WO2023130824A1 - 欠驱动系统机器人的运动控制方法和欠驱动系统机器人 - Google Patents

欠驱动系统机器人的运动控制方法和欠驱动系统机器人 Download PDF

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Publication number
WO2023130824A1
WO2023130824A1 PCT/CN2022/129831 CN2022129831W WO2023130824A1 WO 2023130824 A1 WO2023130824 A1 WO 2023130824A1 CN 2022129831 W CN2022129831 W CN 2022129831W WO 2023130824 A1 WO2023130824 A1 WO 2023130824A1
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WIPO (PCT)
Prior art keywords
base part
wheel
load object
information
robot
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PCT/CN2022/129831
Other languages
English (en)
French (fr)
Inventor
王帅
王海涛
戴媛
张东胜
陈科
张瑞瑞
王睿
张竞帆
来杰
郑宇�
Original Assignee
腾讯科技（深圳）有限公司
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Priority to US18/350,339 priority Critical patent/US20230347501A1/en
Publication of WO2023130824A1 publication Critical patent/WO2023130824A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present application relates to the field of robots, in particular to a motion control method of an underactuated system robot and an underactuated system robot.
  • An underactuated system robot refers to a robot whose number of drives is less than the number of joint degrees of freedom.
  • the typical performance in this type of robot is that the robot has balance problems.
  • the base part can float, and the robot moves through the wheel part to maintain balance. Therefore, it can be understood that all robots with underactuated systems have the problem of fuselage attitude control.
  • the embodiment of the present application provides a motion control method of an underactuated system robot and an underactuated system robot, which control the movement of at least one of the base part and the wheel part according to the state information, so as to ensure that the load object remains on the base part without falling , to improve the stability of the underactuated system robot, the technical solution at least includes the following solutions:
  • a motion control method of an underactuated system robot is provided, the method is executed by the controller of the underactuated system robot, the underactuated system robot includes a wheel part and a base part connected with the wheel part, and the load An object is placed on the base portion, the method comprising:
  • the movement of at least one of the base portion and the wheel portion is controlled to keep the load object from falling on the base portion.
  • an underactuated system robot includes a wheel part and a base part connected to the wheel part, and the base part is used to carry a load object;
  • the underactuated system robot is provided with a controller, and the controller is used to control the underactuated system robot to realize: according to the status information of the load object on the base part, control at least one movement of the base part and the wheel part to keep the load object on the base part. Does not fall off the seat.
  • a motion control device for an underactuated system robot comprising:
  • a determination module configured to determine the status information of the load object on the base
  • the control module is used for controlling the movement of at least one of the base part and the wheel part according to the state information, so as to keep the load object from falling on the base part.
  • a computer device includes a processor
  • a processor configured to determine state information of the load object on the base
  • the movement of at least one of the base portion and the wheel portion is controlled to keep the load object from falling on the base portion.
  • a computer-readable storage medium in which a computer program is stored, and the computer program is used to be executed by a processor, so as to realize the disadvantages described in any one of the above-mentioned embodiments of the present application.
  • a motion control method for a drive system robot is provided, in which a computer program is stored, and the computer program is used to be executed by a processor, so as to realize the disadvantages described in any one of the above-mentioned embodiments of the present application.
  • a chip is provided, the chip includes a programmable logic circuit and/or program instructions, and when the chip is running, the chip is used to implement the underactuated system robot described in any one of the above-mentioned embodiments. motion control method.
  • a computer program product includes computer instructions, the computer instructions are stored in a computer-readable storage medium, and a processor reads and executes the computer instructions from the computer-readable storage medium , so as to realize the motion control method of the underactuated system robot described in any one of the above embodiments.
  • the underactuated system robot can control the movement of the base part and/or the wheel part, so that the load object remains on the base part without falling, thereby improving the performance of the underactuated system robot. stability.
  • Fig. 1 is a schematic structural diagram of a wheel-legged robot provided by an exemplary embodiment of the present application
  • Fig. 2 is a partial schematic diagram of a wheel-legged robot provided by an exemplary embodiment of the present application
  • Fig. 3 is the front view of the wheel-legged robot provided by an exemplary embodiment of the present application under the situation of standing on two wheels;
  • Fig. 4 is a side view of a wheel-legged robot provided by an exemplary embodiment of the present application in a situation of standing on two wheels;
  • Fig. 5 is a top view of the wheel-legged robot provided by an exemplary embodiment of the present application under the condition of standing on two wheels;
  • Fig. 6 shows a three-dimensional schematic diagram of a wheel-legged robot provided by an exemplary embodiment of the present application when the counterweight legs are retracted;
  • Fig. 7 is a front view of the wheel-legged robot provided by an exemplary embodiment of the present application in a three-wheel standing situation;
  • Fig. 8 is a side view of the wheel-legged robot provided by an exemplary embodiment of the present application in a three-wheel standing situation;
  • Fig. 9 is a top view of the wheel-legged robot provided by an exemplary embodiment of the present application in a three-wheel standing situation;
  • Fig. 10 is a schematic perspective view of a wheel-legged robot in a three-wheel standing situation provided by an exemplary embodiment of the present application;
  • Fig. 11 is another schematic perspective view of a wheel-legged robot in a three-wheel standing situation provided by an exemplary embodiment of the present application;
  • Fig. 12 is a schematic view of the shape of a wheel-legged robot provided by an exemplary embodiment of the present application.
  • Fig. 13 is a schematic diagram of three spatial angles provided by an exemplary embodiment of the present application.
  • Fig. 14 is a block diagram of balance control in the pitch angle direction provided by an exemplary embodiment of the present application.
  • Fig. 15 is a flowchart of a motion control method for an underactuated system robot provided by an exemplary embodiment of the present application
  • Fig. 16 is a flowchart of a motion control method for an underactuated system robot provided by an exemplary embodiment of the present application
  • Fig. 17 is a motion control realization diagram of an underactuated system robot under the condition of external force interference provided by an exemplary embodiment of the present application;
  • Fig. 18 is a motion control realization diagram of an underactuated system robot under the condition of external force interference provided by an exemplary embodiment of the present application;
  • Fig. 19 is a motion control realization diagram of an underactuated system robot under the condition of external force interference provided by an exemplary embodiment of the present application;
  • Fig. 20 is a flowchart of a motion control method for an underactuated system robot provided by an exemplary embodiment of the present application
  • Fig. 21 is a schematic diagram of a general problem description when a hand grabs an object provided by an exemplary embodiment of the present application.
  • Fig. 22 is a schematic diagram of scalar definition of an underactuated system robot provided by an exemplary embodiment of the present application.
  • Fig. 23 is a flowchart of a motion control method for an underactuated system robot provided by an exemplary embodiment of the present application.
  • Fig. 24 is a flowchart of a motion control method for an underactuated system robot provided by an exemplary embodiment of the present application.
  • Fig. 25 is a generalized coordinate schematic diagram of an underactuated system robot provided by an exemplary embodiment of the present application.
  • Fig. 26 is a flowchart of a motion control method for an underactuated system robot provided by an exemplary embodiment of the present application
  • Fig. 27 is an overall control framework diagram of an underactuated system robot provided by an exemplary embodiment of the present application.
  • Fig. 28 is a schematic diagram of a motion control device of an underactuated system robot provided by an exemplary embodiment of the present application.
  • Fig. 29 is a block diagram of an electronic device provided by an exemplary embodiment of the present application.
  • Fig. 30 is a structural block diagram of an underactuated system robot provided by an exemplary embodiment of the present application.
  • 12-wheel part 121-thigh unit; 122-calf unit; 123-driving wheel; 124-drive unit: 1241-first drive motor; 1242-second drive motor;
  • 13-tail 131-counterweight leg; 132-passive wheel; 133-the third driving motor;
  • 01-torsion spring 02-rotation shaft; 03-synchronous belt; 04-synchronous pulley;
  • An underactuated system robot refers to a robot whose number of drives is less than the number of joint degrees of freedom. Underactuated system robots all have fuselage balance problems.
  • Fig. 1 shows a wheel-legged robot 10 provided by an exemplary embodiment of the present application.
  • the wheel-legged robot 10 is a kind of underactuated system robot, and the motion control method of the underactuated system robot provided by the embodiment of the present application can be obtained by Wheel-legged robot implementation.
  • the wheel-legged robot 10 combines the advantages of a wheeled robot and a legged robot, has high wheel energy efficiency and strong adaptability, and can use legs to avoid obstacles on uneven terrain.
  • the wheel-legged robot 10 is an unstable underactuated system with only two points of contact between the ground and the wheels/foots, making balance control of the wheel-legged robot 10 challenging because it is difficult to achieve body balance.
  • the wheel-legged robot 10 includes a base part 11 , a wheel part 12 and a tail part 13 , and the wheel part 12 and the tail part 13 are respectively connected to the base part 11 in transmission.
  • the wheel part 12 can be divided into left and right sides, and the left and right sides can be completely symmetrical or not completely symmetrical.
  • the wheel part 12 includes a leg part and a wheel part.
  • the legs include a thigh unit 121 and a calf unit 122
  • the wheels include a drive wheel 123 .
  • the thigh unit 121 composed of two rods
  • the calf unit 122 composed of two rods
  • the two rods included in the thigh unit 121, the two rods included in the calf unit 122 and the base part 11 constitute a planar five-bar linkage mechanism.
  • the first driving motor 1241 is fixed on the base part 11 for providing driving force to the thigh unit 121 .
  • the two rods included in the thigh unit 121 are respectively fixedly connected to the output shafts of the two motors included in the first drive motor 1241, the two rods included in the thigh unit 121, the calf unit
  • the connected ends of the two rods included in 122 are all connected in the form of a rotating pair to form a planar five-bar linkage.
  • the second driving motor 1242 is fixed on a rod of the calf unit 122 for providing driving force to the driving wheel 123 .
  • the driving of the driving wheel 123 can be realized in the following manner: the second driving motor 1242 drives the rotating shaft 02 of the driving wheel 123 through a belt drive, and the rotating shaft 02 and the shank unit 122 The axes of the rotary pair between the two included rods are coaxial, the torsion spring 01 is sleeved on the rotating shaft 02 , and the arms of the torsion spring 01 are respectively fixed on the two rods included in the calf unit 122 .
  • a synchronous pulley 04 is installed on the output shaft of the second drive motor 1242, the synchronous pulley 04 is fixed on the rotating shaft 02, the driving wheel 123 is fixed on another section of the rotating shaft 02, and the synchronous belt 03 is sleeved on the On the synchronous pulley 04 , the second drive motor 1242 drives the synchronous belt 03 to rotate the synchronous pulley 04 , thereby driving the driving wheel 123 to rotate.
  • the tail 13 includes a counterweight leg 131 , a driven wheel 132 and a third driving motor 133 .
  • the counterweight leg 131 realizes a balance function during the movement of the wheel-legged robot 10
  • the third driving motor 133 is used to provide driving force to the driven wheel 132 .
  • FIG. 3-5 respectively show the front view, left view and top view of the wheel-legged robot 10 in the situation of standing on two wheels;
  • the wheel-legged robot 10 may also be in a standing state on three wheels. in.
  • Fig. 7-9 shows the front view, left view and top view of the wheel-legged robot 10 standing on three wheels;
  • Fig. 10 and 11 show the wheel-legs respectively Different stereograms of the formula robot 10 in the three-wheel standing situation.
  • the mechanism can be in a self-stabilizing state.
  • the wheel-legged robot 10 may also have other forms, and FIG. 12 shows an example of a form.
  • wheel-legged robot 10 is one of the underactuated system robots, and the following embodiments of the present application only use the wheel-legged robot 10 as an example, and the specific structure and shape of the wheel-legged robot 10 may vary. It is set according to the actual situation and does not constitute a limitation to this application.
  • Balance feedback control is mainly to feed back the self-balance measurement value to the control system, so that the final balance measurement value reaches the standard.
  • FIG. 13 is a schematic diagram of three space angles provided by an exemplary embodiment of the present application.
  • the embodiment of the present application mainly balances through three space angles: pitch angle (pitch), yaw angle (yaw) and lateral angle. roll angle (roll).
  • a right-handed Cartesian coordinate system for three-dimensional controls is established for the wheel-legged robot 10, wherein the pitch angle is the angle of rotation around the x-axis, and the x-axis is the coordinate axis along the forward direction of the wheel-legged robot 10, corresponding to the roll
  • the yaw angle is the angle of rotation around the y-axis, and the y-axis is the coordinate axis along the direction of the two-wheel connection of the wheel-legged robot 10, corresponding to the pitch angle, which is subsequently represented by ⁇ ;
  • the roll angle is around the z-axis
  • the angle of rotation, the z-axis is the coordinate axis in the vertical upward direction, corresponding to the yaw angle, and will be used later express.
  • the angle in the pitch direction represents the swing amplitude of the wheel-legged robot 10 in the forward direction, that is, the angle in the pitch direction represents the angle at which the wheel-legged robot 10 swings back and forth in the control direction of the wheel rotation.
  • the angle in the pitch direction represents the angle at which the wheel-legged robot 10 swings back and forth in the control direction of the wheel rotation.
  • the control in the pitch direction consists of multiple closed-loop proportional-integral-derivative (PID) controllers.
  • PID proportional-integral-derivative
  • the wheel-legged robot 10 is projected onto a two-dimensional plane to form a two-dimensional plane simplified model
  • X represents the distance of the wheel center moving laterally in the two-dimensional plane simplified model, assuming that the wheel does not slip and does not leave the ground
  • X is equal to The product of the angle of rotation of the wheel and the radius of the wheel.
  • ⁇ represents the moving speed of the center of the wheel, represents the reference velocity of the wheel center movement
  • ⁇ represents the pitch angle of the wheel-legged robot 10 , that is, the rotation angle around the direction perpendicular to the paper surface in the simplified model of the two-dimensional plane.
  • ⁇ represents the pitch angular velocity of the wheel-legged robot 10
  • ⁇ represents the moment input to the wheel motor of the wheel-legged robot 10 .
  • ⁇ and collected by the sensor.
  • IMU Inertial Measurement Unit
  • Encoder sensor Acquired by the encoder sensor
  • Fig. 14 shows a block diagram of balance control in a pitch direction provided by an exemplary embodiment of the present application.
  • the outermost control reference is the speed reference value of the wheel center movement
  • this ⁇ ref is used as the control reference quantity of the next control loop.
  • the pitch angle difference is obtained, that is, the difference between the current pitch angle and the reference pitch angle, and the pitch angle difference is input to the PID controller 1420 to obtain Subsequently, As the control reference of the next control loop, the and The subtracted result is input to the PID controller 1430, and the PID controller 1430 outputs ⁇ .
  • the balance control of the robot can be realized by sending ⁇ to the wheel motor of the wheel-legged robot 10 .
  • the ⁇ obtained according to the above balance control can be used as the wheel rotation reference signal of the whole-body type controller of the wheel-legged robot 10.
  • this application is only an exemplary example. Others obtain ⁇
  • the calculation method of generating does not limit the present application.
  • the balance control of the yaw angle yaw and the roll angle roll direction is similar to the balance control of the pitch angle pitch direction, which can be used as a reference and will not be described again.
  • the present application provides a motion control method for an underactuated system robot, which enables the underactuated system robot to keep the load object on the base without falling.
  • Fig. 15 shows a flowchart of a motion control method for an underactuated system robot provided by an exemplary embodiment of the present application.
  • the underactuated system robot includes a wheel part and a base part connected to the wheel part, and a load object is placed on the base part superior.
  • the method is executed by the controller of the underactuated system robot, and the motion control of the underactuated system robot can be realized by the controller.
  • the controller sends control information to different motors to control the motion of the wheel portion and/or the base portion.
  • the controller can be arranged inside the underactuated system robot, such as implemented as an internal actuator of the underactuated system robot; or, the controller can be arranged in an external device, such as implemented as a remote controller of the underactuated system robot , or implemented as a terminal device (such as a computer device) for instruction control of the underactuated system robot.
  • the controller may also be implemented as other devices, or as an execution component in other devices, which will not be described in detail here.
  • the motion control method provided in the embodiment of this application includes:
  • Step 102 Determine the state information of the load object on the base.
  • the load object is in physical contact with the base part, but the load object is invisibly and force-closed on the base part.
  • the contact point between the load object and the base is not fixed, so that the motion state of the load object has no clear rules.
  • the underactuated system robot needs to consider the physical characteristics of the load object, such as mass, moment of inertia, and different physical parameters in the interaction between the load object and the underactuated system robot. will make a big difference.
  • the load object can be any object, including rigid object and elastic object. This application does not limit the shape, material, size, structure, etc. of the load object. Any one or more objects can be regarded as the load object involved in this application. When multiple objects are regarded as the load objects involved in the present application, the state information of each object on the base can be determined separately; the physical information of multiple objects can also be processed to determine an overall state information.
  • the load object can be a cube, a cuboid, a cylinder, a sphere and other regular or irregular shaped objects. If the load object is a cube, there is a small friction force between the cube and the base, so that the cube slides on the base.
  • the load object is a sphere as an example.
  • the status information of the load object on the base part includes: posture information of the load object, motion information of the load object, physical information of the load object, posture information of the base part, motion information of the base part, At least one of the physical information of .
  • the attitude information of the load object is used to indicate the position of the load object on the base;
  • the motion information of the load object includes but not limited to the displacement information, velocity information, and acceleration information of the load object;
  • the physical information of the load object includes but not It is limited to parameter information related to the physical characteristics of the load object, such as the mass and moment of inertia of the load object.
  • the posture information, motion information and physical information of the base part reference may be made to the foregoing content, and details are not repeated here.
  • the state information includes: the displacement of the contact point of the load object on the base part in the x direction relative to the center of mass of the underactuated system robot on the base part, and the moving speed of the contact point on the base part along the x direction;
  • the state information includes: the displacement of the contact point of the load object on the base part in the x direction relative to the center of mass of the underactuated system robot on the base part, and the moving speed of the contact point on the base part along the x direction , the inclination angle of the base part, and the inclination angular velocity of the base part.
  • the x direction is the x-axis direction in the foregoing content
  • the x-axis is the coordinate axis along the forward direction of the wheel-legged robot, corresponding to the roll angle roll.
  • the state information may also include related information in the y direction, where the y direction is the y-axis direction in the foregoing content, and the y-axis is the coordinate axis along the connection direction of the two wheels of the wheel-legged robot 10, corresponding to the pitch angle pitch.
  • the state information may be obtained through at least one auxiliary component of a tactile sensor, a pressure sensor, a motion capture system, and a camera (details will be expanded below).
