroid, and the respective motion trajectories of the hip joint and the ankle joint.
- the calculation of the centroid and hip joint and ankle joint motion trajectory in the technical solution of the present invention is not limited to the polynomial of the embodiment. Interpolation. Other calculation methods can also be used.
- one or more of the hip, ankle and knee joints are selected as control points; when the biped robot is walking, real-time detection
- the rotation angles of the control points (such as the ankle joint, the knee joint, and the hip joint) are adaptively tracked and controlled by the desired angular trajectories of the ankle joint, the knee joint, and the hip joint at each stage, respectively. Achieve a stable walk of the biped robot.
- FIG. 10 is a schematic diagram showing a joint angle control structure of a biped robot according to an embodiment of the present invention.
- ⁇ d is a desired joint angle
- ⁇ r is an actually detected joint angle
- k p is a proportional coefficient
- k d is the rotational moment.
- the hip joint is taken as an example for illustration.
- the joint angle (desired angle) required for the gait in each stage is poorly divided by a proportional integral differential PID controller (PID, proportional proportional, integral integration, differential differentiation) or proportional differential PD controller (PD, proportional proportional) And differential differentiation control, outputting the input torque of the hip joint of the biped robot, thereby driving the hip joint motion of the robot to achieve the purpose of stabilizing walking.
- PID proportional integral differential PID controller
- PD proportional differential PD controller
- differential differentiation control outputting the input torque of the hip joint of the biped robot, thereby driving the hip joint motion of the robot to achieve the purpose of stabilizing walking.
- the solution of the embodiment of the present invention uses the torque control means to the biped robot.
- the linear coupling system is simplified to a linear multivariable decoupling system.
- a separate PID or PD controller can be used for each joint of the biped robot, so as to achieve the tracking control of the desired angle of each joint, and finally realize the stable operation of the robot according to the set ga
- the gait control method further comprises: selecting an angle control parameter of the shoulder swing of the biped robot: angular displacement, angular velocity, and angular acceleration; respectively, swinging the leg according to the start time and the end time of the swinging leg swing in the stepping stage of the biped robot
- the corresponding angular displacement value, angular velocity value and angular acceleration value of the shoulder joint are required to set the angular constraint condition of the shoulder joint corresponding to the swing leg; according to the angle constraint condition, the polynomial interpolation is used to calculate the expectation of the shoulder joint swing in the step stage Angle trajectory; using the starting moment of the swinging leg swing in the stepping stage of the biped robot, the angular displacement value, the angular velocity value and the angular acceleration value expected
- ⁇ (0) is the start time of the single-step period in the middle step phase
- angular displacement of the swing of the right shoulder joint
- angular velocity Indicates the angular acceleration
- ⁇ (T) is the end time of the single-step period in the middle step
- angular displacement of the swing of the right shoulder joint
- angular velocity Indicates the angular acceleration
- ⁇ max is the desired maximum swing angle
- - ⁇ max is the desired minimum swing angle, where the negative sign indicates the direction.
- the desired angular trajectory of the right shoulder joint swing in the middle step is:
- d 0 to d 5 in the formula (19) are parameters, and the corresponding parameter values in the formula (18) are brought into the formula (19), and the desired angle trajectory can be calculated.
- the angle of the left shoulder joint swing is symmetrical with the previous one.
- the initial value of the shoulder joint swing angle is 0.
- the final value of the shoulder joint swing angle is 0, and it is connected with the swing angle in the middle step gait to obtain the first angle constraint condition and the second angle.
- the desired angular trajectory of the shoulder swing angle is similarly available in the start and stop phases.
- the first angle constraint that the right shoulder joint swing angle satisfies is:
- the desired angular trajectory of the right shoulder joint swing in the starting phase is:
- the desired angular trajectory of the right shoulder joint swing at the start of the stop phase is:
- the angle of the left shoulder joint swing is symmetrical with the previous one.
- the walking stability and the stopping phase in the existing scheme are poor in stability, which easily leads to the walking instability of the robot and affects the problem of the robot walking.
- the linear inverted pendulum model is used to control the position of the centroid of the robot (ie, the first value and the second value of each gait control parameter are obtained) to increase the stability of walking.
- Sexuality avoiding the instability caused by the instantaneous switching of the support legs in the middle step of the cycle walking and the impact on the robot.
