WO2021004075A1 - 一种降低行走能耗的仿人机器人质心轨迹规划方法 - Google Patents
一种降低行走能耗的仿人机器人质心轨迹规划方法 Download PDFInfo
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- WO2021004075A1 WO2021004075A1 PCT/CN2020/077552 CN2020077552W WO2021004075A1 WO 2021004075 A1 WO2021004075 A1 WO 2021004075A1 CN 2020077552 W CN2020077552 W CN 2020077552W WO 2021004075 A1 WO2021004075 A1 WO 2021004075A1
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- mass
- center
- joint
- ankle
- robot
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 210000003423 ankle Anatomy 0.000 claims abstract description 23
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 19
- 210000000629 knee joint Anatomy 0.000 claims abstract description 15
- 210000004394 hip joint Anatomy 0.000 claims abstract description 14
- 210000001624 hip Anatomy 0.000 claims abstract description 13
- 210000003127 knee Anatomy 0.000 claims abstract description 10
- 230000001133 acceleration Effects 0.000 claims abstract description 8
- 238000005265 energy consumption Methods 0.000 claims description 27
- 244000309466 calf Species 0.000 claims description 4
- 210000000689 upper leg Anatomy 0.000 claims description 4
- 238000009795 derivation Methods 0.000 claims 2
- 210000002414 leg Anatomy 0.000 description 10
- 210000001503 joint Anatomy 0.000 description 7
- 210000002683 foot Anatomy 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 230000005021 gait Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Definitions
- High-speed walking ability is the most basic movement ability of multi-modal humanoid robots.
- the legs require large joint speed and torque, and the joints require large-power motors. It is difficult to find a suitable motor on the market and requires self-development. If the trajectory of the center of mass of the robot is optimized to reduce the joint speed and torque, the energy consumption of the robot is reduced, the difficulty of motor selection is reduced, and the cost of robot research and development is reduced.
- a biped robot gait energy efficiency optimization method in the prior art Firstly, the walking trajectory of the lower limbs of the biped robot is obtained through planning, and then the ideal gait of the robot is obtained based on energy efficiency optimization. Finally, the single-joint controller is used to control the robot, thereby solving the problem of high energy consumption during the walking of the biped robot and maintaining stability. Under the conditions of reducing the energy consumption of robot walking. However, this solution is only used to reduce the energy consumption of the upper body of the robot, and as long as the energy consumption of the robot walking is the lower limbs, the degree of energy consumption reduction is limited.
- a low-power biped walking movement system and a walking control method thereof uses the logic state judgment unit to detect the walking state of the robot to control the opening and closing of the braking device installed on the knee joint, and at the same time impose an intermittent, parameterized open-loop oscillation at the hip joint Torque, so that the swinging thigh drives the swinging calf to move forward naturally, making full use of the passive and self-stabilizing characteristics of biped walking, and the gait is naturally energy-saving.
- the feet of the robot are arc-shaped, which cannot stand on its own, and the robot cannot perform standing tasks, and the application occasions are more limited.
- the invention mainly includes a variable flexible joint driver and a 2D differential drive joint mechanism, which is simple in structure and easy to install, and can redistribute the driving torque according to the distribution of human energy consumption.
- a variable flexible joint driver and a 2D differential drive joint mechanism, which is simple in structure and easy to install, and can redistribute the driving torque according to the distribution of human energy consumption.
- it is difficult to model and control the robot with flexible mechanism, and the algorithm is more complicated.
- a humanoid robot centroid trajectory planning method for reducing walking energy consumption is proposed, and the problem of high energy consumption in the walking motion of the robot is solved by optimizing the centroid trajectory when the robot is walking.
- a method of mass center trajectory planning for humanoid robots that reduces walking energy consumption includes the following steps:
- Figure 2 is an explanatory diagram of knee joint angle calculation
- Figure 4 is a graph of joint torque-motor speed of the robot before the height adjustment of the center of mass
- ⁇ is the angle vector of each joint of the robot
- G( ⁇ ) is the robot gravity vector
- ⁇ is the torque vector of each joint of the robot.
- A is the thigh length
- B is the calf length
- z c is the height of the center of mass of the robot
- t is the time
- r z z c -z ankle
- z ankle of the ankle joint to the height of the foot plates z ankle of the ankle joint to the height of the foot plate
- z ankle of the ankle joint to the height of the foot plate with the distance r y centroid ankle vertical distance in the forward direction and r y and z ankle planning values are known.
- the hip pitch angle ⁇ hip is:
- the height of the center of mass at time is z 1 , z 2 , z 3 , z 4 , z 5 , z 6 , corresponding to Among them, z 0 is the height of the center of mass of the robot in the initial state, and z max is the highest height of the center of mass that the robot can raise when the inverse kinematics is solvable. Then the final height of the center of mass is:
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (7)
- 一种降低行走能耗的仿人机器人质心轨迹规划方法,其特征在于,根据膝关节俯仰角度θ knee、踝关节俯仰角度θ ankle和髋关节俯仰角度θ hip,在质心的约束条件下,分别计算出膝关节、踝关节和髋关节的转速、角加速度取极小值时的质心高度;对求解出的质心高度进行加权处理得到优化的质心高度。
- 根据权利要求1所述的一种降低行走能耗的仿人机器人质心轨迹规划方法,其特征在于,所述约束条件为:z 0≤z c≤z max,其中,z 0为机器人初始状态的质心高度,z max为机器人在逆运动学可解情况下可升高的最高质心高度。
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CN201910622274.7A CN110262510B (zh) | 2019-07-11 | 2019-07-11 | 一种降低行走能耗的仿人机器人质心轨迹规划方法 |
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Cited By (1)
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CN114625129A (zh) * | 2022-02-22 | 2022-06-14 | 中国科学院自动化研究所 | 位控腿足机器人的运动控制方法及系统 |
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CN110262510B (zh) * | 2019-07-11 | 2020-08-28 | 北京理工大学 | 一种降低行走能耗的仿人机器人质心轨迹规划方法 |
WO2021208917A1 (zh) * | 2020-04-14 | 2021-10-21 | 腾讯科技(深圳)有限公司 | 质心位置确定方法、装置、足式机器人及存储介质 |
CN112698650B (zh) * | 2020-12-16 | 2024-05-07 | 深圳市优必选科技股份有限公司 | 仿人机器人的类人步态控制方法、装置、设备及存储介质 |
WO2022126433A1 (zh) * | 2020-12-16 | 2022-06-23 | 深圳市优必选科技股份有限公司 | 仿人机器人的类人步态控制方法、装置、设备及存储介质 |
CN112757299B (zh) * | 2020-12-30 | 2022-03-04 | 乐聚(深圳)机器人技术有限公司 | 质心轨迹的获取方法、装置、机器人及存储介质 |
CN113093780B (zh) * | 2021-04-06 | 2022-01-14 | 中山大学 | 一种基于降阶极点配置法的机器人平衡控制方法及装置 |
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