  • step 102 may be implemented as follows: acquire the position information of the load object on the base part through the tactile sensor; perform coordinate conversion of the contact position according to the position information, and determine the state information.
  • the motion control method of the under-actuated system robot provided based on the embodiment of the present application is executed by the controller of the under-actuated system robot.
  • the auxiliary component issues instructions to obtain the position information of the load object on the base part.
  • at least one auxiliary component reports the position information of the load object on the base part to the controller, and the controller determines the state information according to the position information; or, the position information can also be processed by at least one auxiliary component to obtain the state information , and then report the state information to the controller for further processing by the controller.
  • Step 104 Control the movement of at least one of the base part and the wheel part according to the state information, so as to keep the load object from falling on the base part.
  • keeping the load object on the base part does not fall, including but not limited to at least one of the following situations: the load object remains stationary on the base part, the load object moves on the base part, the load object The base part rotates, the load object jumps on the base part, and the load object rolls on the base part.
  • the load object remains stationary on the base part
  • the load object moves on the base part
  • the load object The base part rotates
  • the load object jumps on the base part
  • the load object rolls on the base part Taking the loaded object as a sphere as an example, if the sphere keeps still, rolls or jumps on the base, it can be considered that the sphere remains on the base without falling.
  • the motion state of the robot in the underactuated system is selected according to actual needs, which is not limited.
  • the motion state of the underactuated system robot includes, but is not limited to, at least one of the following: static state, moving state, overturning state, dancing state, jumping state, static balance state, and motion balance state.
  • the wheel portion keeps the base portion at a fixed position relative to the ground;
  • the driving system robot maintains the balance of the fuselage;
  • the underactuated system robot is in the overturning state, the relative position of the wheel part and the base part changes according to the stage of the overturning;
  • the underactuated system robot is in the dancing state,
  • the wheel portion then performs a shifting or tilting movement, and/or the base portion performs a shifting or tilting movement.
  • the fuselage of the underactuated system robot does not produce displacement, and the base part can remain static or perform tilting movement, so that the underactuated system robot is in a balanced state in situ, which can be regarded as underactuated
  • the system robot is in a relatively static state.
  • the wheel part may shake slightly in place, which is caused by the whole-body dynamics model of the robot based on the underactuated system. Any shaking within the error range can be regarded as the wheel remains in place, and the error range can be set according to actual needs.
  • the fuselage of the underactuated system robot is displaced, the wheel part moves, and the base part can remain stationary or perform tilting movement, so that the underactuated system robot is in a position during the displacement process. Balanced state.
  • the robot in the underactuated system moves in any direction to ensure the balance of the fuselage.
  • the load object is placed on the base part, and after determining the state information of the load object on the base part, at least one of the base part and the wheel part is controlled to move according to the determined state information, so as to ensure that the underactuated system robot can In the case of realizing the balance of the fuselage, ensure that the load object remains on the base part and does not fall.
  • the motion of the base part includes at least tilting motion, and the continuous tilting motion of the base part will make the base part in a rocking state, such as nodding or shaking the head of the base part;
  • the motion of the wheel part includes at least moving motion and tilting motion , such as the movement of the wheel portion towards the forward direction.
  • the control of at least one of the base part and the wheel part according to the state information can be realized through the whole-body dynamics control of the underactuated system robot.
  • the state information is input into the balance controller of the underactuated system robot, and the relevant reference signals of the whole-body dynamics control are output through the corresponding whole-body dynamics model to drive the base At least one of the seat portion and the wheel portion.
  • the related reference signal includes but not limited to at least one of the following signals: a reference signal of wheel rotation, a reference signal of the attitude of the base part, and a reference signal of the attitude of the tail.
  • the output of the balance controller is the torque information of each joint, and the motion of the base part and/or the wheel part can be determined according to the determined torque information.
  • the balance controller is a PID controller.
  • the controller of the underactuated system robot determines relevant reference signals for whole-body dynamics control based on the balance processor. Subsequently, the controller sends the relevant reference signal to the base part and/or the wheel part, so that the base part and/or the wheel part move according to the sent signal. For example, the controller sends the torque information of each joint of the wheel unit to the corresponding motor, so that the motor controls the corresponding joint based on the corresponding torque information, thereby realizing the movement of the wheel unit.
  • the motion control method of the underactuated system robot provided by the embodiment of the present application enables the underactuated system robot to control the movement of the base part and/or the wheel part through the controller according to the state information of the load object on the base part , so that the load object remains on the base part without falling, thereby improving the stability of the underactuated system robot.
  • the underactuated system robot needs to maintain the balance of the body and keep the load on the base from falling.
  • FIG. 16 shows a flowchart of a motion control method for an underactuated system robot provided by an exemplary embodiment of the present application.
  • the wheel part includes a leg part and a wheel part, and step 104 can be realized as step 1041 .
  • step 1041 the specific description of step 1041 is as follows:
  • Step 1041 According to the state information, control the movement of the wheels and control the tilting movement of the base to maintain the body balance of the underactuated robot and keep the load object from falling on the base.
  • the tilting movement of the base part and the movement of the wheel part affect each other through the expansion and contraction of the legs.
  • the motion of the wheel portion at least includes moving motion and tilting motion.
  • the wheel moves toward the forward direction; another example, when passing an obstacle, the wheel performs a tilting movement, so that the body of the underactuated robot tilts to avoid the obstacle.
  • the wheel portion may include a driving wheel 123
  • the second driving motor 1242 provides driving force to the driving wheel 123 so that the driving wheel 123 performs a moving motion and a tilting motion.
  • the second driving motor 1242 drives the driving wheel 123 to move forward or backward along the forward direction of the underactuated system robot 10; or, the second driving motor 1242 drives the driving wheel 123 to tilt, so that the angle between the driving wheel 123 and the ground changes, Thus, the fuselage of the underactuated system robot 10 is driven to tilt.
  • the movement of the base part at least includes a tilting movement, and the continuous tilting movement of the base part will make the base part in a rocking state.
  • the base portion is continuously tilted up and down around the x-axis, so that the base portion is in a swinging state in the direction of the x-axis.
  • the x-axis is a wheel-legged robot 10
  • the forward direction of the base part can be regarded as the nodding motion of the base part; as another example, taking the y-axis in the foregoing content as an example, the base part continuously tilts up and down around the y-axis, so that the base The part is in a rocking state in the direction of the y-axis.
  • the tilting motion of the base part can be regarded as the shaking of the base part.
  • the sphere is closed invisibly and force-closed on the base part.
  • the balance controller makes the underactuated system robot maintain the balance of the fuselage by controlling the movement of the wheel part, and keeps the ball on the base part without falling by controlling the movement of the base part.
  • the tilting movement of the base part and the movement of the wheel part affect each other through the expansion and contraction of the legs.
  • the tilting movement of the base part affects the movement of the wheel part through the legs
  • the movement of the wheel part affects the tilting movement of the base part through the legs.
  • the leg part includes a thigh unit 121 and the lower leg unit 122
  • the wheel part includes a drive wheel 123 as an example.
  • the base part 11 affects the advancement and/or retreat of the driving wheel 123 through the expansion and contraction of the thigh unit 121 and the shank unit 122; 123 sequentially drives the calf unit 122 and the thigh unit 121 to expand and contract, thereby affecting the left and right swing and/or forward and backward swing of the base part 11 .
  • the movement of the wheel part and the tilting motion of the base part can be realized through the whole-body dynamics control of the underactuated system robot, and each joint of the underactuated system robot is controlled according to the reference signal output by the controller, so as to realize the control of the wheel part and the base part.
  • the motion control of the part which will be described in detail later, is only an exemplary description here.
  • the motion control method of the underactuated system robot provided by the embodiment of the present application provides various motion states of the underactuated system robot, so that the load object remains on the base without falling, thereby improving the Stability of underactuated robots.
  • step 1041 can be implemented as follows:
  • the external force interference of the load object and/or the under-actuated system robot may be the force exerted by other objects on the load object and/or the under-actuated system robot, or it may be due to the under-actuated system robot crossing or passing through obstacles. resistance, etc.
  • the underactuated system robot passes an obstacle, part of the entity of the obstacle squeezes the base part, so that the underactuated system robot and the load object are simultaneously subjected to extrusion force.
  • the external force disturbance includes at least one of the following situations: the center of the loaded object is disturbed by an external force; the center of the loaded object is disturbed by an external force; the center of mass of the loaded object is disturbed by an external force; Interference; the base part is disturbed by external force; the wheel part is disturbed by external force.
  • the driving motor of the wheel-legged robot 10 provides driving force to the two driving wheels 123 included in the wheel portion 12 (not shown in the figure), so that the wheel-legged robot 10 In a state of motion balance.
  • the two driving wheels 123 are the wheel portions of the wheel portion 12, the load object 20 is placed on the base portion 11, and the wheel-legged robot 10 aims at keeping the load object 20 on the base portion 11 without falling, and the control At least one of the base part 11 and the driving wheel 123 moves.
  • the load object 20 is a sphere.
  • the load object 20 does not fall after rolling on the base part 11 , and the wheel-legged robot 10 remains balanced.
  • the base part 11 is performing closed-loop control in different attitude angle directions.
  • an external force disturbance is added at a position other than the center of the sphere, the load object 20 does not fall after rolling on the base portion 11 , and the wheel-legged robot 10 remains balanced.
  • the base part 11 also performs closed-loop control in different attitude angle directions.
  • the base part 11 also performs closed-loop control in different attitude angle directions.
  • the wheel-legged robot 10 controls the driving wheel 123 to move, such as moving forward or backward along the wheel rotation direction, so that the load object 20 is kept on the base part 11 .
  • the balance controller of the wheel-legged robot 10 needs to consider the control reference signals of the base part 11 and the wheel part 12 at the same time, so that the movement of the wheel part 12 can assist the movement of the base part 11 to realize the load
  • the object 20 is held on the base part 11 .
  • the movement of the wheel part 12 and the base part 11 can be realized by the controller of the wheel-legged robot 10 , and the specific implementation method can refer to the foregoing content, and will not be repeated here.
  • step 1041 can be implemented as follows:
  • the control wheel portion advances toward the first direction; or, according to the state information, when the load object moves toward the first direction, the control base One side of the seat close to the first direction is lifted, and the other side of the base away from the first direction is controlled to drop; or, according to the status information, when the load object moves towards the first direction, the wheel is controlled to move towards the first direction. direction, and control the side of the base part close to the first direction to lift, and control the other side of the base part away from the first direction to fall.
  • the underactuated system robot 10 can perform one of the following three controls:
  • the underactuated system robot 10 can raise the side of the base part 11 close to the rolling direction of the load object 20, and land on the other side away from the rolling direction of the load object 20, so that the base part 11 performs a tilting motion ;
  • the underactuated system robot 10 can move by controlling the driving wheel 123, and at the same time control the rolling of the base part 11 close to the load object 20 One side in the forward direction is raised, and the other side away from the rolling forward direction of the load object 20 is lowered.
  • the movement of the driving wheel 123 and/or the raising and lowering of both sides of the base part 11 make the body of the underactuated system robot 10 maintain balance, and the load object 20 remains on the base part 11 without falling.
  • the driving wheel 123 accelerates toward the rolling direction of the load object 20, and the base portion 11 remains still;
  • the driving wheel 123 cooperates with the base part 11 to make the underactuated system robot 10 advance toward the rolling direction of the load object 20, and the base part 11 in a swing state.
  • the motion control method of the underactuated system robot uses the controller to control the wheel to move and the base to tilt according to the state information of the load object on the base to Maintain the underactuated system robot to maintain the balance of the fuselage, and keep the load object on the base part from falling.
  • the underactuated system robot can still maintain the balance of the underactuated system robot and keep the load object from falling on the base The goal.
  • the embodiment of the present application also provides multiple possibilities for external force interference. It should be understood that the above-mentioned possibilities are only illustrative examples, and other possibilities that can affect the moment of the load object and/or the underactuated robot are within the protection scope of the present application and will not be repeated here.
  • FIG. 20 shows a flowchart of a motion control method for an underactuated robot provided by an exemplary embodiment of the present application, and the method is executed by a controller of the underactuated robot.
  • the underactuated system robot includes a wheel part and a base part connected to the wheel part, and the load object is placed on the base part.
  • the motion control method provided by the embodiment of the present application includes:
  • Step 202 Determine the status information of the load object on the base.
  • the load object is in physical contact with the base part, but the load object is invisibly and force-closed on the base part.
  • the load object can be any object, including rigid object and elastic object. This application does not limit the shape, material, size, structure, etc. of the load object. Any one or more objects can be regarded as the load object involved in this application.
  • step 202 is the same as step 102, which can be used as a reference and will not be repeated here.
  • Step 204 Determine the reference value of the tilt angular acceleration of the base part according to the status information.
  • the reference value of the tilt angular acceleration of the base part can be used as an attitude reference signal of the base part to realize the control of the base part.
  • the controller of the underactuated system robot can determine the corresponding reference value of the tilt angular acceleration through different control laws.
  • the base part is made to move towards the target tilt direction and tilt at the target tilt speed until the target is reached. slope.
  • the coordinate system of the human hand is represented by the subscript h
  • the object coordinate system is represented by the subscript o
  • the world coordinate system is represented by ⁇ w .
  • ph represents the origin position of the human coordinate system ⁇ h relative to the world coordinate system ⁇ w
  • ⁇ h represents the attitude change of the human coordinate system ⁇ h relative to the world coordinate system ⁇ w
  • p o represents the origin position of the object coordinate system ⁇ o relative to the world coordinate system ⁇ w
  • ⁇ o represents the attitude change of the object coordinate system ⁇ o relative to the world coordinate system ⁇ w
  • t is the tangent direction of the point of tangency between the object and the hand.
  • Fig. 21 equivalently provides a set of general methods.
  • human hands and objects can be replaced by others, such as the base part and the load object.
  • the upper surface of the base part is not flat, and the load object is an object with an irregular shape.
  • the method in the embodiment of the present application is an exemplary application of this general method.
  • Figure 22 shows a schematic diagram of the scalar definition of an underactuated system robot provided by an exemplary embodiment of the present application, wherein: for the convenience of identification, the curved surface of the load object is standardized as a standard sphere , the circle in Figure 22 is the tangent plane corresponding to the sphere, and the x direction, y direction and z direction appearing below all refer to the directions given in the foregoing content.
  • the distance in the z direction between the line where the upper surface contacts the sphere and the center of mass of the robot is denoted as d h .
  • the state information includes the displacement of the contact point of the load object on the base part 11 on the base part 11 relative to the center of mass of the underactuated system robot 10 in the target direction, and the movement of the contact point on the base part 11 along the target direction Speed, the inclination angle of the base portion 11, and the inclination angular velocity of the base portion 11 are examples:
  • Sh represents the displacement of the contact point on the base portion 11 relative to the center of mass of the underactuated system robot 10 in the target direction;
  • ⁇ h represents the inclination angle of the base portion 11; represents the inclination angular velocity of the base unit 11 .
  • the target direction may be the x direction and/or the y direction
  • the change of the base part 11 in the z direction may use the rotation along the x direction or the y direction as a reference.
  • the reference value of the tilt angular acceleration of the base part 11 can be determined.
  • the reference value of the tilt angular acceleration is determined by the difference between the displacement, the moving speed, the tilt angle and the tilt angular velocity and the corresponding preset value.
  • a matrix of reference values of inclination angular acceleration of the base part 11 can be obtained, which can be used in the whole-body dynamics control of the underactuated system robot 10, the matrix
  • the matrix The use in the whole-body dynamics model is described in detail below.
  • Step 206 Control the movement of at least one of the base part and the wheel part according to the reference value of the inclination angular acceleration and the whole-body dynamics model of the underactuated robot, so as to keep the load object from falling on the base part.
  • the load object is kept on the base part so as not to fall, and the control of the base part and/or the wheel part can refer to the foregoing content, and will not be repeated here.
  • the whole body dynamics model of the underactuated system robot is used to realize the whole body dynamics control of the underactuated system robot.
  • the reference value of inclination angular acceleration is the input value of the model.
  • the control reference signal of the underactuated system robot can be determined to realize the control of the base part and/or the wheel part.
  • the controller of the underactuated system robot inputs the matrix of the reference value of inclination angular acceleration of the base part into the balance controller, and obtains the base part and/or Or the torque information of the wheel part, and control the base part and/or the wheel part to perform corresponding movements according to the torque information.
  • the motion control method of the underactuated system robot provided by the embodiment of the present application provides an optional way to determine the control information of the base part and/or the wheel part: based on the load object on the base part
  • the status information of the base unit determines the reference value of the tilt angular acceleration of the base unit, and determines the control information based on the value and the whole body dynamics model, so as to realize the control of the base unit and/or the wheel unit.
  • step 204 can be implemented as step 2041 or step 2042, and step 2041 and step 2042 are selected to be executed, as follows:
  • step 204 can be implemented as step 2041, specifically as follows:
  • Step 2041 Using the difference between the displacement and the preset displacement value, and the difference between the moving speed and the moving speed preset value as the input of the PID controller, determine the first reference value of the inclination angular acceleration of the base part.
  • the preset value of displacement is represented by Sh ref
  • the preset value of moving speed is represented by express.
  • Sh ref and At least one of is determined according to the structural characteristics of the underactuated robot.
  • the front, rear, left, and right dimensions of the underactuated system robot are completely symmetrical, and the center of mass becomes the geometric center, then the preset values S h ref and Can be set to 0.
  • the front, rear, left, and right dimensions of the underactuated system robot are not completely symmetrical, and the center of mass and the geometric center are not the same, then the preset values S h ref and It can be set according to the structural characteristics of the underactuated system robot to correct the error caused by the deviation of the center of mass from the geometric center.
  • underactuated systems have asymmetrical masses on the left and right sides of the robot, causing the center of mass to deviate from the geometric center.
  • the position of the center of gravity of the underactuated system robot can be determined by means of simulation or actual machine measurement, and then it can be deduced that when the load object is at a certain point on the base, the overall closest balance between the underactuated system robot and the load object
  • the motor joint torque required by the state is the minimum.
  • the value range of Sh ref is -5cm ⁇ 5cm. It should be understood that the above examples are only illustrative examples, and do not specifically limit the value range of Sh ref involved in the present application.
  • the controller of the underactuated system robot After determining the difference between the displacement and the preset value of displacement, and the difference between the moving speed and the preset value of moving speed, the controller of the underactuated system robot takes the two differences as the input of the PID controller, and can determine the The corresponding tilt angular acceleration reference value is used to realize the control of the wheel part and/or the base part.