- the first constraint and the second value corresponding to each gait control parameter respectively determine a first constraint condition that the centroid is satisfied in the initial stage and a second constraint that is satisfied in the stop phase, thereby
- the trajectory of the centroid is controlled to control the walking of the biped robot, so that the trajectory of the centroid of the biped robot satisfies the motion trajectories of the centroid in the starting phase, the middle step and the stopping phase, and realizes the biped robot. Stable walk.
- the scheme realizes the normal phase walking state in one step in the initial stage, and converts the kinetic energy into potential energy, completes the stopping process in one step in the stopping phase, and makes the starting phase and the stopping phase Continuously connected with the mid-step gait, respectively, to meet the stable walking conditions, and to achieve an efficient and stable start and end of the walking process.
- the joint angles of the hip, knee and ankle joints of the legs were calculated by the structural characteristics of the robot and the inverse kinematics analysis.
- the stability of the center of mass during walking is further ensured, and the walking stability of the biped robot is realized.
- a gait control device for a biped robot comprising:
- the trajectory acquisition unit in the center of mass center is used to select the gait control parameters of the biped robot in the starting phase, the middle step phase and the stopping phase, and obtain the centroid of the biped robot when the zero moment point of the biped robot is located in the stable region
- the trajectory of the movement in the middle step is configured to obtain the first value of the gait control parameter at the beginning of the middle step stage and the centroid at the end of the middle step stage according to the trajectory of the centroid of the middle step stage a second value of the gait control parameter;
- a constraint setting unit configured to set, by using the first value, a first constraint condition that the centroid needs to be satisfied at the end of the start phase, and use the second value to set a first time that the centroid needs to be satisfied at the beginning of the stop phase
- the centroid start-stop phase trajectory calculation unit is configured to calculate the motion trajectory of the centroid in the start phase and the stop phase respectively based on the first constraint condition and the second constraint condition; the centroid
- the centroid trajectory control unit includes: an ankle joint trajectory calculation unit, a hip joint trajectory calculation unit, a joint angle calculation unit, and a joint angle control unit; and an ankle joint trajectory calculation unit for using the biped robot ⁇ The desired movement height of the joint, calculating the trajectory of the ankle joint in the starting phase, the middle step and the stopping phase; the hip trajectory calculation unit is used to calculate the biped robot hip joint in the starting phase according to the trajectory of the centroid at each stage Motion trajectory of the middle step and the stop stage; the joint angle calculation unit is used to calculate the hip joint by using the trajectory of the hip joint and the ankle joint at various stages, the structural positional relationship of the legs of the biped robot, and the length of the leg length.
- the desired angle trajectory of the ankle joint and the knee joint at each stage; the joint angle control unit is used to select one or more of the hip joint, the ankle joint and the knee joint as a control point; when the biped robot is walking, the real-time detection control The corner of the point, using the control point at the above-mentioned stages of the desired angle trajectory pair detection Angle control point adaptively tracking control the trajectory of the center of mass of the robot when the biped walking meet the trajectory of the centroid initial stage, the stage and the stop step in phase.
- each parameter of the gait control parameter includes three directional components in the forward, lateral, and vertical directions when the biped robot is walking; wherein the gait control parameter includes position and velocity, or Gait control parameters include position, velocity, and acceleration.
- each parameter of the gait control parameter specifically used for obtaining is included in three directions of forward, lateral and vertical directions when the biped robot is walking. a component; wherein the gait control parameter includes position and velocity, or the gait control parameter includes position, velocity, and acceleration.
- the centroid start-stop phase trajectory calculation unit is further configured to calculate the centroid of the biped robot according to the initial velocity of the centroid at the beginning of the intermediate step and the transformation relationship between the kinetic energy and the potential energy.
- the obtained trajectory of the center of the biped robot in the middle step meets the following conditions: the center of mass at the beginning of the middle step and the height of the vertical direction at the end of the middle step are both Hz.
- the parameter value acquisition module is further configured to select an angle control parameter of the shoulder joint swing of the biped robot: angular displacement, angular velocity, and angular acceleration;
- the constraint setting unit is further configured to respectively set the swing leg corresponding to the angular displacement value, the angular velocity value and the angular acceleration value of the shoulder joint corresponding to the swing joint according to the start time and the end time of the swinging leg swing in the stepping stage of the biped robot, respectively.
- the shoulder joint needs to meet the angular constraints;
- the centroid start-stop phase trajectory calculation unit is also used to calculate the desired angular trajectory of the shoulder joint swing in the step stage according to the angle constraint condition
- the constraint condition setting unit is also used to swing the leg swing in the step-by-step phase of the biped robot.