  • step 2041 can be implemented as follows: determine the first difference according to the displacement and the displacement preset value, determine the second difference according to the moving speed and the moving speed preset value; according to the product of the first parameter and the first difference , the sum of the product of the second parameter and the second difference value, determine the first reference value of inclination angular acceleration by the PID controller; wherein, the first parameter is the reference value of the proportional coordination coefficient, and the second parameter is the reference value of the differential adjustment coefficient .
  • the displacement is Sh and the moving speed is
  • the displacement default value is Sh ref
  • the movement speed default value is
  • the first feedback control law for controlling the load object to remain on the base portion without falling can be expressed as follows:
  • the controller of the underactuated system robot can control the displacement and speed of the load object on the base part according to the first feedback control law, so that the actual displacement of the load object is close to Sh ref , and the load object is at The speed of motion on the base part is close to
  • the first parameter and the second parameter may be fixed as constant values, or may be adjusted according to actual needs.
  • the controller of the underactuated system robot can obtain reference values of tilt angular accelerations in different directions.
  • the target direction is the x direction, that is, when the plane where the pitch is considered, the first reference value of the angular acceleration of the base in the pitch direction can be obtained;
  • the target direction is the y direction, that is, when the plane where the roll is considered , the first reference value of the angular acceleration of the base in the roll direction can be obtained.
  • step 204 can be realized as step 2042, specifically as follows:
  • Step 2042 Use the difference between the displacement and the preset value of displacement, the difference between the moving speed and the preset value of moving speed, the difference between the tilt angle and the preset value of tilt angle, the difference between the tilt angular velocity and the preset value of tilt angular velocity as The input of the PID controller determines the second tilt angular acceleration reference value of the base part.
  • the preset value of displacement is represented by Sh ref
  • the preset value of moving speed is represented by Indicates that the preset value of the tilt angle is represented by ⁇ h ref
  • the preset value of the tilt angle velocity is represented by express.
  • Sh ref , ⁇ h ref and At least one of is determined according to the structural characteristics of the underactuated robot.
  • ⁇ h ref and The determination of Sh ref and The determination of is similar, and reference can be made to the foregoing content, and details are not repeated here.
  • the controller of the driving system robot takes the four differences as the input of the PID controller, and through the PID control, the corresponding reference value of the tilt angular acceleration can be determined, which is used to realize the control of the wheel part and/or the base part.
  • step 2042 can be implemented as follows: determine the first difference according to the displacement and the preset value of displacement, determine the second difference according to the moving speed and the preset value of moving speed, determine the second difference according to the tilt angle and the preset value of tilt angle Three differences, the fourth difference is determined according to the tilt angular velocity and the preset value of the tilt angular velocity; according to the product of the third parameter and the first difference, the sum of the product of the fourth parameter and the second difference, the fifth The product of the parameter and the third parameter, the product of the sixth parameter and the fourth parameter, determines the second tilt angular acceleration reference value through the PID controller; wherein, the third parameter and the fifth parameter are different proportional coordination coefficients The reference value of the fourth parameter and the sixth parameter are reference values of different differential adjustment coefficients.
  • the displacement is Sh and the moving speed is
  • the tilt angle is ⁇ h and the tilt angular velocity is
  • the displacement default value is Sh ref
  • the movement speed default value is
  • the preset value of tilt angle is ⁇ h ref
  • the preset value of tilt angular velocity is
  • the second feedback control law for controlling the load object to remain on the base portion without falling can be expressed as follows:
  • is the sixth parameter and are the reference values of the different scale coordination reference coefficients, and are the reference values for different differential adjustment coefficients.
  • the controller of the underactuated system robot can realize the control of the displacement and motion speed of the load object on the base, so that the actual displacement of the load object is close to Sh ref , and the load object is at the base The speed of motion on the seat is close to
  • the controller of the underactuated system robot can also control the inclination angle and inclination angular velocity of the base part, so that the inclination angle of the base part is close to ⁇ h ref , and the inclination angle of the base part The tilt angular velocity is close to
  • the first parameter and the second parameter may be fixed as constant values, or may be adjusted according to actual needs.
  • the controller of the underactuated system robot can also obtain reference values of inclination angular acceleration in different directions through corresponding control laws.
  • the target direction is the x direction, that is, when the plane where the pitch is considered, the second reference value of the angular acceleration of the base in the pitch direction can be obtained;
  • the target direction is the y direction, that is, when the plane where the roll is considered , the second tilt angular acceleration reference value of the base part in the roll direction can be obtained.
  • the controller of the underactuated system robot can control the base part according to the reference value of the inclination angular acceleration and the whole body dynamics model of the underactuated system robot. And/or the wheel portion carries out corresponding movement.
  • FIG. 24 shows a flowchart of a motion control method for an underactuated system robot provided by an exemplary embodiment of the present application.
  • step 206 can be realized as step 2061 and step 2062, specifically as follows:
  • Step 2061 Using the reference value of the tilt angular acceleration and the whole-body dynamics model of the underactuated robot as the input of the PID controller, determine the moment information of the base part and/or the wheel part.
  • the input information of the whole body dynamics model is the reference value of the tilt angular acceleration
  • the output information is the moment information of the base part and/or the wheel part.
  • the whole-body dynamics model may be determined according to Lagrangian equation or Newton-Euler equation; or the whole-body dynamics model may be determined according to other methods, and the following content is only an example and does not limit the present application.
  • step 2061 can be implemented as follows: construct a whole-body dynamics model based on the driving torque, ground friction and closed-loop force of the underactuated system robot; substitute the reference value of the tilt angular acceleration into the whole-body dynamics model, and pass the PID controller to determine torque information.
  • Coordinates of generalized joint angles for an underactuated robot Including the pose of the base part, the number of joint angles and joint angles as an example, Indicates the pose of the base part, n j indicates the number of joint angles, Indicates the joint angle.
  • the generalized joint velocity can be expressed as
  • the generalized joint acceleration can be expressed as
  • the controller of the underactuated system robot can determine the reference value of the tilt angular acceleration of the base part according to the state information, and the determined reference value of the tilt angular acceleration can be expressed in a matrix form. Based on the foregoing, the tilt angular acceleration reference value matrix obtained according to the x direction and the y direction is
  • the controller of the underactuated system robot can respectively determine the reference values of inclination angular acceleration corresponding to the x direction and the y direction;
  • the reference value matrix of inclination angular acceleration corresponding to the seat The full-body dynamics model below can be substituted to generate control reference signals for the underactuated system robot.
  • the whole-body dynamics model of the underactuated system robot can be expressed as follows:
  • q is the mass matrix, Composed of gravitational, centrifugal, and Coriolis terms, is the matrix of driving joints selected from all joints, f is the ground contact force, is the concatenated contact Jacobian matrix, is the connected contact Jacobian matrix.
  • Fig. 25 shows a schematic diagram of generalized coordinates of an underactuated system robot provided by an exemplary embodiment of the present application.
  • the joint angle q i and the drive torque ⁇ i are marked around the joint.
  • the double subscripts of q ⁇ , ⁇ and ⁇ ⁇ , ⁇ take into account the joint indices of the left and right legs, respectively.
  • the controller of the underactuated system robot is based on the whole body dynamics model of the underactuated system robot Control reference signals, such as torque information, of the wheel part and/or of the base part can be determined.
  • the drive torque ⁇ , the ground friction force f and the closed-loop force ⁇ can be determined by the argmin function so that the variable values of the whole body dynamics model take the minimum value, so as to determine the control reference signal of the wheel part and/or the base part,
  • the argmin function can be expressed as:
  • the whole-body dynamic model is constrained by dynamic model constraint conditions, and the dynamic model constraint conditions include a reference value of tilt angular acceleration.
  • the dynamic model constraints are expressed as: For the relevant description of the constraint condition, reference may be made to the foregoing content, and details are not repeated here.
  • the underactuated system robot is also subject to at least one of the following constraints: closed-loop linkage constraints; wheels not slipping and not leaving the ground constraints; friction constraints. in:
  • the closed-loop linkage constraint can be expressed as: in, and are the Jacobians of points P1 and P2 , respectively. Assuming that the wheel is purely rolling and in contact with the ground, and there is no slipping and sliding in the radial and axial directions of the wheel, the constraint that the wheel does not slip and leave the ground can be expressed as: in, is the Jacobian matrix of the contact point of the wheel with the ground relative to the base portion.
  • f i of each contact force given the friction coefficient ⁇ , the friction constraints can be formulated as
  • the constraint can be expressed as f i,z >0.
  • Step 2062 Aiming at keeping the load object on the base part without falling, control the movement of at least one of the base part and the wheel part according to the moment information, so as to keep the load object on the base part without falling down.
  • the control of the base part and/or the wheel part can refer to the foregoing content, and will not be repeated here.
  • the controller of the underactuated system robot After determining the torque information of the base portion and/or the wheel portion, the controller of the underactuated system robot sends information (this information can be torque information) for realizing motion control to the drive motor of the underactuated system robot, and the drive motor Different driving forces are provided according to the corresponding torque information to control the movement of the base part and/or the wheel part.
  • step 2062 is similar to step 104, which can be used as a reference and will not be repeated here.
  • the reference value of the inclination angular acceleration of the base part is determined according to the state information, and the controller of the underactuated system robot inputs the reference value of the inclination angular acceleration into
  • the control reference signals of the base part and/or the wheel part are obtained, so as to realize the control of the base part and/or the wheel part.
  • the embodiment of the present application provides two optional ways of determining the reference value of the tilt angular acceleration; optionally, the embodiment of the present application provides an implementation of the whole body dynamics model. It should be understood that the above contents are exemplary examples, and any formula modification or increase or decrease of commonly used variables based on the above contents are included within the scope of protection of the present application.
  • FIG. 26 shows a flowchart of a motion control method for an underactuated system robot provided by an exemplary embodiment of the present application.
  • step 102 can be implemented as one of the following two groups of steps, specifically as follows:
  • Step 1011 Obtain the position information of the load object on the base part.
  • the position information of the load object on the base part can be acquired in various ways.
  • sensing through tactile sensors or pressure sensors laid on the base For example, sensing through tactile sensors or pressure sensors laid on the base; another example, obtaining position information through a motion capture system; another example, acquiring images or videos on the base through a camera, and analyzing the Technology determines location information.
  • step 1011 may be implemented as at least one of the following: obtaining position information through a tactile sensor laid on the base part; obtaining position information through a pressure sensor laid on the base part; obtaining position through a motion capture system Information; obtain the position information of the load object on the base part through the camera.
  • the tactile sensor may be composed of an m*n pressure sensor array.
  • the upper surface of the base part is provided with a pressure sensor array; obtaining position information through the tactile sensor laid on the base part can be implemented as: determining the position information through the contact point of the load object on the pressure sensor array.
  • the tactile sensor includes an array of pressure sensors arranged in an m ⁇ n matrix, the length and width of the m ⁇ n matrix are adapted to the upper surface of the base portion, and m and n are positive integers.
  • m and n are positive integers. For example, if the size of the upper surface of the base is 40cm*20cm, a tactile sensor pressure collection point can be placed at an interval of 1cm, and the pressure dot matrix on the upper surface of the base forms a corresponding 40*20 dot array.
  • the spacing of the pressure dot matrix of the tactile sensor can be adaptively changed, and the values of m and n can also be adjusted adaptively.
  • the above are just examples and do not constitute specific limitations on the values of m and n involved in this application.
  • the camera area of the camera covers the upper surface of the base part; the position information of the load object on the base part is obtained by the camera, which can be realized as follows: according to the image obtained by the camera information to determine the location information.
  • the position information may be identified by the position coordinates of the load object on the base part.
  • Step 1021 Perform coordinate conversion of the contact position according to the position information, and determine state information.
  • the coordinate conversion of the contact position refers to a process of converting the position information of the load object on the base part into state information. Taking the acquisition of position information through the tactile sensor as an example, the corresponding relationship between the unit of force signal change and the position of the pressure sensor array on the upper surface of the base part can be described through coordinate conversion of the contact position. Wherein, the relationship between the position of the upper surface of the base part and the center of mass of the underactuated robot is known, and the contact point between the upper surface of the base part and the load object can be obtained through coordinate conversion, compared to the relationship between the load object and the center of mass positional relationship between them.
  • the signal conditioning process includes, but is not limited to, using at least one of the following methods: mean value calculation, force distribution calculation, and threshold value filtering.
  • the mean value refers to the spherical average value of the pressure value within a certain range (such as 4*4 dot matrix, or several points in a circular area), and it is considered that the contact point between the load object and the underactuated system robot is in contact with each other. center of a point.
  • Force distribution means that the pressure value within a certain range is expressed in the form of distribution, and the force value can be integrated to obtain the magnitude and position distribution of the force, which is used to judge the state of the load object.
  • Threshold value filtering means that because the pressure sensor has a certain probability of non-detection, some noise may be detected even under the condition of no force, and the threshold value is set accordingly. When the detected pressure value is within the threshold value Below, it is considered that the sensor has not been triggered.
  • the location information can also be used for subsequent control.
  • the rolling direction and speed of the load object on the base can be obtained by the difference between the positions of the point on the base part that contacts the load object at two adjacent moments.
  • two adjacent time points may be regarded as two adjacent collection time points in the sampling period.
  • two adjacent moments refer to two adjacent acquisition time points.
  • Step 1012 Obtain the position information and shape information of the load object on the base part.
  • the shape information includes at least one of force information, shape information, structure information, and physical information.
  • the force information refers to the force value of the load object at a certain point on the base portion, and the force information can be obtained in various ways. For example, perception is performed through a tactile sensor or a pressure sensor laid on the base; another example is to obtain position information through a motion capture system.
  • relevant information such as the position, displacement direction, velocity, and acceleration of the load object on the base portion can be determined.
  • the shape information refers to the external shape of the load object.
  • the shape information of the load object is a regular sphere or an irregular polyhedron.
  • Structural information refers to the composition and structure of the load object, including but not limited to the components of the load object, the relative positional relationship between the components, the shape and position of the components.
  • the physical information refers to parameter information related to the physical characteristics of the load object, such as the mass and moment of inertia of the load object.
  • shape information can be sensed by tactile sensors or pressure sensors, or it can be captured by a camera, or it can be manually input into the controller of the underactuated system robot by the operator.
  • Step 1022 Carry out coordinate conversion of the contact position according to the position information and force information, and determine the state information.
  • the coordinate conversion of the contact position may refer to the foregoing content.
  • step 1022 is similar to step 1021, which can be used as a reference and will not be repeated here.
  • the controller of the underactuated system robot sends an instruction to at least one auxiliary component of the tactile sensor, the pressure sensor, the motion capture system and the camera, so as to obtain the position of the load object on the base part. Position information, or position information and force information. Subsequently, at least one auxiliary component reports the position information of the load object on the base part, or the position information and the force information to the controller, and the controller determines the state information according to the position information, or the position information and the force information; or , at least one auxiliary component may also process the position information, or position information and force information to obtain status information, and then report the status information to the controller.
  • FIG. 27 shows an overall control framework diagram of an underactuated system robot provided by an exemplary embodiment of the present application.
  • the wheel-legged robot includes a balance controller and a balance ball controller, and the balance controller is used to complete the balance angle reference cycle to realize the body balance of the wheel-leg robot; the balance ball controller is used to realize the balance ball reference cycle, In order to achieve the goal of keeping the load object on the base part without falling.
  • the wheel-legged robot performs state estimation according to the state signal collection, and after the estimation is completed, the wheel rotation reference signal and other reference signals are determined by the balance controller to control the movement of the wheel part.
  • the wheel rotation reference signal is used to complete the wheel balancing task, and other reference signals are used to complete the wheel movement and steering tasks.
  • the wheel-legged robot performs contact position coordinate conversion according to the position information collection and/or force information collection of the load object, and then after signal conditioning, the base attitude signal and other reference signals are determined by the balance ball controller for Controls the movement of the base portion.
  • the base attitude reference signal is used to complete the base attitude task, and other reference signals are used to complete the tail task.
  • the base attitude reference signal can be determined according to the tilt angular acceleration reference value of the base part mentioned in the foregoing content, and is used to determine at least one of the tilt direction, tilt angle, and tilt speed of the base part.
  • the overall motion of the wheel-legged robot is controlled by the whole body dynamics, so the motion of the wheel part and the base part must meet the needs of the whole body dynamics control.
  • the control tasks include wheel balance tasks, wheel movement and steering tasks, base attitude tasks, tail tasks, moment tasks and external force tasks.
  • the wheel balance task must maintain the balance of the robot's upper body posture, while the wheel movement and steering tasks must meet the tasks of the robot moving forward and backward and turning in the yaw direction.
  • the base attitude task can realize the rotation of the base in the pitch, roll, and yaw directions and the translation in the x, y, and z directions.
  • the tail task can place the tail to a specified position by giving the corresponding joint angle value of the tail.
  • the sum of the squares of the torque of each joint motor is generally introduced into the cost function (cost function function) over time to ensure that the value of each joint torque falls within a finite value range during the optimization solution process.
  • the external force task includes external forces in three directions corresponding to the contact points between the two wheels and the ground, and the sum of the squares of the external forces is introduced into the cost function over time to ensure that the values of each external force fall within the optimal solution process. within a limited range of values.
  • the whole-body dynamic model is subject to multiple constraints, and the constraint conditions include dynamic model constraints, closed-loop linkage constraints, wheels not slipping and not leaving the ground constraints, and friction constraints.
  • the embodiment of the present application also provides an overall control framework taking the wheel-legged robot as an example.
  • the embodiment of the present application also provides an underactuated system robot.
  • the underactuated system robot includes a wheel part and a base part connected to the wheel part, and the base part is used to carry a load object; the underactuated system robot is provided with a controller, and the controller is used to control the underactuated system robot to realize: According to the state information of the load object on the base portion, the movement of at least one of the base portion and the wheel portion is controlled to keep the load object from falling on the base portion.
  • the setting of the controller can be set according to actual needs, and this application does not limit it, any underactuated system robot that can achieve the goal of keeping the load object on the base without falling through the motion control of the controller Within the protection scope of this application. Among them, the motion control of the underactuated system robot has been described in detail in the foregoing content, which can be used as a reference and will not be described again.
  • a pressure sensor array is provided on the upper surface of the base part, and the pressure sensor array is used to obtain position information of the load object on the base part.
  • the density of the pressure sensor array can be limited according to actual needs, and the specific content can refer to the above-mentioned part, and will not be repeated here.
  • the tactile sensor includes an array of pressure sensors arranged in an m ⁇ n matrix, the length and width of the m ⁇ n matrix are adapted to the upper surface of the base portion, and m and n are positive integers.
  • the underactuated robot further includes a camera, which is used to obtain position information of the load object on the base.
  • the camera is arranged on the base part, and the imaging area of the camera covers the upper surface of the base part.
  • Fig. 28 shows a schematic diagram of a motion control device of an underactuated system robot provided by an exemplary embodiment of the present application.
  • the device includes: a determining module 2820, configured to determine state information of the load object on the base; a control module 2840, configured to control at least one movement of the base portion and the wheel portion according to the state information, so as to keep the load object on the base. Does not fall off the seat.
  • the wheel part includes a leg part and a wheel part
  • the control module 2840 is used to control the movement of the wheel part and the tilting movement of the base part according to the state information, so as to maintain the body balance of the underactuated system robot and maintain the load
  • the object does not fall on the base part, and the tilting movement of the base part and the movement of the wheel part affect each other through the expansion and contraction of the legs.
  • control module 2840 is configured to control the movement of the wheel part and the tilting movement of the base part according to the state information when the load object and/or the underactuated system robot is disturbed by an external force, so as to maintain the underactuated system robot
  • the fuselage is balanced, and the load object is kept from falling on the base.
  • the external force disturbance includes at least one of the following situations: the center of the loaded object is disturbed by an external force; the center of the loaded object is disturbed by an external force; the center of mass of the loaded object is disturbed by an external force; the periphery of the center of mass of the loaded object is subject to an external force Interference; the base part is disturbed by external force; the wheel part is disturbed by external force.
  • control module 2840 is configured to, according to the state information, control the wheel portion to move toward the first direction when the load object moves toward the first direction on the base portion; or, according to the state information, when the load object moves toward the first direction; In the case of moving in the first direction, control the side of the base part close to the first direction to lift up, and control the side of the base part away from the first direction to fall; or, according to the status information, when the load object moves in the first direction In the case of , control the wheel portion to advance toward the first direction, and control the side of the base portion close to the first direction to lift, and control the other side of the base portion away from the first direction to fall.
  • control module 2840 is configured to determine the reference value of the inclination angular acceleration of the base part according to the state information; according to the reference value of the inclination angular acceleration and the whole body dynamics model of the underactuated system robot, control the At least one movement.
  • the state information includes: the displacement of the contact point of the load object on the base part in the target direction relative to the center of mass of the underactuated system robot, and the movement of the contact point on the base part along the target direction Speed; the control module 2840 is used to determine the first tilt angular acceleration reference value of the base part by using the difference between the displacement and the preset displacement value, and the difference between the moving speed and the moving speed preset value as the input of the PID controller.
  • the state information includes: the displacement of the contact point of the load object on the base part in the target direction relative to the center of mass of the underactuated system robot, and the movement of the contact point on the base part along the target direction Speed, the inclination angle of the base part, the inclination angular velocity of the base part; the control module 2840 is used to calculate the difference between the displacement and the displacement preset value, the difference between the moving speed and the moving speed preset value, the inclination angle and the inclination angle.
  • the difference between the preset values, the difference between the tilt angular velocity and the preset tilt angular velocity is used as the input of the PID controller to determine the second reference value of the tilt angular acceleration of the base.
  • At least one of the preset displacement value, the preset moving speed value, the preset tilt angle value and the preset tilt angular velocity value is determined according to the structural characteristics of the underactuated robot.
  • control module 2840 is used to determine the moment information of the base part and/or the wheel part by using the reference value of the tilt angular acceleration and the whole-body dynamics model of the underactuated system robot as the input of the PID controller; At least one of the base portion and the wheel portion moves.
  • control module 2840 is used to construct a whole-body dynamics model based on the driving torque, ground friction and closed-loop force of the underactuated system robot; the reference value of the inclination angular acceleration is substituted into the whole-body dynamics model, and determined by a PID controller Moment information.
  • the whole-body dynamic model is constrained by dynamic model constraint conditions, and the dynamic model constraint conditions include a reference value of tilt angular acceleration.
  • the determining module 2820 is configured to obtain position information of the load object on the base; perform coordinate conversion of the contact position according to the position information, and determine state information.
  • the determining module 2820 is configured to acquire position information through a tactile sensor laid on the base; or acquire position information through a pressure sensor laid on the base; or acquire position information through a motion capture system; or through The camera acquires position information of the load object on the base part.
  • a pressure sensor array is provided on the upper surface of the base part; the determination module 2820 is configured to determine position information through the contact point of the load object on the pressure sensor array.
  • the tactile sensor includes an array of pressure sensors arranged in an m ⁇ n matrix, the length and width of the m ⁇ n matrix are adapted to the upper surface of the base portion, and m and n are positive integers.
  • the imaging area of the camera covers the upper surface of the base; the determination module 2820 is configured to determine the location information according to the image information acquired by the camera.
  • the determining module 2820 is configured to obtain position information and shape information of the load object on the base part, and the state information includes at least one of force information, shape information, structure information, and physical information; according to the position information and The shape information is converted to the coordinates of the contact position to determine the state information.
  • the device provided by the above-mentioned embodiment is only illustrated by the division of the above-mentioned functional modules.
  • the above-mentioned function distribution can be completed by different functional modules according to the needs, that is, the internal structure of the device is divided into Different functional modules to complete all or part of the functions described above.
  • the device provided by the above embodiment belongs to the same idea as the method embodiment in the foregoing content, and its specific implementation process is detailed in the method embodiment, and will not be repeated here.
  • Fig. 29 shows a structural block diagram of an electronic device 2900 provided by an exemplary embodiment of the present application.
  • the electronic device 2900 can be a portable mobile terminal, such as: an electronic device, a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III, moving picture experts compress standard audio for realizing the control of an underactuated system robot) Layer 3), MP4 (Moving Picture Experts Group Audio Layer IV, Moving Picture Experts Compression Standard Audio Layer 4) player, laptop or desktop computer.
  • the electronic device 2900 may also be called user equipment, portable terminal, laptop terminal, desktop terminal and other names.
  • the electronic device 2900 can be implemented as a part of the control device in the robot.
  • the electronic device 2900 includes: a processor 2901 and a memory 2902 .
  • the processor 2901 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like.
  • Processor 2901 can adopt at least one hardware form in DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, programmable logic array) accomplish.
  • the processor 2901 can also include a main processor and a coprocessor, the main processor is a processor for processing data in the wake-up state, also called CPU (Central Processing Unit, central processing unit); the coprocessor is Low-power processor for processing data in standby state.
  • the processor 2901 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used for rendering and drawing the content that needs to be displayed on the display screen.
  • the processor 2901 may also include an AI (Artificial Intelligence, artificial intelligence) processor, where the AI processor is used to process computing operations related to machine learning.
  • AI Artificial Intelligence, artificial intelligence
  • Memory 2902 may include one or more computer-readable storage media, which may be non-transitory.
  • the memory 2902 may also include high-speed random access memory, and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices.
  • the non-transitory computer-readable storage medium in the memory 2902 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 2901 to realize the underdrive provided by the method embodiment in this application A motion control method for a system robot.
  • the electronic device 2900 may optionally further include: a peripheral device interface 2903 and at least one peripheral device.
  • the processor 2901, the memory 2902, and the peripheral device interface 2903 may be connected through buses or signal lines.
  • Each peripheral device can be connected to the peripheral device interface 2903 through a bus, a signal line or a circuit board.
  • the peripheral equipment includes: at least one of a radio frequency circuit 2904 , a display screen 2905 , a camera assembly 2906 , an audio circuit 2907 and a power supply 2908 .
  • the peripheral device interface 2903 may be used to connect at least one peripheral device related to I/O (Input/Output, input/output) to the processor 2901 and the memory 2902 .
  • the processor 2901, memory 2902 and peripheral device interface 2903 are integrated on the same chip or circuit board; in some other embodiments, any one of the processor 2901, memory 2902 and peripheral device interface 2903 or The two can be implemented on a separate chip or circuit board, which is not limited in this embodiment.
  • the radio frequency circuit 2904 is used to receive and transmit RF (Radio Frequency, radio frequency) signals, also called electromagnetic signals.
  • the radio frequency circuit 2904 communicates with the communication network and other communication devices through electromagnetic signals.
  • the radio frequency circuit 2904 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals.
  • the radio frequency circuit 2904 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and the like.
  • the radio frequency circuit 2904 can communicate with other terminals through at least one wireless communication protocol.
  • the wireless communication protocol includes but is not limited to: World Wide Web, Metropolitan Area Network, Intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), wireless local area network and/or Wi-Fi (Wireless Fidelity, wireless fidelity) network .
  • the radio frequency circuit 2904 may also include circuits related to NFC (Near Field Communication, short distance wireless communication), which is not limited in this application.
  • the display screen 2905 is used to display a UI (User Interface, user interface).
  • the UI can include graphics, text, icons, video, and any combination thereof.
  • the display screen 2905 also has the ability to collect touch signals on or above the surface of the display screen 2905 .
  • the touch signal can be input to the processor 2901 as a control signal for processing.
  • the display screen 2905 can also be used to provide virtual buttons and/or virtual keyboards, also called soft buttons and/or soft keyboards.
  • the display screen 2905 there may be one display screen 2905, which is arranged on the front panel of the electronic device 2900; in other embodiments, there may be at least two display screens 2905, which are respectively arranged on different surfaces of the electronic device 2900 or folded Design; in some other embodiments, the display screen 2905 may be a flexible display screen, which is arranged on the curved surface or the folding surface of the electronic device 2900 . Even, the display screen 2905 can also be set as a non-rectangular irregular figure, that is, a special-shaped screen.
  • the display screen 2905 can be made of LCD (Liquid Crystal Display, liquid crystal display), OLED (Organic Light-Emitting Diode, organic light-emitting diode) and other materials.
  • Camera assembly 2906 is used to capture images or video.
  • the camera component 2906 includes a front camera and a rear camera.
  • the front camera is set on the front panel of the terminal, and the rear camera is set on the back of the terminal.
  • there are at least two rear cameras which are any one of the main camera, depth-of-field camera, wide-angle camera, and telephoto camera, so as to realize the fusion of the main camera and the depth-of-field camera to realize the background blur function.
  • camera assembly 2906 may also include a flash.
  • the flash can be a single-color temperature flash or a dual-color temperature flash. Dual color temperature flash refers to the combination of warm light flash and cold light flash, which can be used for light compensation under different color temperatures.
  • Audio circuitry 2907 may include a microphone and speakers.
  • the microphone is used to collect the sound waves of the user and the environment, and convert the sound waves into electrical signals and input them to the processor 2901 for processing, or input them to the radio frequency circuit 2904 to realize voice communication.
  • the microphone can also be an array microphone or an omnidirectional collection microphone.
  • the speaker is used to convert the electrical signal from the processor 2901 or the radio frequency circuit 2904 into sound waves.
  • the loudspeaker can be a conventional membrane loudspeaker or a piezoelectric ceramic loudspeaker.
  • audio circuitry 2907 may also include a headphone jack.
  • the power supply 2908 is used to supply power to various components in the electronic device 2900 .
  • Power source 2908 may be alternating current, direct current, disposable batteries, or rechargeable batteries.
  • the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery.
  • a wired rechargeable battery is a battery charged through a wired line
  • a wireless rechargeable battery is a battery charged through a wireless coil.
  • the rechargeable battery can also be used to support fast charging technology.
  • the electronic device 2900 also includes one or more sensors 2909 .
  • the one or more sensors 2909 include, but are not limited to: an acceleration sensor 2910 , a gyro sensor 2911 , a pressure sensor 2912 , an optical sensor 2913 and a proximity sensor 2914 .
  • the acceleration sensor 2910 can detect the acceleration on the three coordinate axes of the coordinate system established by the electronic device 2900 .
  • the acceleration sensor 2910 can be used to detect the components of the acceleration of gravity on the three coordinate axes.
  • the processor 2901 may control the display screen 2905 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 2910 .
  • the acceleration sensor 2910 can also be used for collecting game or user's motion data.
  • the gyro sensor 2911 can detect the body direction and rotation angle of the electronic device 2900 , and the gyro sensor 2911 can cooperate with the acceleration sensor 2910 to collect 3D actions of the user on the electronic device 2900 .
  • the processor 2901 can realize the following functions: motion sensing (such as changing the UI according to the user's tilt operation), image stabilization during shooting, game control and inertial navigation.
  • the pressure sensor 2912 may be disposed on the side frame of the electronic device 2900 and/or the lower layer of the display screen 2905 .
  • the pressure sensor 2912 When the pressure sensor 2912 is installed on the side frame of the electronic device 2900 , it can detect the user's grip signal on the electronic device 2900 , and the processor 2901 performs left and right hand recognition or shortcut operation according to the grip signal collected by the pressure sensor 2912 .
  • the processor 2901 controls the operable controls on the UI interface according to the user's pressure operation on the display screen 2905.
  • the operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.
  • the optical sensor 2913 is used to collect ambient light intensity.
  • the processor 2901 can control the display brightness of the display screen 2905 according to the ambient light intensity collected by the optical sensor 2913 . Specifically, when the ambient light intensity is high, the display brightness of the display screen 2905 is increased; when the ambient light intensity is low, the display brightness of the display screen 2905 is decreased.
  • the processor 2901 may also dynamically adjust shooting parameters of the camera assembly 2906 according to the ambient light intensity collected by the optical sensor 2913 .
  • the proximity sensor 2914 also called a distance sensor, is usually arranged on the front panel of the electronic device 2900 .
  • the proximity sensor 2914 is used to collect the distance between the user and the front of the electronic device 2900 .
  • the processor 2901 controls the display screen 2905 to switch from the bright screen state to the off-screen state; when the proximity sensor 2914 detects When the distance between the user and the front of the electronic device 2900 gradually increases, the processor 2901 controls the display screen 2905 to switch from the off-screen state to the on-screen state.
  • FIG. 29 does not constitute a limitation to the electronic device 2900, and may include more or less components than shown in the figure, or combine certain components, or adopt a different component arrangement.
  • Fig. 30 shows a schematic structural block diagram of an underactuated system robot provided by an embodiment of the present application.
  • the underactuated system robot in this embodiment as shown in FIG. 30 may include: one or more processors 3001 ; one or more sensors 3002 , one or more motors 3003 and memory 3004 .
  • the aforementioned processor 3001 , sensor 3002 , motor 3003 and memory 3004 are connected through a bus 3005 .
  • the memory 3004 is used to store computer programs, and the computer programs include program instructions, and the processor 3001 is used to execute the program instructions stored in the memory 3004 .
  • the processor 3001 may be a central processing unit (Central Processing Unit, CPU).
  • the processor 3001 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (Application-Specific Integrated Circuit, ASIC), a programmable logic device (Programmable Logic Device, PLD), etc.
  • the PLD may be Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA), Generic Array Logic (Generic Array Logic, GAL), etc.
  • the processor 3001 may also be a combination of the above structures.
  • the processor 3001 can be implemented as an internal controller of the underactuated system robot mentioned in the foregoing content.
  • the sensor 3002 is used to acquire state data related to the motion control of the underactuated system robot, such as the position information and/or force information involved in the foregoing content.
  • the motor 3003 is used to control the motion of the underactuated system robot and complete the motion.
  • the motor 3003 includes each joint motor and wheel motor of the underactuated robot.
  • the memory 3004 can include a volatile memory (Volatile Memory), such as a random access memory (Random-Access Memory, RAM); the memory 3004 can also include a non-volatile memory (Non-Volatile Memory), such as a flash memory (Flash Memory), Solid-State Drive (SSD), etc.
  • a volatile memory such as a random access memory (Random-Access Memory, RAM
  • the memory 3004 can also include a non-volatile memory (Non-Volatile Memory), such as a flash memory (Flash Memory), Solid-State Drive (SSD), etc.
  • the memory 3004 may also include a combination of the foregoing types of memory.
  • the memory 3004 is used to store computer programs, the computer programs include program instructions, and the processor 3001 is used to execute the program instructions stored in the memory 3004 to implement the motion control method of the underactuated system robot given in the foregoing.
  • the embodiment of the present application also provides a computer device, the computer device includes a processor; the processor is used to determine the status information of the load object on the base part; according to the status information, control the movement of at least one of the base part and the wheel part , to keep the load object from falling off on the base part.
  • the embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored, and the computer program is used to be executed by a processor, so as to realize the motion control method of an underactuated system robot as described above.
  • the embodiment of the present application also provides a chip, the chip includes a programmable logic circuit and/or program instructions, and when the chip is running, it is used to realize the motion control method of the underactuated system robot as described above.
  • the embodiment of the present application also provides a computer program product, the computer program product includes computer instructions, the computer instructions are stored in a computer-readable storage medium, and the processor reads and executes the computer instructions from the computer-readable storage medium, so as to realize the above The motion control method of the underactuated system robot described above.