- the centroid start-stop phase trajectory calculation unit is also used to calculate the desired angular trajectory of the shoulder joint swing and the desired angular trajectory of the shoulder joint swing in the starting phase according to the angle first constraint condition and the angle second constraint condition, and using polynomial interpolation
- the centroid trajectory control unit is also used for detecting the rotation angle of the shoulder joint in real time when the biped robot is walking, and adaptively tracking and controlling the rotation angle of the shoulder joint by using the desired angular trajectory of the shoulder joint at the above stages to realize the biped The stable walk of the robot.
- the position parameter and the velocity parameter are included in the forward, lateral, and vertical directions when the biped robot is walking.
- the three directional components; the first constraint that the centroid is satisfied at the end of the starting phase includes: a first forward constraint, a first lateral constraint, and a first vertical constraint;
- the first forward constraint condition includes: at the beginning of the starting phase, the values of the position parameter value and the speed parameter are both equal to 0; at the end of the starting phase, the position parameter value is equal to the forward value of the position parameter, and the speed parameter value is equal to the speed parameter forward direction.
- the first value; the first lateral constraint comprises: at the beginning of the starting phase, the position parameter value is equal to half the distance between the biped robot's feet, and the speed parameter value is equal to 0; at the end of the starting phase, the position parameter value is equal to the position parameter side To the first value, the speed parameter value is equal to the velocity parameter laterally to the first value; the first vertical direction constraint comprises: at the beginning of the starting phase, the position parameter value is equal to the initial height of the biped robot centroid, and the velocity parameter value is equal to 0; At the end, the position parameter value is equal to the height Hz of the centroid in the vertical direction at the end of the starting phase, and the speed parameter value is equal to 0; the second constraint condition includes: a second forward constraint condition, a second lateral constraint condition and a second vertical direction constraint Condition; the second forward constraint includes: at the beginning of the stop phase, the position parameter value is equal to the position parameter The second value, the speed parameter value is equal to the forward value of the speed parameter
- the gait control parameters selected by the trajectory acquisition unit in the center of mass include position, velocity and acceleration
- the position parameters, velocity parameters and acceleration parameters are included in the three directions of forward, lateral and vertical directions when the biped robot is walking.
- the first forward constraint includes: position parameter value, speed parameter value, and acceleration at the beginning of the start phase The parameter value is equal to 0; at the end of the starting phase, the position parameter value is equal to the forward value of the position parameter, the speed parameter value is equal to the forward value of the speed parameter, and the acceleration parameter value is equal to the forward value of the acceleration parameter;
- the constraint conditions include: at the beginning of the starting phase, the position parameter value is half of the distance between the feet of the biped robot, and the speed parameter value and the acceleration parameter value are both equal to 0; at the end of the starting phase, the position parameter value is equal to the position parameter laterally a value, the speed parameter value is equal to the velocity parameter lateral first value, the acceleration parameter value is equal to the acceleration parameter lateral first value; the
- the height of the direction Hz, the speed parameter value and the acceleration parameter value are both equal to 0; at the end of the stop phase, the position parameter value is equal to the initial height of the biped robot centroid, and the speed parameter value and the acceleration parameter value are both equal to zero.
- the gait control device of the biped robot in this embodiment corresponds to the gait control method described above. Therefore, the working process of the gait control device of this embodiment can be referred to the corresponding description of the foregoing method part. I won't go into details here.
- the embodiment of the present invention proposes a more effective control method for the start and stop phases, which can quickly start and end the normal walking process in one step, avoiding the past.
- Several stages are required in the program to reach and end normal walking.
- the trajectories calculated by using the inverted pendulum model in the middle step stage are properly connected in the position, velocity and acceleration parameters to ensure that the stability conditions are also satisfied in both the starting and starting phases.
- the linear inverted pendulum model is planned in both the single-leg and the two-leg support stages to ensure that the robot satisfies the stability condition in both stages and reduces the robot during the support leg switching. The impact caused.