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Abstract

一种欠驱动系统机器人的运动控制方法和欠驱动系统机器人，涉及机器人领域。所述欠驱动系统机器人包括车轮部和与车轮部连接的基座部，负载物体放置于基座部上，所述方法包括：确定负载物体在基座部的状态信息(102)；根据状态信息，控制基座部和车轮部中的至少一个运动，以保持负载物体在基座部上不掉落(104)。本实施例根据负载物体在基座部的状态信息，能够控制基座部和/或车轮部运动以使得负载物体保持在基座部上不掉落，从而提高欠驱动系统机器人的稳定性。

Description

欠驱动系统机器人的运动控制方法和欠驱动系统机器人
本申请要求于2022年01月07日提交的申请号为202210015856.0、发明名称为“欠驱动系统机器人的运动控制方法和欠驱动系统机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及机器人领域，特别涉及一种欠驱动系统机器人的运动控制方法和欠驱动系统机器人。
背景技术
欠驱动系统机器人是指驱动数量少于关节自由度数量的机器人，在该类机器人中的典型表现是机器人存在平衡问题。以具有基座部的轮腿式机器人为例，基座部可浮动，机器人通过车轮部进行运动以保持平衡。因此，可以理解为，欠驱动系统机器人均存在机身姿态控制问题。
在实际使用过程中，存在使用欠驱动系统机器人完成指定任务的可能性。以使用轮腿式机器人使用基座部运送球形物体为例，由于球形物体在基座部上没有形封闭和力封闭，从而导致球形物体在基座部上处于不稳定的状态、而存在掉落的可能性。目前与之相关的控制方法尚未有明确的研究结果。
发明内容
本申请实施例提供了一种欠驱动系统机器人的运动控制方法和欠驱动系统机器人，根据状态信息控制基座部和车轮部中的至少一个运动，保证负载物体保持在基座部上不掉落，以提高欠驱动系统机器人的稳定性，所述技术方案至少包括如下方案：
根据本申请的一个方面，提供了一种欠驱动系统机器人的运动控制方法，该方法由欠驱动系统机器人的控制器执行，欠驱动系统机器人包括车轮部和与车轮部连接的基座部，负载物体放置于基座部上，所述方法包括：
确定负载物体在基座部的状态信息；
根据状态信息，控制基座部和车轮部中的至少一个运动，以保持负载物体在基座部上不掉落。
根据本申请的一个方面，提供了一种欠驱动系统机器人，欠驱动系统机器人包括车轮部和与车轮部连接的基座部，基座部用于承载负载物体；
欠驱动系统机器人中设置有控制器，控制器用于控制欠驱动系统机器人实现：根据负载物体在基座部的状态信息，控制基座部和车轮部中的至少一个运动，以保持负载物体在基座部上不掉落。
根据本申请的一个方面，提供了一种欠驱动系统机器人的运动控制装置，所述装置包括：
确定模块，用于确定负载物体在基座部的状态信息；
控制模块，用于根据状态信息，控制基座部和车轮部中的至少一个运动，以保持负载物体在基座部上不掉落。
根据本申请的一个方面，提供了一种计算机设备，所述计算机设备包括处理器；
处理器，用于确定负载物体在基座部的状态信息；
根据状态信息，控制基座部和车轮部中的至少一个运动，以保持负载物体在基座部上不掉落。
根据本申请的一个方面，提供了一种计算机可读存储介质，该存储介质中存储有计算机程序，计算机程序用于被处理器执行，以实现如上述本申请实施例中任一所述的欠驱动系统机器人的运动控制方法。
根据本申请的一个方面，提供了一种芯片，该芯片包括可编程逻辑电路和/或程序指令， 当芯片运行时，芯片用于实现如上述实施例中任一所述的欠驱动系统机器人的运动控制方法。
根据本申请的一个方面，提供了一种计算机程序产品，该计算机程序产品包括计算机指令，该计算机指令存储在计算机可读存储介质中，处理器从计算机可读存储介质读取并执行该计算机指令，以实现上述实施例中任一所述的欠驱动系统机器人的运动控制方法。
本申请实施例提供的技术方案带来的有益效果至少包括：
根据负载物体在基座部的状态信息，使得欠驱动系统机器人能够控制基座部和/或车轮部运动，以使得负载物体保持在基座部上不掉落，从而提高了欠驱动系统机器人的稳定性。
附图说明
图1是本申请一个示例性实施例提供的轮腿式机器人的结构示意图；
图2是本申请一个示例性实施例提供的轮腿式机器人的局部示意图；
图3是本申请一个示例性实施例提供的轮腿式机器人处于两轮站立情况下的主视图；
图4是本申请一个示例性实施例提供的轮腿式机器人处于两轮站立情况下的侧视图；
图5是本申请一个示例性实施例提供的轮腿式机器人处于两轮站立情况下的俯视图；
图6示出了本申请一个示例性实施例提供的轮腿式机器人在配重腿处于内收状态下的立体示意图；
图7是本申请一个示例性实施例提供的轮腿式机器人处于三轮站立情况下的主视图；
图8是本申请一个示例性实施例提供的轮腿式机器人处于三轮站立情况下的侧视图；
图9是本申请一个示例性实施例提供的轮腿式机器人处于三轮站立情况下的俯视图；
图10是本申请一个示例性实施例提供的轮腿式机器人处于三轮站立情况下的立体示意图；
图11是本申请一个示例性实施例提供的轮腿式机器人处于三轮站立情况下的另一种立体示意图；
图12是本申请一个示例性实施例提供的轮腿式机器人的形态示意图；
图13是本申请一个示例性实施例提供的三个空间角度的示意图；
图14是本申请一个示例性实施例提供的俯仰角方向的平衡控制的框图；
图15是本申请一个示例性实施例提供的欠驱动系统机器人的运动控制方法的流程图；
图16是本申请一个示例性实施例提供的欠驱动系统机器人的运动控制方法的流程图；
图17是本申请一个示例性实施例提供的欠驱动系统机器人在外力干扰的情况下的运动控制实现图；
图18是本申请一个示例性实施例提供的欠驱动系统机器人在外力干扰的情况下的运动控制实现图；
图19是本申请一个示例性实施例提供的欠驱动系统机器人在外力干扰的情况下的运动控制实现图；
图20是本申请一个示例性实施例提供的欠驱动系统机器人的运动控制方法的流程图；
图21是本申请一个示例性实施例提供的手抓取物体时的通用问题描述示意图；
图22是本申请一个示例性实施例提供的欠驱动系统机器人的标量定义示意图；
图23是本申请一个示例性实施例提供的欠驱动系统机器人的运动控制方法的流程图；
图24是本申请一个示例性实施例提供的欠驱动系统机器人的运动控制方法的流程图；
图25是本申请一个示例性实施例提供的欠驱动系统机器人的广义坐标示意图；
图26是本申请一个示例性实施例提供的欠驱动系统机器人的运动控制方法的流程图；
图27是本申请一个示例性实施例提供的欠驱动系统机器人的整体控制框架图；
图28是本申请一个示例性实施例提供的欠驱动系统机器人的运动控制装置的示意图；
图29是本申请一个示例性实施例提供的电子设备的框图；
图30本申请一个示例性实施例提供的欠驱动系统机器人的结构框图。
下面对附图中的各个标号进行说明：
10-轮腿式机器人；
11-基座部；
12-车轮部：121-大腿单元；122-小腿单元；123-主动轮；124-驱动单元：1241-第一驱动电机；1242-第二驱动电机；
13-尾部：131-配重腿；132-被动轮；133-第三驱动电机；
01-扭簧；02-转动轴；03-同步带；04-同步带轮；
20-负载物体。
具体实施方式
除非另有定义，本申请实施例所用的所有技术术语均具有与本领域技术人员通常理解的相同的含义。在本申请实施例中，所涉及的“前”、“后”均以附图中所示的前和后为基准。“第一端”、“第二端”为相对的两端。为使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请实施方式作进一步地详细描述。
欠驱动系统机器人是指驱动数量少于关节自由度数量的机器人，欠驱动系统机器人均存在机身平衡问题。
图1示出了本申请一个示例性实施例提供的轮腿式机器人10，轮腿式机器人10是欠驱动系统机器人中的一种，本申请实施例提供的欠驱动系统机器人的运动控制方法可由轮腿式机器人实现。轮腿式机器人10结合了轮式机器人和足式机器人的优点，具有很高的车轮能量效率和很强的适应能力，可以在不平坦的地形上利用腿避开障碍物。轮腿式机器人10是不稳定的欠驱动系统，地面与车轮/支脚之间只有两个接触点，从而使得轮腿式机器人10的平衡控制具有挑战性，因为较难获得机身平衡。
示意性的，轮腿式机器人10包括基座部11、车轮部12和尾部13，车轮部12和尾部13分别与基座部11传动连接。可选的，车轮部12可分为左右两侧，且左右两侧可以是完全对称的，也可以是不完全对称的。
示意性的，车轮部12包括腿部和轮部。其中，腿部包括大腿单元121和小腿单元122，轮部包括主动轮123。以大腿单元121由两杆件组成，小腿单元122由两杆件组成为例，大腿单元121包括的两杆件、小腿单元122包括的两杆件和基座部11构成平面五连杆机构。
可选的，第一驱动电机1241固定于基座部11上，用于向大腿单元121提供驱动力。
以第一驱动电机1241包括两个电机为例，大腿单元121包括的两杆件分别与第一驱动电机1241包括的两个电机的输出轴固定连接，大腿单元121包括的两杆件、小腿单元122包括的两杆件相连的一端均以转动副形式连接，以构成平面五连杆机构。
可选的，第二驱动电机1242固定于小腿单元122的某一个杆件上，用于向主动轮123提供驱动力。
参考图2示出的轮腿式机器人10的局部示意图，主动轮123的驱动可通过如下方式实现：第二驱动电机1242通过皮带传动驱动主动轮123的转动轴02，转动轴02与小腿单元122包括的两杆件之间转动副的轴向共轴，扭簧01套装在转动轴02上，扭簧01的臂分别固定在小腿单元122包括的两杆件上。
可选的，第二驱动电机1242的输出轴上安装有同步带轮04，同步带轮04固定在转动轴02上，主动轮123固定在转动轴02的另一段上，同步带03套接在同步带轮04上，第二驱动电机1242通过驱动同步带03驱动同步带轮04进行转动，从而带动主动轮123的转动。
可选的，本申请实施例提供的轮腿式机器人10中，尾部13包括配重腿131、被动轮132和第三驱动电机133。其中，配重腿131在轮腿式机器人10的运动过程中实现平衡功能，第三驱动电机133用于向被动轮132提供驱动力。
图3-5分别示出了轮腿式机器人10处于两轮站立情况下的主视图、左视图和俯视图；图6示出了轮腿式机器人10在配重腿131处于内收状态下的立体示意图。
在一种可选的实施场景下，轮腿式机器人10还可以处于三轮站立状态。其中。在轮腿式 机器人10处于三轮站立情况下，图7-9示出了轮腿式机器人10处于三轮站立情况下的主视图、左视图和俯视图；图10和11分别示出了轮腿式机器人10处于三轮站立情况下的不同立体图。
参考图7，以大腿单元121包括的两杆件的轴心线构成的位置角度是θ为例，位置角度θ＜180°，机构可处于自稳状态。在一种可选的实施场景下，轮腿式机器人10还可以具有其他形态，图12给出了一种形态的示例。
应当理解的是，轮腿式机器人10作为欠驱动系统机器人中的一种，本申请以下实施例仅以轮腿式机器人10来进行示例，轮腿式机器人10的具体结构和所具有的形态可根据实际情况设定，不对本申请构成限定。
为实现轮腿式机器人10的平衡，通常需要对轮腿式机器人10进行平衡反馈控制。平衡反馈控制主要是，将自我平衡测量值反馈给控制系统，使最后的平衡测量值达到标准。
示意性的，图13是本申请一个示例性实施例提供的三个空间角度的示意图，本申请实施例主要通过三个空间角度进行平衡：俯仰角(pitch)、偏航角(yaw)以及横滚角(roll)。
参考图13，针对轮腿式机器人10建立三维控件的右手笛卡尔坐标系，其中，俯仰角是围绕x轴旋转的角，x轴为沿轮腿式机器人10前进方向的坐标轴，对应横滚角，后续使用θ表示；偏航角是围绕y轴旋转的角，y轴为沿轮腿式机器人10双轮连接方向的坐标轴，对应俯仰角，后续使用φ表示；翻滚角是围绕z轴旋转的角，z轴为竖直向上方向的坐标轴，对应偏航角，后续使用
Figure PCTCN2022129831-appb-000001
表示。
以俯仰角方向的平衡控制为例，对平衡控制进行说明：
pitch方向的角度表示轮腿式机器人10在前进方向上的摆动幅度，也即，pitch方向的角度表示轮腿式机器人10在车轮转动的控制方向上前后摇摆的角度，是由于每个车轮与运动面之间仅存在单接触点，且轮腿式机器人10的车轮横向排列产生的。
pitch方向上的控制由多闭环比例-积分-微分(PID)控制器组成。其中，将轮腿式机器人10投影至二维平面上，形成二维平面简化模型，X表示车轮中心在二维平面简化模型中横向移动的距离，假设轮子不打滑不离地的情况下，X等于轮子转动的角度与轮子的半径的乘积。
示意性的，
Figure PCTCN2022129831-appb-000002
表示车轮中心的移动速度，
Figure PCTCN2022129831-appb-000003
表示车轮中心移动的参考速度，θ表示轮腿式机器人10的俯仰角，即二维平面简化模型中绕垂直于纸面的方向转动地角度。相应的，
Figure PCTCN2022129831-appb-000004
表示轮腿式机器人10的俯仰角速度，
Figure PCTCN2022129831-appb-000005
表示轮腿式机器人10的俯仰角速度参考值，τ表示输入轮腿式机器人10的车轮电机的力矩。其中，θ、
Figure PCTCN2022129831-appb-000006
和
Figure PCTCN2022129831-appb-000007
由传感器采集得到。比如，θ和
Figure PCTCN2022129831-appb-000008
通过惯性传感器(Inertial Measurement Unit，IMU)获取，
Figure PCTCN2022129831-appb-000009
通过轮子的编码传感器(Encoder传感器)获取。
图14示出本申请实施例一个示例性实施例提供的pitch方向的平衡控制的框图。其中，最外层的控制参考量是轮子中心移动的速度参考值
Figure PCTCN2022129831-appb-000010
首先，获取车轮中心移动的参考速度
Figure PCTCN2022129831-appb-000011
也即车轮根据运动预期需要达到的速度，以及通过传感器采集得到车轮中心的移动速度
Figure PCTCN2022129831-appb-000012
将
Figure PCTCN2022129831-appb-000013
与轮子中心移动的速度
Figure PCTCN2022129831-appb-000014
相减之后的结果，输入到PID控制器1410，通过PID控制器1410输出得到θ ref。
其次，该θ ref作为下一个控制环的控制参考量。将θ ref与θ相减后，得到俯仰角差值，也即当前俯仰角与参考俯仰角之间的差值，将俯仰角差值输入到PID控制器1420，得到
Figure PCTCN2022129831-appb-000015
随后，
Figure PCTCN2022129831-appb-000016
作为下一个控制环的控制参考量，将
Figure PCTCN2022129831-appb-000017
与
Figure PCTCN2022129831-appb-000018
相减之后的结果，输入到PID控制器1430，PID控制器1430输出得到τ。将τ发给轮腿式机器人10的轮子电机即可实现机器人的平衡控制。
同时，轮腿式机器人10的状态发生相应的改变后，θ、
Figure PCTCN2022129831-appb-000019
的值会相应的发生变化，这些值由传感器获取之后用于轮腿式机器人10的新一轮的控制中，由此形成控制闭环。
根据上述平衡控制得到的τ可作为轮腿式机器人10的全身的类型控制器的轮子转动参考信号，该参考信号的计算生成方法有多种实现方式，本申请仅为示例性举例，其他获取τ的 计算生成方法不对本申请造成限制。
示意性的，偏航角yaw以及横滚角roll方向的平衡控制与俯仰角pitch方向的平衡控制类似，可作参考，不再赘述。
基于前述内容，本申请提供了一种欠驱动系统机器人的运动控制方法，能够使得欠驱动系统机器人将负载物体保持在基座部上不掉落。
图15示出了本申请一个示例性实施例提供的欠驱动系统机器人的运动控制方法的流程图，欠驱动系统机器人包括车轮部和与车轮部连接的基座部，负载物体放置于基座部上。
其中，该方法由欠驱动系统机器人的控制器执行，欠驱动系统机器人的运动控制可通过控制器实现。示例性的，在确定车轮部和/或基座部的运动方式后，由控制器分别向不同的电机下发控制信息，以控制车轮部和/或基座部的运动。
应当理解的是，控制器可以设置在欠驱动系统机器人的内部，如实现为欠驱动系统机器人的内部执行器；或者，控制器可以设置在外部设备中，如实现为欠驱动系统机器人的遥控器，或者实现为对欠驱动系统机器人进行指令控制的终端设备(如计算机设备)等。或者，控制器还可实现为其他设备，或者其他设备中的某一执行组件，具体不再赘述。
示意性的，本申请实施例提供的运动控制方法包括：
步骤102：确定负载物体在基座部的状态信息。
示意性的，负载物体与基座部有物理接触，但负载物体在基座部上无形封闭和力封闭。
在欠驱动系统机器人的运动过程中，负载物体与基座部的接触点不固定，从而使得负载物体的运动状态无明确规律。然而，由于负载物体放置于基座部上，欠驱动系统机器人在运动过程中需要考虑负载物体的物理特性，比如质量、转动惯量，不同的物理参数在负载物体与欠驱动系统机器人的相互作用中将产生较大区别。
其中，负载物体可以是任意物体，包括刚性物体和弹性物体，本申请不对负载物体的形状、材料、大小、结构等进行限定，任意一个或多个物体均可视为本申请涉及的负载物体。在将多个物体视为本申请涉及的负载物体时，可分别确定每个物体在基座部的状态信息；也可对多个物体的物理信息进行处理，确定出一个总体的状态信息。
负载物体可以是正方体、长方体、圆柱体、圆球等规则或不规则形状的物体。如负载物体是正方体，正方体与基座部上存在较小的摩擦力，从而使得正方体在基座部上产生滑动。
以下实施例中均以负载物体是球体为例。
示意性的，负载物体在基座部的状态信息包括：负载物体的姿态信息、负载物体的运动信息、负载物体的物理信息、基座部的姿态信息、基座部的运动信息、基座部的物理信息中的至少一种。其中，负载物体的姿态信息，用于指示负载物体在基座部上的位置；负载物体的运动信息包括但不限于负载物体的位移信息、速度信息、加速度信息；负载物体的物理信息包括但不限于与负载物体的物理特性相关的参数信息，比如负载物体的质量、转动惯量等。基座部的姿态信息、运动信息和物理信息可参考前述内容，不再赘述。
比如，状态信息包括：负载物体在基座部上的接触点在基座部上相对于欠驱动系统机器人的质心在x方向上的位移，接触点在基座部上沿x方向的移动速度；又如，状态信息包括：负载物体在基座部上的接触点在基座部上相对于欠驱动系统机器人的质心在x方向上的位移，接触点在基座部上沿x方向的移动速度，基座部的倾斜角度，基座部的倾斜角速度。
其中，x方向为前述内容中的x轴方向，x轴为沿轮腿式机器人前进方向的坐标轴，对应横滚角roll。可选的，状态信息还可以包括y方向上的相关信息，y方向为前述内容中的y轴方向，y轴为沿轮腿式机器人10双轮连接方向的坐标轴，对应俯仰角pitch。
在一种可选的实施场景下，状态信息可通过触觉传感器、压力传感器、动作捕捉系统和摄像头中的至少一个辅助组件得到(具体将在下文中展开)。比如，步骤102可实现为如下：通过触觉传感器获取负载物体在基座部上的位置信息；根据位置信息进行接触位置坐标转换，确定状态信息。
基于本申请实施例提供的欠驱动系统机器人的运动控制方法由欠驱动系统机器人的控制器执行，在需要进行运动控制时，控制器向触觉传感器、压力传感器、动作捕捉系统和摄像头中的至少一个辅助组件下发指令，以获取到负载物体在基座部上的位置信息。随后，至少一个辅助组件将负载物体在基座部上的位置信息上报给控制器，由控制器根据位置信息来确定状态信息；或者，也可由至少一个辅助组件对位置信息进行处理以得到状态信息，随后将状态信息上报给控制器，以供控制器进行下一步处理。
步骤104：根据状态信息，控制基座部和车轮部中的至少一个运动，以保持负载物体在基座部上不掉落。
示意性的，保持负载物体在基座部上不掉落，包括但不限于如下情况中的至少一种：负载物体在基座部上保持静止、负载物体在基座部上移动、负载物体在基座部上旋转、负载物体在基座部上跳动、负载物体在基座部上滚动。以负载物体是球体为例，球体在基座部上保持静止、滚动或跳动，均可视为球体保持在基座部上不掉落。
本申请中，欠驱动系统机器人的运动状态根据实际需要选择，对此不做限定。其中，欠驱动系统机器人的运动状态包括但不限于如下中的至少一种：保持静止状态、移动状态、翻转状态、舞动状态、跳跃状态、静止平衡状态、运动平衡状态。
比如，欠驱动系统机器人处于保持静止状态，则车轮部使得基座部相对于地面保持在一个固定的位置上；又如，欠驱动系统机器人处于移动状态，则车轮部进行移动运动，以使得欠驱动系统机器人保持机身平衡；又如，欠驱动系统机器人处于翻转状态，则车轮部和基座部的相对位置根据翻转所处的阶段不同而变化；又如，欠驱动系统机器人处于舞动状态，则车轮部进行移动运动或倾斜运动，和/或基座部进行移动运动或倾斜运动。
在一些实施例中，静止平衡状态下，欠驱动系统机器人的机身不产生位移，基座部可保持静止或进行倾斜运动，以使得欠驱动系统机器人在原地处于平衡状态，可视为欠驱动系统机器人处于相对静止的状态。应当理解的是，在静止平衡状态下，车轮部可能在原地出现微小幅度的晃动，这是基于欠驱动系统机器人的全身动力学模型导致的。凡是在误差范围内的晃动，均可视为车轮部保持在原地，误差范围可根据实际需要设定。
在另一些实施例中，运动平衡状态下，欠驱动系统机器人的机身出现位移，车轮部进行移动运动，基座部可保持静止或进行倾斜运动，以使得欠驱动系统机器人在位移过程中处于平衡状态。
以欠驱动系统机器人的运动状态是运动平衡状态为例，在欠驱动系统机器人的控制过程中，欠驱动系统机器人通过任意方向上的移动以保证机身平衡。此时，负载物体放置于基座部上，在确定负载物体在基座部的状态信息后，根据确定的状态信息控制基座部和车轮部中的至少一个运动，以保证欠驱动系统机器人能够在实现机身平衡的情况下，保证负载物体保持在基座部上不掉落。
示意性的，基座部的运动至少包括倾斜运动，基座部的连续倾斜运动将使得基座部处于摇摆状态，比如基座部的点头或摇头；车轮部的运动至少包括移动运动和倾斜运动，比如车轮部朝向前进方向的移动。
在确定负载物体在基座部的状态信息后，根据状态信息对基座部和车轮部中的至少一个的控制，可通过欠驱动系统机器人的全身动力学控制实现。
以全身动力学控制通过平衡控制器实现为例，将状态信息输入到欠驱动系统机器人的平衡控制器中，通过对应的全身动力学模型输出生成的全身动力学控制的相关参考信号，以驱动基座部和车轮部中的至少一个。其中，相关参考信号包括但不限于如下信号中的至少一种：轮子转动的参考信号、基座部姿态的参考信号、尾部姿态的参考信号。平衡控制器输出的是每个关节的力矩信息，根据确定的力矩信息可确定基座部和/或车轮部的运动。可选的，衡控制器是PID控制器。
示例性的，确定状态信息后，欠驱动系统机器人的控制器基于平衡处理器确定全身动力 学控制的相关参考信号。随后，控制器将相关参考信号下发给基座部和/或车轮部，以使得基座部和/或车轮部根据下发的信号进行运动。比如，控制器将车轮部的每个关节的力矩信息下发给对应的电机，以使得电机基于对应的力矩信息控制对应的关节，从而实现车轮部的运动。
综上所述，本申请实施例提供的欠驱动系统机器人的运动控制方法，根据负载物体在基座部的状态信息，使得欠驱动系统机器人能够通过控制器控制基座部和/或车轮部运动，以使得负载物体保持在基座部上不掉落，从而提高了欠驱动系统机器人的稳定性。
根据前述内容，欠驱动系统机器人的运动状态有多种，以运动状态是运动平衡状态为例，欠驱动系统机器人需要同时保持机身平衡、以及负载物体保持在基座部上不掉落。
基于图15，图16示出了本申请一个示例性实施例提供的欠驱动系统机器人的运动控制方法的流程图。可选的，车轮部包括腿部和轮部，步骤104可实现为步骤1041。其中，步骤1041的具体阐述如下：
步骤1041：根据状态信息，控制轮部运动且控制基座部进行倾斜运动，以保持欠驱动系统机器人的机身平衡，且保持负载物体在基座部上不掉落。
其中，基座部的倾斜运动和轮部的运动通过腿部的伸缩相互影响。
示意性的，轮部的运动至少包括移动运动和倾斜运动。比如，轮部朝向前进方向进行移动；又如，在经过障碍物时，轮部进行倾斜运动，使得欠驱动系统机器人的机身发生倾斜以避开障碍物。
参考图1，轮部可包括主动轮123，第二驱动电机1242向主动轮123提供驱动力，以使得主动轮123进行移动运动和倾斜运动。比如，第二驱动电机1242驱动主动轮123沿欠驱动系统机器人10的前进方向前进或倒退；或者，第二驱动电机1242驱动主动轮123倾斜，以使得主动轮123与地面的夹角发生变化，从而带动欠驱动系统机器人10的机身发生倾斜。
示意性的，基座部的运动至少包括倾斜运动，基座部的连续倾斜运动将使得基座部处于摇摆状态。
比如，参考图13，以前述内容中的x轴为例，基座部绕x轴进行上下连续倾斜，从而使得基座部在x轴方向上处于摇摆状态，若x轴为轮腿式机器人10的前进方向，则可将基座部的倾斜运动视为基座部的点头动作；又如，以前述内容中的y轴为例，基座部绕y轴进行上下连续倾斜，从而使得基座部在y轴方向上处于摇摆状态，若y轴为轮腿式机器人10的双轮连接方向，则可将基座部的倾斜运动视为是基座部的摇头动作。
以负载物体是球体为例，球体在基座部上无形封闭和力封闭。在欠驱动系统机器人的控制过程中，平衡控制器通过控制车轮部的运动使得欠驱动系统机器人保持机身平衡，通过控制基座部的运动使得球体保持在基座部上不掉落。
示意性的，基座部的倾斜运动和轮部的运动通过腿部的伸缩相互影响。其中，基座部的倾斜运动通过腿部影响轮部的运动，且轮部的运动通过腿部影响基座部的倾斜运动。
参考图1，以腿部包括大腿单元121和小腿单元122，轮部包括主动轮123为例。其中，在基座部11进行倾斜运动时，基座部11通过大腿单元121、小腿单元122的伸缩影响主动轮123的前进和/或倒退；在主动轮123前进和/或倒退时，主动轮123依次带动小腿单元122和大腿单元121进行伸缩，从而影响基座部11的左右摇摆和/或前后摇摆。
其中，车轮部的运动和基座部的倾斜运动可通过欠驱动系统机器人的全身动力学控制实现，根据控制器输出的参考信号控制欠驱动系统机器人的各个关节，从而实现对车轮部以及基座部的运动控制，该部分内容将在后文展开详细描述，此处仅为示例性描述。
综上所述，本申请实施例提供的欠驱动系统机器人的运动控制方法，给出了欠驱动系统机器人的多种运动状态，以使得负载物体保持在基座部上不掉落，从而提高了欠驱动系统机器人的稳定性。
在一种可选的实施场景下，负载物体和/或欠驱动系统机器人将受到外力干扰，基于此，步骤1041可实现为如下：
在负载物体和/或欠驱动系统机器人受到外力干扰的情况下，根据状态信息，控制轮部运动且基座部进行倾斜运动，以保持欠驱动系统机器人的机身平衡，且保持负载物体保持在基座部上不掉落。
其中，负载物体和/或欠驱动系统机器人受到的外力干扰，可能是其他物体施加在负载物体和/或欠驱动系统机器人上的力，也可能是由于欠驱动系统机器人在跨越或经过障碍物时受到的阻力等。比如，在欠驱动系统机器人经过障碍物时，障碍物的部分实体对基座部进行挤压，从而使得欠驱动系统机器人和负载物体同时受到挤压力。
示意性的，外力干扰包括如下情况中的至少一种：负载物体的中心受到外力干扰；负载物体的中心之外受到外力干扰；负载物体的质心受到外力干扰；负载物体的质心的周侧受到外力干扰；基座部受到外力干扰；车轮部受到外力干扰。
图17-19分别示出了本申请一个示例性实施例提供的欠驱动系统机器人在不同外力干扰的情况下的运动控制实现图。
以欠驱动系统机器人是轮腿式机器人10为例，轮腿式机器人10的驱动电机向车轮部12(图中未标示)包括的两个主动轮123提供驱动力，以使得轮腿式机器人10处于运动平衡状态。其中，两个主动轮123即为车轮部12的轮部，负载物体20放置于基座部11上，轮腿式机器人10以负载物体20保持在基座部11上不掉落为目标，控制基座部11和主动轮123中的至少一个运动。
可选的，负载物体20为球体。
参考图17，在球体的中心增加一个外力干扰，负载物体20在基座部11上滚动之后未掉落，且轮腿式机器人10仍然保持平衡。其中，在保持平衡的过程当中，基座部11在不同的姿态角方向上都在进行着闭环控制。
参考图18，在球体的中心之外的其他位置增加一个外力干扰，负载物体20在基座部11上滚动之后未掉落，且轮腿式机器人10仍然保持平衡。在保持平衡的过程当中，基座部11在不同的姿态角方向上同样进行闭环控制。
参考图19，围绕负载物体20的质心增加一个力矩，负载物体20在基座部11上滚动之后未掉落，且轮腿式机器人10仍然保持平衡。在保持平衡的过程当中，基座部11在不同的姿态角方向上同样进行闭环控制。
可选的，在负载物体和/或欠驱动系统机器人将受到外力干扰的情况下，负载物体和/或欠驱动系统机器人存在受到较大的外力干扰的可能性。此时，仅通过基座部11的运动存在无法实现负载物体20保持在基座部11上的可能性。此时，轮腿式机器人10控制主动轮123进行运动，比如沿轮子转动方向前进或后退，以使得负载物体20保持在基座部11上。
在该种情况下，轮腿式机器人10的平衡控制器需要同时考虑基座部11和车轮部12的控制参考信号，以使得车轮部12的运动能够辅助基座部11的运动，来实现负载物体20保持在基座部11上。应当理解的是，车轮部12和基座部11的运动可通过轮腿式机器人10的控制器实现，具体实现方式可参考前述内容，不再赘述。
可选的，步骤1041可实现为如下：
根据状态信息，在负载物体在基座部上朝向第一方向移动的情况下，控制轮部朝向第一方向前进；或者，根据状态信息，在负载物体朝向第一方向移动的情况下，控制基座部靠近第一方向的一侧抬起，控制基座部远离第一方向的另一侧落下；或者，根据状态信息，在负载物体朝向第一方向移动的情况下，控制轮部朝向第一方向前进，且控制基座部靠近第一方向的一侧抬起，控制基座部远离第一方向的另一侧落下。
参考图17-19，负载物体20在基座部11上进行滚动，以第一方向是负载物体20的滚动前进方向为例。负载物体20朝向第一方向滚动，为使得负载物体20保持在基座部11上不掉落，欠驱动系统机器人10可进行如下三种控制中的一种：
1、控制主动轮123进行移动，以使得主动轮123朝向负载物体20的滚动前进方向前进；
2、欠驱动系统机器人10可通过控制基座部11靠近负载物体20的滚动前进方向的一侧抬高，远离负载物体20的滚动前进方向的另一侧降落，使得基座部11进行倾斜运动；
3、在负载物体20的滚动速度较大，或者存在受到较大的外力干扰的情况下，欠驱动系统机器人10可通过控制主动轮123进行移动，同时控制基座部11靠近负载物体20的滚动前进方向的一侧抬高、远离负载物体20的滚动前进方向的另一侧降落。
其中，主动轮123的移动、和/或基座部11两侧的抬高和降落，使得欠驱动系统机器人10的机身保持平衡，且负载物体20保持在基座部11上不掉落。比如，主动轮123朝向负载物体20的滚动前进方向加速前进，基座部11保持不动；又如，主动轮123保持不动，基座部11的两侧根据负载物体20的滚动前进方向抬高或降落，以使得基座部11进行倾斜和摇摆；又如，主动轮123与基座部11配合运动，使得欠驱动系统机器人10朝向负载物体20的滚动前进方向前进，且基座部11处于摇摆状态。
综上所述，本申请实施例提供的欠驱动系统机器人的运动控制方法，根据负载物体在基座部的状态信息，通过控制器以控制车轮部进行运动且控制基座部进行倾斜运动，以保持欠驱动系统机器人保持机身平衡，且保持负载物体在基座部上不掉落。
可选的，在负载物体和/或欠驱动系统机器人受到外力干扰的情况下，欠驱动系统机器人仍然能够实现保持欠驱动系统机器人保持机身平衡，且保持负载物体在基座部上不掉落的目标。
可选的，本申请实施例还给出了外力干扰的多种可能。应当理解的是，上述多种可能仅为示意性举例，其他能够给负载物体和/或欠驱动系统机器人带来力矩影响的可能均在本申请保护范围之列，不再赘述。
基于前述内容，图20示出了本申请一个示例性实施例提供的欠驱动系统机器人的运动控制方法的流程图，该方法由欠驱动系统机器人的控制器执行。其中，欠驱动系统机器人包括车轮部和与车轮部连接的基座部，负载物体放置于基座部上，本申请实施例提供的运动控制方法包括：
步骤202：确定负载物体在基座部的状态信息。
示意性的，负载物体与基座部有物理接触，但负载物体在基座部上无形封闭和力封闭。其中，负载物体可以是任意物体，包括刚性物体和弹性物体，本申请不对负载物体的形状、材料、大小、结构等进行限定，任意一个或多个物体均可视为本申请涉及的负载物体。
示意性的，步骤202与步骤102相同，可作参考，不再赘述。
步骤204：根据状态信息确定基座部的倾斜角加速度参考值。
状态信息可参考前述内容，不再赘述。
示意性的，基座部的倾斜角加速度参考值，可作为基座部的姿态参考信号，用于实现对基座部的控制。比如，根据状态信息的内容的不同，欠驱动系统机器人的控制器可通过不同的控制律确定对应的倾斜角加速度参考值。
其中，根据倾斜角加速度参考值，可确定出基座部倾斜方向、倾斜角度、倾斜速度等信息，基于上述信息，使得基座部朝向目标倾斜方向，以目标倾斜速度进行倾斜运动，直至达到目标倾斜角度。
为说明负载物体与基座部的相互作用情况，参考图21示出的手抓取物体时的通用问题描述示意图，其中：下面的弧线表示人手在抓取物体时手指的曲面，曲面的弧长用S h来表示；上面的曲线表示被抓取物体的表面曲线，该曲线在该平面上投影所对应的弧长用S来表示。
示意性的，人手的坐标系使用下角标h来表示，物体坐标系使用下角标o来表示，世界坐标系使用∑ w表示。基于此，p h表示人手坐标系∑ h相对于世界坐标系∑ w的原点位置。θ h表示人手坐标系∑ h相对于世界坐标系∑ w的姿态变化。类似的，p o代表物体坐标系∑ o相对于世界坐标系∑ w的原点位置，θ o表示物体坐标系∑ o相对于世界坐标系∑ w的姿态变化。t为物体和手之间相切的点的切线方向。
应当理解的是，图21相当于提供了一套通用方法。该通用方法在使用过程中，人手和物体可用其他代替，比如基座部和负载物体。可选的，基座部的上表面不是平面，负载物体是具有不规则形状的物体，本申请实施例中的方法是该通用方法的一个示例性的使用。
基于图21，以负载物体是球体为例，图22示出了本申请一个示例性实施例提供的欠驱动系统机器人的标量定义示意图，其中：为方便标识，将负载物体的曲面规范为标准球体，图22中的圆即为球体所对应的切面，下文中所出现的x方向、y方向和z方向均参考前述内容中给出的方向。其中，在轮腿式机器人10的基座部11的上表面与球体接触时，上表面与球体接触的直线与机器人质心之间在z方向上的距离表示为d h。
根据前述内容，负载物体在基座部11的状态信息的内容有所不同。以状态信息包括负载物体在基座部11上的接触点在基座部11上相对于欠驱动系统机器人10的质心在目标方向上的位移、接触点在基座部11上沿目标方向的移动速度、基座部11的倾斜角度、基座部11的倾斜角速度为例：S h表示接触点在基座部11上相对于欠驱动系统机器人10的质心在目标方向上的位移；
Figure PCTCN2022129831-appb-000020
表示接触点在基座部11上沿目标方向的移动速度；θ h表示基座部11的倾斜角度；
Figure PCTCN2022129831-appb-000021
表示基座部11的倾斜角速度。其中，目标方向可以是x方向和/或y方向，基座部11在z方向上的变化可使用沿x方向或y方向上的旋转作参考。
根据上述位移、移动速度、倾斜角度和倾斜角速度中的一项或多项，能够确定基座部11的倾斜角加速度参考值。比如，通过位移、移动速度、倾斜角度和倾斜角速度与对应预设值之间的差值确定倾斜角加速度参考值。
以目标方向分别是x方向和y方向为例，根据步骤204可得到一个基座部11的倾斜角加速度参考值的矩阵，该矩阵可用于欠驱动系统机器人10的全身动力学控制中，该矩阵在全身动力学模型中的使用见下文具体描述。
步骤206：根据倾斜角加速度参考值和欠驱动系统机器人的全身动力学模型，控制基座部和车轮部中的至少一个运动，以保持负载物体在基座部上不掉落。
负载物体保持在基座部上不掉落、基座部和/或车轮部的控制可参考前述内容，不再赘述。
其中，欠驱动系统机器人的全身动力学模型用于实现对欠驱动系统机器人的全身动力学控制。倾斜角加速度参考值是模型的输入值，根据倾斜角加速度参考值和全身动力学模型，可确定出欠驱动系统机器人的控制参考信号，以实现对基座部和/或车轮部的控制。
比如，在确定倾斜角加速度参考值后，欠驱动系统机器人的控制器将基座部的倾斜角加速度参考值的矩阵输入到平衡控制器中，根据全身动力学模型来获取到基座部和/或车轮部的力矩信息，根据力矩信息控制基座部和/或车轮部进行相应的运动。
综上所述，本申请实施例提供的欠驱动系统机器人的运动控制方法，给出了基座部和/或车轮部的控制信息的一种可选的确定方式：基于负载物体在基座部的状态信息确定基座部的倾斜角加速度参考值，并基于该值和全身动力学模型来确定控制信息，从而实现基座部和/或车轮部的控制。