Abstract
Description
Claims (15)
- 一种双足机器人的步态控制方法,其中,所述方法包括:选取双足机器人在起步阶段、中步阶段和止步阶段的步态控制参数,并获取双足机器人的零力矩点位于稳定区域内时,所述双足机器人的质心在中步阶段的运动轨迹;根据所述中步阶段质心的运动轨迹得到质心在中步阶段起始时各步态控制参数的第一数值和质心在中步阶段结束时各步态控制参数的第二数值;利用所述第一数值设置在起步阶段结束时质心需要满足的第一约束条件,利用所述第二数值设置在止步阶段开始时质心需要满足的第二约束条件;基于所述第一约束条件和所述第二约束条件分别计算质心在起步阶段和止步阶段的运动轨迹;控制双足机器人的行走,使双足机器人行走时质心的运动轨迹满足所述质心在起步阶段、中步阶段和止步阶段的各运动轨迹,实现所述双足机器人的稳定步行。
- 根据权利要求1所述的方法,其中,所述控制双足机器人的行走,使双足机器人行走时质心的运动轨迹满足所述质心在起步阶段、中步阶段和止步阶段的各运动轨迹包括:根据质心在各阶段的运动轨迹计算双足机器人髋关节在起步阶段、中步阶段和止步阶段的运动轨迹;根据双足机器人踝关节的期望运动高度,计算双腿踝关节在起步阶段、中步阶段和止步阶段的运动轨迹;利用髋关节及踝关节在各阶段的运动轨迹、双足机器人腿部的结构位置关系以及腿部长度数值,计算得到髋关节、踝关节、膝关节在各阶段对应的期望角度轨迹;选取髋关节、踝关节和膝关节中的一个或多个作为控制点;当双足机器人行走时,实时检测所述控制点的转角,利用所述控制点在上述各阶段的期望角度轨迹对检测到控制点的转角进行自适应跟踪控制,使双足机器人行走时质心的运动轨迹满足所述质心在起步阶段、中步阶段和止步阶段的各运动轨迹。
- 根据权利要求1所述的方法,其中,所述步态控制参数的每个参数都包括在双足机器人行走时前向、侧向和垂直方向的三个方向分量;其中,该步态控制参数包括位置和速度,或者该步态控制参数包括位置、速度和加速度。
- 根据权利要求3所述的方法,其中,所述方法还包括:根据期望达到的中步阶段起始时质心的初始速度,以及动能和势能的转化关系,计算双足机器人的质心在起步阶段结束时垂直方向的高度Hz;获取到的所述双足机器人的质心在中步阶段的运动轨迹满足下列条件:所述质心在中步阶段起始时以及中步阶段结束时垂直方向的高度均为Hz。
- 根据权利要求4所述的方法,其中,该方法包括:当所述步态控制参数为位置和速度时,位置参数和速度参数都包括在双足机器人行走时前向、侧向和垂直方向的三个方向分量;起步阶段结束时质心满足的所述第一约束条件包括:第一前向约束条件、第一侧向约束条件和第一垂直方向约束条件;所述第一前向约束条件包括:起步阶段开始时,位置参数值和速度参数值都等于0;起步阶段结束时,位置参数值等于位置参数前向第一数值,速度参数值等于速度参数前向第一数值;所述第一侧向约束条件包括:起步阶段开始时,位置参数值等于双足机器人双足之间距离的一半,速度参数值等于0;起步阶段结束时,位置参数值等于位置参数侧向第一数值,速度参数值等于速度参数侧向第一数值;所述第一垂直方向约束条件包括:起步阶段开始时,位置参数值等于双足机器人质心的初始高度,速度参数值等于0;起步阶段结束时,位置参数值等于所述质心在起步阶段结束时垂直方向的高度Hz,速度参数值等于0;所述第二约束条件包括:第二前向约束条件、第二侧向约束条件和第二垂直方向约束条件;所述第二前向约束条件包括:止步阶段开始时,位置参数值等于位置参数前向第二数值,速度参数值等于速度参数前向第二数值;止步阶段结束时,位置参数值和速度参数值都等于0;所述第二侧向约束条件包括:止步阶段开始时,位置参数值等于位置参数侧向第二数值,速度参数值等于速度参数侧向第二数值;止步阶段结束时,位置参数值等于所述双足机器人双足之间距离的一半,速度参数值等于0;所述第二垂直方向约束条件包括:止步阶段开始时,位置参数值等于起步阶段结束时垂直方向的高度Hz,速度参数值等于0;止步阶段结束时,位置参数值等于所述双足机器人质心的初始高度,速度参数值等于0;当所述步态控制参数包括位置、速度和加速度时,位置