可选的，本申请实施例还提供了倾斜角加速度参考值的两种不同的计算方式，基于图20，图23示出了本申请一个示例性实施例提供的欠驱动系统机器人的运动控制方法的流程图。其中，步骤204可实现为步骤2041或步骤2042，步骤2041和步骤2042择一执行，具体如下：
1、第一倾斜角加速度参考值的计算。
以状态信息包括：负载物体在基座部上的接触点在基座部上相对于欠驱动系统机器人的质心在目标方向上的位移S h，接触点在基座部上沿目标方向的移动速度
Figure PCTCN2022129831-appb-000022
为例，步骤204可实现为步骤2041，具体如下：
步骤2041：以位移与位移预设值的差值、移动速度与移动速度预设值的差值作为PID控制器的输入，确定基座部的第一倾斜角加速度参考值。
其中，位移预设值使用S h ref表示，移动速度预设值使用
Figure PCTCN2022129831-appb-000023
表示。
可选的，S h ref和
Figure PCTCN2022129831-appb-000024
中的至少一个是根据欠驱动系统机器人的结构特征确定的。
在一种可选的实施场景下，欠驱动系统机器人的前后左右尺寸完全对称，质心成为几何中心，则预设值S h ref和
Figure PCTCN2022129831-appb-000025
可设置为0。在领一种可选的实施场景下，欠驱动系统机器人的前后左右尺寸不完全对称，质心与几何中心不是同一个，则预设值S h ref和
Figure PCTCN2022129831-appb-000026
可根据欠驱动系统机器人的结构特征进行设置，以修正质心偏离几何中心所造成的误差。
比如，欠驱动系统机器人左右两侧的质量不对称，从而使得质心偏离几何中心。此时，可通过仿真、或真机实测的方式确定欠驱动系统机器人的重心位置，进而推算出负载物体处于基座部上的某个点时，欠驱动系统机器人和负载物体的整体最接近平衡状态所需要的电机关节力矩最小。如S h ref的取值范围是-5cm～5cm。应当理解的是，上述例子仅为示例性举例，不对本申请涉及的S h ref的取值范围造成具体限定。
在确定位移与位移预设值的差值、移动速度与移动速度预设值的差值后，欠驱动系统机器人的控制器将两个差值作为PID控制器的输入，通过PID控制能够确定出对应的倾斜角加速度参考值，用于实现对车轮部和/或基座部的控制。
可选的，步骤2041可实现为如下：根据位移和位移预设值确定第一差值，根据移动速度和移动速度预设值确定第二差值；根据第一参数与第一差值的乘积、第二参数与第二差值的乘积之和，通过PID控制器确定第一倾斜角加速度参考值；其中，第一参数是比例协调系数的参考值，第二参数是微分调节系数的参考值。
以位移是S h，移动速度是
Figure PCTCN2022129831-appb-000027
位移预设值是S h ref，且移动速度预设值是
Figure PCTCN2022129831-appb-000028
为例，用于控制负载物体保持在基座部上不掉落的第一反馈控制律可表示为如下：
Figure PCTCN2022129831-appb-000029
其中，
Figure PCTCN2022129831-appb-000030
是第一倾斜角加速度参考值，
Figure PCTCN2022129831-appb-000031
是第一参数，
Figure PCTCN2022129831-appb-000032
是第二参数。
欠驱动系统机器人的控制器可根据第一反馈控制律，能够实现对负载物体在基座部上的位移和运动速度的控制，以使得负载物体的实际位移量接近S h ref，且负载物体在基座部上的运动速度接近于
Figure PCTCN2022129831-appb-000033
可选的，第一参数和第二参数可固定为常数值，也可根据实际需要进行调整。
根据前述内容，由于目标方向的不同，欠驱动系统机器人的控制器可得到不同方向上的倾斜角加速度参考值。比如，目标方向是x方向，即考虑pitch所在的平面时，可得到基座部在pitch方向上的第一倾斜角加速度参考值；又如，目标方向是y方向，即考虑roll所在的平面时，可得到基座部在roll方向上的第一倾斜角加速度参考值。
2、第一倾斜角加速度参考值的计算。
以状态信息包括：负载物体在基座部上的接触点在基座部上相对于欠驱动系统机器人的质心在目标方向上的位移S h，接触点在基座部上沿目标方向的移动速度
Figure PCTCN2022129831-appb-000034
为例，步骤204可实现为步骤2042，具体如下：
步骤2042：以位移与位移预设值的差值、移动速度与移动速度预设值的差值、倾斜角度和倾斜角度预设值的差值、倾斜角速度和倾斜角速度预设值的差值作为PID控制器的输入，确定基座部的第二倾斜角加速度参考值。
其中，位移预设值使用S h ref表示，移动速度预设值使用
Figure PCTCN2022129831-appb-000035
表示，倾斜角度预设值使用θ h ref表示，倾斜角速度预设值使用
Figure PCTCN2022129831-appb-000036
表示。
可选的，S h ref、
Figure PCTCN2022129831-appb-000037
θ h ref和
Figure PCTCN2022129831-appb-000038
中的至少一个是根据欠驱动系统机器人的结构特征确定的。其中，θ h ref和
Figure PCTCN2022129831-appb-000039
的确定与S h ref和
Figure PCTCN2022129831-appb-000040
的确定类似，可参考前述内容，不再赘述。
在确定位移与位移预设值的差值、移动速度与移动速度预设值的差值、倾斜角度和倾斜角度预设值的差值、倾斜角速度和倾斜角速度预设值的差值后，欠驱动系统机器人的控制器 将四个差值作为PID控制器的输入，通过PID控制能够确定出对应的倾斜角加速度参考值，用于实现对车轮部和/或基座部的控制。
可选的，步骤2042可实现为如下：根据位移和位移预设值确定第一差值，根据移动速度和移动速度预设值确定第二差值，根据倾斜角度和倾斜角度预设值确定第三差值，根据倾斜角速度和倾斜角速度预设值确定第四差值；根据第三参数与所述第一差值的乘积、第四参数与所述第二差值的乘积之和、第五参数与所述第三参数的乘积、第六参数与第四参数的乘积，通过PID控制器确定第二倾斜角加速度参考值；其中，第三参数和所述第五参数是不同的比例协调系数的参考值，所述第四参数和所述第六参数是不同的微分调节系数的参考值。
以位移是S h，移动速度是
Figure PCTCN2022129831-appb-000041
倾斜角度是θ h，倾斜角速度是
Figure PCTCN2022129831-appb-000042
位移预设值是S h ref，移动速度预设值是
Figure PCTCN2022129831-appb-000043
倾斜角度预设值是θ h ref，倾斜角速度预设值是
Figure PCTCN2022129831-appb-000044
为例，用于控制负载物体保持在基座部上不掉落的第二反馈控制律可表示为如下：
Figure PCTCN2022129831-appb-000045
其中，
Figure PCTCN2022129831-appb-000046
是第二倾斜角加速度参考值，
Figure PCTCN2022129831-appb-000047
是第三参数，
Figure PCTCN2022129831-appb-000048
是第四参数，
Figure PCTCN2022129831-appb-000049
是第五参数，
Figure PCTCN2022129831-appb-000050
是第六参数，
Figure PCTCN2022129831-appb-000051
和
Figure PCTCN2022129831-appb-000052
是不同的比例协调参考系数的参考值，
Figure PCTCN2022129831-appb-000053
和
Figure PCTCN2022129831-appb-000054
是不同的微分调节系数的参考值。
根据第二反馈控制律，欠驱动系统机器人的控制器能够实现对负载物体在基座部上的位移和运动速度的控制，以使得负载物体的实际位移量接近S h ref，且负载物体在基座部上的运动速度接近于
Figure PCTCN2022129831-appb-000055
同时，根据第二反馈控制律，欠驱动系统机器人的控制器还能够实现对基座部的倾斜角度和倾斜角速度进行控制，以使得基座部的倾斜角度接近θ h ref，且基座部的倾斜角速度接近于
Figure PCTCN2022129831-appb-000056
可选的，第一参数和第二参数可固定为常数值，也可根据实际需要进行调整。
与第一倾斜角加速度参考值类似，由于目标方向的不同，欠驱动系统机器人的控制器通过对应的控制律还可得到不同方向上的倾斜角加速度参考值。比如，目标方向是x方向，即考虑pitch所在的平面时，可得到基座部在pitch方向上的第二倾斜角加速度参考值；又如，目标方向是y方向，即考虑roll所在的平面时，可得到基座部在roll方向上的第二倾斜角加速度参考值。
根据前述内容，在根据状态信息确定基座部的倾斜角加速度参考值后，欠驱动系统机器人的控制器可根据倾斜角加速度参考值和欠驱动系统机器人的全身动力学模型，来控制基座部和/或车轮部进行相应的运动。
可选的，基于图20，图24示出了本申请一个示例性实施例提供的欠驱动系统机器人的运动控制方法的流程图。其中，步骤206可实现为步骤2061和步骤2062，具体如下：
步骤2061：以倾斜角加速度参考值和欠驱动系统机器人的全身动力学模型作为PID控制器的输入，确定基座部和/或车轮部的力矩信息。
其中，全身动力学模型的输入信息是倾斜角加速度参考值，输出信息是基座部和/或车轮部的力矩信息。应当理解的是，全身动力学模型可根据拉格朗日方程或者牛顿欧拉方程确定；或者全身动力学模型可根据其他方式确定，以下内容仅为示例性举例，不对本申请造成限定。
可选的，步骤2061可实现为如下：基于欠驱动系统机器人的驱动转矩、地面摩擦力和闭环力，构建全身动力学模型；将倾斜角加速度参考值代入全身动力学模型，通过PID控制器以确定力矩信息。
以欠驱动系统机器人的广义关节角度的坐标
Figure PCTCN2022129831-appb-000057
包括基座部的位姿、关节角个数和关节角度为例，
Figure PCTCN2022129831-appb-000058
表示基座部的位姿，n j表示关节角个数，
Figure PCTCN2022129831-appb-000059
表示关节角度。类似的，广义关节速度可表示为
Figure PCTCN2022129831-appb-000060
广义关节 加速度可表示为
Figure PCTCN2022129831-appb-000061
根据前述内容，欠驱动系统机器人的控制器根据状态信息能够确定基座部的倾斜角加速度参考值，且确定的倾斜角加速度参考值可表现为一个矩阵形式。基于前述内容，根据x方向和y方向得到的倾斜角加速度参考值矩阵即为
Figure PCTCN2022129831-appb-000062
示例性的，根据前述内容给出的控制律，欠驱动系统机器人的控制器能够分别确定x方向和y方向对应的倾斜角加速度参考值；随后，根据多个倾斜角加速度参考值，构成与基座部对应的倾斜角加速度参考值矩阵
Figure PCTCN2022129831-appb-000063
可代入下文中的全身动力学模型，以生成欠驱动系统机器人的控制参考信号。
示意性的，以τ表示欠驱动系统机器人的驱动转矩，f表示地面摩擦力，λ表示闭环力为例，欠驱动系统机器人的全身动力学模型可表示为如下：
Figure PCTCN2022129831-appb-000064
其中，q、
Figure PCTCN2022129831-appb-000065
和
Figure PCTCN2022129831-appb-000066
参考上述内容，
Figure PCTCN2022129831-appb-000067
是质量矩阵，
Figure PCTCN2022129831-appb-000068
由重力、离心力和科里奥利项组成，
Figure PCTCN2022129831-appb-000069
是从所有关节中选择出的驱动关节的矩阵，f是地面接触力，
Figure PCTCN2022129831-appb-000070
是级联的接触雅可比矩阵，
Figure PCTCN2022129831-appb-000071
是连接的接触雅可比矩阵。其中，n C为车轮与地面的接触点数，n λ＝2为考虑五杆机构闭环约束的开环连杆之间的接触点数，即图25中的P 1和P 2之间。
综上所述，本申请实施例提供的欠驱动系统机器人的运动控制方法中，给出了倾斜角加速度参考值的两种可选的确定方式，以实现对基座部和/或车轮部的控制。
图25示出了本申请一个示例性实施例提供的欠驱动系统机器人的广义坐标示意图。其中，关节角度q i和驱动转矩τ i标记在关节周围。q {·,·}和τ {·,·}的双下标分别考虑了左右腿的关节指数。图25中仅标记了左腿上的连接和关节，右腿与左腿对称，可作参考。另外，为清楚起见，图25中省略了尾部的两个关节角度q 11、q 12和驱动扭矩τ 7、τ 8。其中，欠驱动系统机器人的控制器根据欠驱动系统机器人的全身动力学模型
Figure PCTCN2022129831-appb-000072
可以确定车轮部和/或基座部的控制参考信号，比如力矩信息。
可选的，可通过argmin函数确定驱动转矩τ、地面摩擦力f和闭环力λ使得全身动力学模型取最小值时的变量值，以确定车轮部和/或基座部的控制参考信号，argmin函数可表示为：
Figure PCTCN2022129831-appb-000073
在确定驱动转矩τ、地面摩擦力f和闭环力λ的变量值的过程中，需要对欠驱动系统机器人进行条件约束。
可选的，全身动力学模型受到动力学模型约束条件的约束，动力学模型约束条件中包括倾斜角加速度参考值。其中，动力学模型约束条件表示为：
Figure PCTCN2022129831-appb-000074
关于该约束条件的相关描述可参考前述内容，不再赘述。
在受到动力学模型约束条件的约束之外，欠驱动系统机器人还受到如下约束中的至少一种：闭环连杆约束；轮子不打滑不离地约束；摩擦约束。其中：
闭环连杆约束可表示为：
Figure PCTCN2022129831-appb-000075
其中，
Figure PCTCN2022129831-appb-000076
和
Figure PCTCN2022129831-appb-000077
分别是点P 1和P 2的雅可比矩阵。假设车轮纯滚动并与地面接触，车轮径向和轴向不存在打滑和滑动，则轮子不打滑不离地约束可表示为：
Figure PCTCN2022129831-appb-000078
其中，
Figure PCTCN2022129831-appb-000079
是车轮与地面接触点相对于基座部的雅可比矩阵。在每个接触力的局部坐标系f i中，给定摩擦系数μ，摩擦约束可公式化为|f i,x|≤μf i,z和|f i,y|≤μf i,z，单边约束可以表示为f i,z＞0。
步骤2062：以负载物体保持在基座部上不掉落为目标，根据力矩信息控制基座部和车轮部中的至少一个运动，以保持负载物体在基座部上不掉落。
其中，保持负载物体在基座部上不掉落、基座部和/或车轮部的控制可参考前述内容，不 再赘述。在确定基座部和/或车轮部的力矩信息后，欠驱动系统机器人的控制器向欠驱动系统机器人的驱动电机发送用于实现运动控制的信息(该信息可以是力矩信息)，由驱动电机根据对应的力矩信息提供不同的驱动力，以控制基座部和/或车轮部的运动。
示意性的，步骤2062与步骤104类似，可作参考，不再赘述。
综上所述，本申请实施例提供的欠驱动系统机器人的运动控制方法中，根据状态信息确定基座部的倾斜角加速度参考值，欠驱动系统机器人的控制器将倾斜角加速度参考值输入到全身动力学模型中以获取基座部和/或车轮部的控制参考信号，从而实现对基座部和/或车轮部的控制。
可选的，本申请实施例给出了倾斜角加速度参考值的两种可选的确定方式；可选的，本申请实施例提供了全身动力学模型的一种实现方式。应当理解的是，上述内容均为示例性举例，凡根据上述内容进行的公式变形、或常用变量的增减均包括在本申请的保护范围之内。
根据前述内容，本申请实施例还提供了负载物体在基座部上的状态信息的确定方式。基于图15，图26示出了本申请一个示例性实施例提供的欠驱动系统机器人的运动控制方法的流程图。
可选的，可通过获取负载物体在基座部上的位置信息，或者位置信息和受力信息，对获取到的信息进行接触位置坐标转换，以确定对应的状态信息。基于此，步骤102可实现为如下两组步骤中的一组，具体如下：
1、状态信息的第一种确定方式。
步骤1011：获取负载物体在基座部上的位置信息。
其中，负载物体在基座部上的位置信息可通过多种方式获取。
比如，通过在基座部上铺设的触觉传感器或压力传感器进行感知；又如，通过动作捕捉系统获取位置信息；又如，通过摄像头获取基座部上的图像或视频，根据图像或视频帧分析技术确定位置信息。
可选的，步骤1011可实现为如下中的至少一种：通过铺设于基座部上的触觉传感器获取位置信息；通过铺设于基座部上的压力传感器获取位置信息；通过动作捕捉系统获取位置信息；通过摄像头获取负载物体在基座部上的位置信息。
其中，在位置信息通过触觉传感器获取的情况下，触觉传感器可由一个m*n的压力传感器阵列组成。可选的，基座部的上表面设置有压力传感器阵列；通过铺设于基座部上的触觉传感器获取位置信息，可实现为：通过负载物体在压力传感器阵列的接触点，确定位置信息。
可选的，触觉传感器包括呈m×n矩阵排列的压力传感器阵列，m×n矩阵的长度和宽度与基座部的上表面相适配，m、n为正整数。比如，若基座部的上表面尺寸为40cm*20cm，则可以间隔1cm放置一个触觉传感器压力采集点，则基座部的上表面的压力点阵形成对应的40*20的点阵列。应当理解的是，在实际应用中，随着基座部的上表面尺寸的变化，对携带负载物体的自身物理特性的差别，应用场景中初速度和压力检测范围的差别，包括电机底层控制的延时等，触觉传感器压力点阵的间距可以适应性改变，m和n的数值也可以做适应性调整，上述仅为示例性举例，不对本申请涉及的m和n的数值构成具体限定。
可选的，在位置信息通过摄像头获取的情况下，摄像头的摄像区域覆盖基座部的上表面；通过摄像头获取负载物体在基座部上的位置信息，可实现为：根据摄像头获取到的图像信息，确定位置信息。
可选的，位置信息可用负载物体在基座部上的位置坐标标识。