参数、速度参数和加速度参数都包括在双足机器人行走时前向、侧向和垂直方向的三个方向分量;所述第一前向约束条件包括:起步阶段开始时,位置参数值、速度参数值和加速度参数值都等于0;起步阶段结束时,位置参数值等于位置参数前向第一数值,速度参数值等于速度参数前向第一数值,加速度参数值等于加速度参数前向第一数值;所述第一侧向约束条件包括:起步阶段开始时,位置参数值为双足机器人双足之间距离的一半,速度参数值和加速度参数值都等于0;起步阶段结束时,位置参数值等于位置参数侧向第一数值,速度参数值等于速度参数侧向第一数值,加速度参数值等于加速度参数侧向第一数值;所述第一垂直方向约束条件包括:起步阶段开始时,位置参数值等于双足机器人质心的初始高度,速度参数值和加速度参数值都等于0;起步阶段结束时,位置参数值等于质心在起步阶段结束时垂直方向的高度Hz,速度参数值和加速度参数值都等于0;所述第二前向约束条件包括:止步阶段开始时,位置参数值等于位置参数前向第二数值,速度参数值等于速度参数前向第二数值,加速度参数值等于加速度参数前向第二数值;止步阶段结束时,位置参数值、速度参数值和加速度参数值都等于0;所述第二侧向约束条件包括:止步阶段开始时,位置参数值等于位置参数侧向第二数值,速度参数值等于速度参数侧向第二数值,加速度参数值等于加速度参数侧向第二数值;止步阶段结束时,位置参数值等于所述双足机器人双足之间距离的一半,速度参数值和速度参数值都等于0;所述第二 垂直方向约束条件包括:止步阶段开始时,位置参数值等于质心在起步阶段结束时垂直方向的高度Hz,速度参数值和加速度参数值都等于0;止步阶段结束时,位置参数值等于所述双足机器人质心的初始高度,速度参数值和加速度参数值都等于0。
- 根据权利要求1所述的方法,其中,所述基于所述第一约束条件和所述第二约束条件分别计算质心在起步阶段和止步阶段的运动轨迹包括:根据所述质心在起步阶段结束时满足的第一约束条件,利用多项式插值计算质心在起步阶段的运动轨迹;根据质心在止步阶段开始时满足的第二约束条件,利用多项式插值计算质心在止步阶段的运动轨迹。
- 根据权利要求2所述的方法,其中,所述方法还包括:选取双足机器人的肩关节摆动的角度控制参数:角位移、角速度和角加速度;分别根据所述双足机器人中步阶段摆动腿摆动的开始时刻和结束时刻,摆动腿对应的肩关节期望达到的角位移值、角速度值和角加速度值,设置摆动腿对应的肩关节需要满足的角度约束条件;根据所述角度约束条件,并利用多项式插值计算中步阶段肩关节摆动的期望角度轨迹;利用所述双足机器人中步阶段摆动腿摆动的开始时刻,摆动腿对应的肩关节期望达到的角位移值、角速度值和角加速度值,设置起步阶段所述肩关节需要满足的角度第一约束条件,和止步阶段所述肩关节需要满足的角度第二约束条件;根据所述角度第一约束条件、所述角度第二约束条件,并利用多项式插值计算起步阶段所述肩关节摆动的期望角度轨迹和止步阶段所述肩关节摆动的期望角度轨迹;所述双足机器人行走时,实时检测所述肩关节的转角,利用所述肩关节在上述各阶段的期望角度轨迹对检测到肩关节的转角进行自适应跟踪控制,实现所述双足机器人的稳定步行。
- 根据权利要求2所述的方法,其中,所述利用控制点在上述各阶段的期望角度轨迹对检测到控制点的转角进行自适应跟踪控制包括:将机器人行走时实际检测到的每个控制点的转角与该关节对应的期望角度作差,将该差值输入比例积分微分角度控制器或者比例微分角度控制器进行自适应跟踪控制,得到每个关节的输入转矩,从而利用所述输入转矩驱动机器人的各关节运动。
- 一种双足机器人的步态控制装置,其中,该装置包括:质心中步阶段轨迹获取单元,用于选取双足机器人在起步阶段、中步阶段和止步阶段的步态控制参数,并获取双足机器人的零力矩点位于稳定区域内时,所述双足机器人的质心在中步阶段的运动轨迹;参数值获取单元,用于根据所述中步阶段质心的运动轨迹得到质心在中步阶段起始时各步态控制参数的第一数值和质心在中步阶段结束时各步态控制参数的第二数值;约束条件设置单元,用于利用所述第一数值设置在起步阶段结束时质心需要满足的第一约束条件,利用所述第二数值设置在止步阶段开始时质心需要满足的第二约束条件;质心起步止步阶段轨迹计算单元,用于基于所述第一约束条件和所述第二约束条件分别计算质心在起步阶段和止步阶段的运动轨迹;质心轨迹控制单元,用于控制双足机器人的行走,使双足机器人行走时质心的运动轨迹满足所述质心在起步阶段、中步阶段和止步阶段的各运动轨迹,实现所述双足机器人的稳定步行。
- 根据权利要求10所述的装置,其中,所述质心轨迹控制单元包括:踝关节轨迹计算模块、髋关节轨迹计算模块、关节角度计算模块和关节角度控制模块;所述踝关节轨迹计算模块,用于根据双足机器人踝关节的期望运动高度,计算双腿踝关节在起步阶段、中步阶段和止步阶段的运动轨迹;所述髋关节轨迹计算模块,用于根据质心在各阶段的运动轨迹计算双足机器人髋关节在起步阶段、中步阶段和止步阶段的运动轨迹;所述关节角度计算模块,用于利用髋关节及踝关节在各阶段的运动轨迹、双足机器人腿部的结构位置关系和腿部长度数值,计算得到髋关节、踝关节、膝关节在各阶段的期望角度轨迹;所述关节角度控制模块,用于选取髋关节、踝关节和膝关节中的一个或多个作为控制点;当双足机器人行走时,实时检测所述控制点的转角,利用所述控制点在上述各阶段的期望角度轨迹对检测到控制点的转角进行自适应跟踪控制,使双足机器人行走时质心的运动轨迹满足所述质心在起步阶段、中步阶段和止步阶段的各运动轨迹。
- 根据权利要求10所述的装置,其中,所述质心中步阶段轨迹获取单元,获取的步态控制参数的每个参数都包括在双足机器人行走时前向、侧向和垂直方向的三个方向分量;其中,该步态控制参数包括位置和速度,或者该步态控制参数包括位置、速度和加速度。
- 根据权利要求12所述的装置,其中,所述质心起步止步阶段轨迹计算单元,还用于根据期望达到的中步阶段起始时质心的初始速度,以及动能和势能的转化关系,计算双足机器人的质心在起步阶段结束时垂直方向的高度Hz;所述质心中步阶段轨迹获取单元,获取到的所述双足机器人的质心在中步阶段的运动轨迹满足下列条件:所述质心在中步阶段起始时以及中步阶段结束时垂直方向的高度均为Hz。
- 根据权利要求11所述的装置,其中,所述参数值获取模块,还用于选取双足机器人的肩关节摆动的角度控制参数:角位移、角速度和角加速度;所述约束条件设置单元,还用于分别根据所述双足机器人中步阶段摆动腿摆动的开始时刻和结束时刻,摆动腿对应的肩关节期望达到的角位移值、角速度值和角加速度值,设置摆动腿对应的肩关节需要满足的角度约束条件;所述质心起步止步阶段轨迹计算单元,还用于根据所述角度约束条件,并利用多项式插值计算中步阶段肩关节摆动的期望角度轨迹;所述约束条件设置单元,还用于利用所述双足机器人中步阶段摆动腿摆动的开始时刻,摆动腿对应的肩关节期望达到的角位移值、角速度值和角加速度值,设置起步阶段所述肩关节需要满足的角度第一约束条件,和止步阶段所述肩关节需要满足的角度第二约束条件;所述质心起步止步阶段轨迹计算单元,还用于根据所述角度第一约束条件、所述角度第二约束条件,并利用多项式插值计算起步阶段所述肩关节摆动的期望角度轨迹和止步阶段所述肩关节摆动的期望角度轨迹;所述质心轨迹控制单元,还用于在所述双足机器人行走时,实时检测所述肩关节的转角,利用所述肩关节在上述各阶段的期望角度轨迹对检测到肩关节的转角进行自适应跟踪控制,实现所述双足机器人的稳定步行。
- 根据权利要求14所述的装置,其中,当所述质心中步阶段轨迹获取单元选取的所述步态控制参数为位置和速度时,位置参数和速度参数都包括在双足机器人行走时前向、侧向和垂直方向的三个方向分量;起步阶段结束时质心满足的所述第一约束条件包括:第一前向约束条件、第一侧向约束条件和第一垂直方向约束条件;所述第一前向约束条件包括:起步阶段开始时,位置参数值和速度参数的值都等于0;起步阶段结束时,位置参数值等于位置参数前向第一数值,速度参数值等于速度参数前向第一数值;所述第一侧向约束条件包括:起步阶段开始时,位置参数值等于双足机器人双足之间距离的一半,速度参数值等于0;起步阶段结束时,位置参数值等于位置参数侧向第一数值,速度参数值等于速度参数侧向第一数值;所述第一垂直方向约束条件包括:起步阶段开始时,位置参数值等于双足机器人质心的初始高度,速度参数值等于0;起步阶段结束时,位置参数值等于所述质心在起步阶段结束时垂直方向的高度Hz,速度参数值等于0;所述第二约束条件包括:第二前向约束条件、第二侧向约束条件和第二垂直方向约束条件;所述第二前向约束条件包括:止步阶段开始时,位置参数值等于位置参数前向第二数值,速度参数值等于速度参数前向第二数值;止步阶段结束时,位置参数值和速度参数值都等于0;所述第二侧向约束条件包括:止步阶段开始时,位置参数值等于位置参数侧向第二数值,速度参数值等于速度参数侧向第二数值;止步阶段结束时,位置参数值等于所述双足机器人双足之间距离的一半,速度参数值等于0;所述第二垂直方向约束条件包括:止步阶段开始时,位置参数值等于起步阶段结束时垂直方向的高度Hz,速度参数值等于0;止步阶段结束时,位置参数值等于所述双足机器人质心的初始高度,速度参数值等于0;当所述质心中步阶段轨迹获取单元选取的所述步态控制参数包括位置、速度和加速度时,位置参数、速度参数和加速度参数都包括在双足机器人行走时前向、侧向和垂直方向的三个方向分量;所述第一前向约束条件包括:起步阶段开始时,位置参数值、速度参数值和加速度参数值都等于0;起步阶段结束时,位置参数值等于位置参数前向第一数值,速度参数值等于速度参数前向第一数值,加速度参数值等于加速度参数前向第一数值;所述第一侧向约束条件包括:起步阶段开始时,位置参数值为双足机器人双足之间距离的一半,速度参数值和加速度参数值都等于0;起步阶段结束时,位置参数值等于位置参数侧向第一数值,速度参数值等于速度参数侧向第一数值,加速度参数值等于加速度参数侧向第一数值;所述第一垂直方向约束条件包括:起步阶段开始时,位置参数值等于双足机器人质心的初始高度,速度参数值和加速度参数值都等于0;起步阶段结束时,位置参数值等于质心在起步阶段结束时垂直方向的高度Hz,速度参数值和加速度参数值都等于0;所述第二前向约束条件包括:止步阶段开始时,位置参数值等于位置参数前向第二数值,速度参数值等于速度参数前向第二数值,加速度参数值等于加速度参数前向第二数值;止步阶段结束时,位置参数值、速度参数值和加速度参数值都等于0;所述第二侧向约束条件包括:止步阶段开始时,位置参数值等于位置参数侧向第二数值,速度参数值等于速度参数侧向第二数值,加速度参数值等于加速度参数侧向第二数值;止步阶段结束时,位置参数值等于所述双足机器人双足之间距离的一半,速度参数值和速度参数值都等于0;所述第二垂直方向约束条件包括:止步阶段开始时,位置参数值等于质心在起步阶段结束时垂直方向的高度Hz,速度参数值和加速度参数值都等于0;止步阶段结束时,位置参数值等于所述双足机器人质心的初始高度,速度参数值和加速度参数值都等于0。
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CN (1) | CN105511465B (zh) |
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EP3299923B1 (en) | 2020-04-29 |
CN105511465B (zh) | 2017-08-04 |
KR20180003627A (ko) | 2018-01-09 |
EP3299923A4 (en) | 2018-08-22 |
JP2018527646A (ja) | 2018-09-20 |
US20180004208A1 (en) | 2018-01-04 |
KR101867793B1 (ko) | 2018-06-14 |
JP6501921B2 (ja) | 2019-04-17 |
CN105511465A (zh) | 2016-04-20 |
EP3299923A1 (en) | 2018-03-28 |
DK3299923T3 (da) | 2020-05-25 |
US10031524B2 (en) | 2018-07-24 |
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