步骤1021：根据位置信息进行接触位置坐标转换，确定状态信息。
其中，接触位置坐标转换是指，将负载物体在基座部上的位置信息转化为状态信息的一个过程。以位置信息通过触觉传感器获取为例，通过接触位置坐标转换，可以将力信号变化的单元与压力传感器阵列在基座部的上表面的位置的对应关系描述出来。其中，基座部的上表面的位置与欠驱动系统机器人的质心之间的关系已知，通过坐标换算可得到基座部的上表 面与负载物体的接触点，相对于得到负载物体与质心之间的位置关系。
以位置信息通过触觉传感器获取为例，当相应的压力单元上面受到负载物体的外力时，其压力值就会发生变化。每个单元可以输出自己的相应的压力值，而没有被压到的单元上面的压力值为0或一个非常小的噪声值，因此需要对这些小的噪声进行滤除。该过程可视为一个信号调理过程。
根据触觉传感器、或压力传感器、或动作捕捉系统、或摄像头获取位置信息的不同方式，信号调理过程也不同。可选的，信号调理包括但不限于使用如下方式中的至少一种：求均值、求力分布、门限值滤波。
其中，求均值是指，将一定范围内(比如4*4点阵，或圆形区域内的若干个点)的压力值球平均值，认为负载物体与欠驱动系统机器人的接触点在接触若干个点的中心。求力分布是指，将一定范围内的压力值以分布的形式表示出来，力的值可以做积分处理，以得到受力的大小和位置分布，用于判断负载物体的状态。门限值滤波是指，由于压力传感器存在一定几率的无检测，在不受力的情况下也可能检测到一些噪声，据此设定门限值，当检测到的压力值在该门限值以下时，就认为没有触发传感器。
应当理解的是，以上是对信号调理过程的示例，不对本申请涉及的信号调理造成限定。
可选的，位置信息还可用于后续的控制。通过相邻两个时刻，基座部上与负载物体接触的点的位置的差值，可以得到负载物体在基座部上的滚动方向和速度。
其中，相邻两个时刻可视为采样周期中的相邻的两次采集时点。以位置信息通过触觉传感器获取为例，假设触觉传感器的采样周期为一秒采集一千次或者五百次，相邻两个时刻指的是相邻的两次采集时点。
2、状态信息的第二种确定方式。
步骤1012：获取负载物体在基座部上的位置信息和形态信息。
示意性的，形态信息包括受力信息、形状信息、结构信息、物理信息中的至少一种。
其中，受力信息是指，负载物体在基座部上的某一点处的受力值，受力信息可通过多种方式获取。比如，通过在基座部上铺设的触觉传感器或压力传感器进行感知；又如，通过动作捕捉系统获取位置信息。
示意性的，根据受力信息，可以确定负载物体在基座部上的位置、位移方向、速度、加速度等相关信息。
形状信息是指负载物体的外部形状。比如，负载物体的形状信息是规则球体，或者是不规则多面体。结构信息是指负载物体的组成结构，包括但不限于负载物体的组成部件、部件间的相对位置关系、部件的形状及位置。物理信息是指与负载物体的物理特性相关的参数信息，比如负载物体的质量、转动惯量等。
其中，形状信息、结构信息、物理信息的获取类似。比如，可通过触觉传感器或压力传感器进行感知，或者可以通过摄像头获取，或者可以通过操作人员手动输入到欠驱动系统机器人的控制器中。
步骤1022：根据位置信息和受力信息进行接触位置坐标转换，确定状态信息。
其中，接触位置坐标转换可参考前述内容。
示意性的，步骤1022和步骤1021类似，可作参考，不再赘述。
在一种可选的实施场景下，欠驱动系统机器人的控制器向触觉传感器、压力传感器、动作捕捉系统和摄像头中的至少一个辅助组件下发指令，以获取到负载物体在基座部上的位置信息、或者位置信息和受力信息。随后，至少一个辅助组件将负载物体在基座部上的位置信息、或者位置信息和受力信息上报给控制器，由控制器根据位置信息、或者位置信息和受力信息来确定状态信息；或者，也可由至少一个辅助组件对位置信息、或者位置信息和受力信息进行处理以得到状态信息，随后将状态信息上报给控制器。
综上所述，本申请实施例提供的欠驱动系统机器人的运动控制方法中，给出了状态信息 的两种可选的确定方式。
根据前述内容，以欠驱动系统机器人是轮腿式机器人，负载物体是球体为例，图27示出了本申请一个示例性实施例提供的欠驱动系统机器人的整体控制框架图。其中，轮腿式机器人包括平衡控制器和平衡球控制器，平衡控制器用于完成平衡角参考的循环，以实现轮腿式机器人的机身平衡；平衡球控制器用于实现平衡球参考的循环，以实现负载物体保持在基座部上不掉落的目标。
可选的，轮腿式机器人根据状态信号采集进行状态估计，在完成估计后通过平衡控制器确定轮子转动参考信号和其他参考信号，用于控制车轮部的运动。其中，轮子转动参考信号用于完成轮子平衡任务，其他参考信号用于完成轮子移动和转向任务。
可选的，轮腿式机器人根据负载物体的位置信息采集和/或受力信息采集进行接触位置坐标转换，随后经过信号调理，通过平衡球控制器确定基座姿态信号和其他参考信号，用于控制基座部的运动。其中，基座姿态参考信号用于完成基座姿态任务，其他参考信号用于完成尾巴任务。示意性的，基座姿态参考信号可根据前述内容中涉及的基座部的倾斜角加速度参考值确定，用于确定基座部的倾斜方向、倾斜角度、倾斜速度中的至少一个。
根据前述内容，轮腿式机器人的整体运动通过全身动力学控制，则车轮部和基座部的运动均需满足全身动力学控制的需要。
在全身动力学控制中，根据全身动力学模型，加入不同的控制任务，考虑机体的物理约束，建立关节空间和任务空间的角加速度信息到各关节力矩之间的映射。通过将关节力矩发送给轮腿式机器人相应的驱动电机，实现机器人的关节力控，进而改变机器人的自身形态、姿态和在空间中的位置。
示意性的，控制任务包括轮子平衡任务、轮子移动和转向任务、基座姿态任务、尾巴任务、力矩任务和外力任务。其中，轮子平衡任务要保持机器人上身姿态的平衡，同时轮子移动和转向任务要满足机器人前后向移动，以及yaw方向转向的任务。基座姿态任务可以实现基座在pitch、roll、yaw方向的转动和x、y、z方向的平动。尾巴任务可以通过给定尾部对应的关节角度数值将尾部摆放至指定位置。力矩任务一般是将各关节电机的力矩的平方和随着时间的积分引入成本函数(cost function函数)，以保证在最优化求解的过程中各关节力矩的值均落在一个有限值范围内。外力任务包括两个轮子与地面接触点处分别对应的3个方向的外力，将该外力的平方和随着时间的积分引入成本函数，以保证在最优化求解的过程中各外力的值均落在一个有限值范围内。
可选的，全身动力学模型受到多个约束条件，约束条件包括动力学模型约束条件、闭环连杆约束、轮子不打滑不离地约束和摩擦约束。
综上所述，本申请实施例提供的欠驱动系统机器人的运动控制方法中，给出了状态信息的两种可选的确定方式。同时，本申请实施例还给出了以轮腿式机器人为例的整体控制框架。
示意性的，本申请实施例还提供了一种欠驱动系统机器人。
示意性的，欠驱动系统机器人包括车轮部和与车轮部连接的基座部，基座部用于承载负载物体；欠驱动系统机器人中设置有控制器，控制器用于控制欠驱动系统机器人实现：根据负载物体在基座部的状态信息，控制基座部和车轮部中的至少一个运动，以保持负载物体在基座部上不掉落。其中，控制器的设置可根据实际需要设置，本申请对此不做限定，凡是能够通过控制器的运动控制，以实现负载物体保持在基座部上不掉落的目标的欠驱动系统机器人均在本申请保护范围之内。其中，欠驱动系统机器人的运动控制在前述内容中已详细描写，可作参考，不再赘述。
可选的，基座部的上表面设置有压力传感器阵列，压力传感器阵列用于获取负载物体在基座部上的位置信息。其中，压力传感器阵列的密集程度可根据实际需要进行限定，具体内容可参考前述部分，不再赘述。比如，触觉传感器包括呈m×n矩阵排列的压力传感器阵列，m×n矩阵的长度和宽度与基座部的上表面相适配，m、n为正整数。
可选的，欠驱动机器人还包括摄像头，摄像头用于获取负载物体在基座部上的位置信息。
可选的，摄像头设置于基座部上，摄像头的摄像区域覆盖基座部的上表面。
以下为本申请的装置实施例，对于装置实施例中未详细描述的细节，可以结合参考上述方法实施例中相应的记载，本文不再赘述。
图28示出了本申请一个示例性实施例提供的欠驱动系统机器人的运动控制装置的示意图。该装置包括：确定模块2820，用于确定负载物体在基座部的状态信息；控制模块2840，用于根据状态信息，控制基座部和车轮部中的至少一个运动，以保持负载物体在基座部上不掉落。
可选的，车轮部包括腿部和轮部，控制模块2840，用于根据状态信息，控制轮部运动且控制基座部进行倾斜运动，以保持欠驱动系统机器人的机身平衡，且保持负载物体在基座部上不掉落，基座部的倾斜运动和轮部的运动通过腿部的伸缩相互影响。
可选的，控制模块2840，用于在负载物体和/或欠驱动系统机器人受到外力干扰的情况下，根据状态信息，控制车轮部运动且控制基座部进行倾斜运动，以保持欠驱动系统机器人的机身平衡，且保持负载物体在基座部上不掉落。
可选的，外力干扰包括如下情况中的至少一种：负载物体的中心受到外力干扰；负载物体的中心之外受到外力干扰；负载物体的质心受到外力干扰；负载物体的质心的周侧受到外力干扰；基座部受到外力干扰；车轮部受到外力干扰。
可选的，控制模块2840，用于根据状态信息，在负载物体在基座部上朝向第一方向移动的情况下，控制轮部朝向第一方向前进；或者，根据状态信息，在负载物体朝向第一方向移动的情况下，控制基座部靠近第一方向的一侧抬起，控制基座部远离第一方向的另一侧落下；或者，根据状态信息，在负载物体朝向第一方向移动的情况下，控制轮部朝向第一方向前进，且控制基座部靠近第一方向的一侧抬起，控制基座部远离第一方向的另一侧落下。
可选的，控制模块2840，用于根据状态信息确定基座部的倾斜角加速度参考值；根据倾斜角加速度参考值和欠驱动系统机器人的全身动力学模型，控制基座部和车轮部中的至少一个运动。
可选的，状态信息包括：负载物体在基座部上的接触点在基座部上相对于欠驱动系统机器人的质心在目标方向上的位移，接触点在基座部上沿目标方向的移动速度；控制模块2840，用于以位移与位移预设值的差值、移动速度与移动速度预设值的差值作为PID控制器的输入，确定基座部的第一倾斜角加速度参考值。
可选的，状态信息包括：负载物体在基座部上的接触点在基座部上相对于欠驱动系统机器人的质心在目标方向上的位移，接触点在基座部上沿目标方向的移动速度，基座部的倾斜角度，基座部的倾斜角速度；控制模块2840，用于以位移与位移预设值的差值、移动速度与移动速度预设值的差值、倾斜角度和倾斜角度预设值的差值、倾斜角速度和倾斜角速度预设值的差值作为PID控制器的输入，确定基座部的第二倾斜角加速度参考值。
可选的，位移预设值、移动速度预设值、倾斜角度预设值和倾斜角速度预设值中的至少一个是根据欠驱动系统机器人的结构特征确定的。
可选的，控制模块2840，用于以倾斜角加速度参考值和欠驱动系统机器人的全身动力学模型作为PID控制器的输入，确定基座部和/或车轮部的力矩信息；根据力矩信息控制基座部和车轮部中的至少一个运动。
可选的，控制模块2840，用于基于欠驱动系统机器人的驱动转矩、地面摩擦力和闭环力，构建全身动力学模型；将倾斜角加速度参考值代入全身动力学模型，通过PID控制器确定力矩信息。可选的，全身动力学模型受到动力学模型约束条件的约束，动力学模型约束条件中包括倾斜角加速度参考值。
可选的，确定模块2820，用于获取负载物体在基座部上的位置信息；根据位置信息进行接触位置坐标转换，确定状态信息。
可选的，确定模块2820，用于通过铺设于基座部上的触觉传感器获取位置信息；或者通过铺设于基座部上的压力传感器获取位置信息；或者通过动作捕捉系统获取位置信息；或者通过摄像头获取负载物体在基座部上的位置信息。
可选的，基座部的上表面设置有压力传感器阵列；确定模块2820，用于通过负载物体在压力传感器阵列的接触点，确定位置信息。可选的，触觉传感器包括呈m×n矩阵排列的压力传感器阵列，m×n矩阵的长度和宽度与基座部的上表面相适配，m、n为正整数。
可选的，摄像头的摄像区域覆盖基座部的上表面；确定模块2820，用于根据摄像头获取到的图像信息，确定位置信息。
可选的，确定模块2820，用于获取负载物体在基座部上的位置信息和形态信息，状态信息包括受力信息、形状信息、结构信息、物理信息中的至少一种；根据位置信息和形态信息进行接触位置坐标转换，确定状态信息。
需要说明的是：上述实施例提供的装置，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将设备的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的装置，与前述内容中的方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
图29示出了本申请一个示例性实施例提供的电子设备2900的结构框图。
该电子设备2900可以是便携式移动终端，比如：用于实现对欠驱动系统机器人的控制的电子设备、智能手机、平板电脑、MP3播放器(Moving Picture Experts Group Audio Layer III，动态影像专家压缩标准音频层面3)、MP4(Moving Picture Experts Group Audio Layer IV，动态影像专家压缩标准音频层面4)播放器、笔记本电脑或台式电脑。电子设备2900还可能被称为用户设备、便携式终端、膝上型终端、台式终端等其他名称。本申请实施例中，该电子设备2900可实现为机器人中的控制设备部分。
通常，电子设备2900包括有：处理器2901和存储器2902。
处理器2901可以包括一个或多个处理核心，比如4核心处理器、8核心处理器等。处理器2901可以采用DSP(Digital Signal Processing，数字信号处理)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)、PLA(Programmable Logic Array，可编程逻辑阵列)中的至少一种硬件形式来实现。处理器2901也可以包括主处理器和协处理器，主处理器是用于对在唤醒状态下的数据进行处理的处理器，也称CPU(Central Processing Unit，中央处理器)；协处理器是用于对在待机状态下的数据进行处理的低功耗处理器。在一些实施例中，处理器2901可以集成有GPU(Graphics Processing Unit，图像处理器)，GPU用于负责显示屏所需要显示的内容的渲染和绘制。一些实施例中，处理器2901还可以包括AI(Artificial Intelligence，人工智能)处理器，该AI处理器用于处理有关机器学习的计算操作。
存储器2902可以包括一个或多个计算机可读存储介质，该计算机可读存储介质可以是非暂态的。存储器2902还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。在一些实施例中，存储器2902中的非暂态的计算机可读存储介质用于存储至少一个指令，该至少一个指令用于被处理器2901所执行以实现本申请中方法实施例提供的欠驱动系统机器人的运动控制方法。
在一些实施例中，电子设备2900还可选包括有：外围设备接口2903和至少一个外围设备。处理器2901、存储器2902和外围设备接口2903之间可以通过总线或信号线相连。各个外围设备可以通过总线、信号线或电路板与外围设备接口2903相连。具体地，外围设备包括：射频电路2904、显示屏2905、摄像头组件2906、音频电路2907和电源2908中的至少一种。
外围设备接口2903可被用于将I/O(Input/Output，输入/输出)相关的至少一个外围设备连接到处理器2901和存储器2902。在一些实施例中，处理器2901、存储器2902和外围设备接口2903被集成在同一芯片或电路板上；在一些其他实施例中，处理器2901、存储器2902和外围设备接口2903中的任意一个或两个可以在单独的芯片或电路板上实现，本实施例对此 不加以限定。
射频电路2904用于接收和发射RF(Radio Frequency，射频)信号，也称电磁信号。射频电路2904通过电磁信号与通信网络以及其他通信设备进行通信。射频电路2904将电信号转换为电磁信号进行发送，或者，将接收到的电磁信号转换为电信号。可选的，射频电路2904包括：天线系统、RF收发器、一个或多个放大器、调谐器、振荡器、数字信号处理器、编解码芯片组、用户身份模块卡等等。射频电路2904可以通过至少一种无线通信协议来与其它终端进行通信。该无线通信协议包括但不限于：万维网、城域网、内联网、各代移动通信网络(2G、3G、4G及5G)、无线局域网和/或Wi-Fi(Wireless Fidelity，无线保真)网络。在一些实施例中，射频电路2904还可以包括NFC(Near Field Communication，近距离无线通信)有关的电路，本申请对此不加以限定。
显示屏2905用于显示UI(User Interface，用户界面)。该UI可以包括图形、文本、图标、视频及其它们的任意组合。当显示屏2905是触摸显示屏时，显示屏2905还具有采集在显示屏2905的表面或表面上方的触摸信号的能力。该触摸信号可以作为控制信号输入至处理器2901进行处理。此时，显示屏2905还可以用于提供虚拟按钮和/或虚拟键盘，也称软按钮和/或软键盘。在一些实施例中，显示屏2905可以为一个，设置在电子设备2900的前面板；在另一些实施例中，显示屏2905可以为至少两个，分别设置在电子设备2900的不同表面或呈折叠设计；在另一些实施例中，显示屏2905可以是柔性显示屏，设置在电子设备2900的弯曲表面上或折叠面上。甚至，显示屏2905还可以设置成非矩形的不规则图形，也即异形屏。显示屏2905可以采用LCD(Liquid Crystal Display，液晶显示屏)、OLED(Organic Light-Emitting Diode，有机发光二极管)等材质制备。
摄像头组件2906用于采集图像或视频。可选的，摄像头组件2906包括前置摄像头和后置摄像头。通常，前置摄像头设置在终端的前面板，后置摄像头设置在终端的背面。在一些实施例中，后置摄像头为至少两个，分别为主摄像头、景深摄像头、广角摄像头、长焦摄像头中的任意一种，以实现主摄像头和景深摄像头融合实现背景虚化功能、主摄像头和广角摄像头融合实现全景拍摄以及VR(Virtual Reality，虚拟现实)拍摄功能或者其它融合拍摄功能。在一些实施例中，摄像头组件2906还可以包括闪光灯。闪光灯可以是单色温闪光灯，也可以是双色温闪光灯。双色温闪光灯是指暖光闪光灯和冷光闪光灯的组合，可以用于不同色温下的光线补偿。
音频电路2907可以包括麦克风和扬声器。麦克风用于采集用户及环境的声波，并将声波转换为电信号输入至处理器2901进行处理，或者输入至射频电路2904以实现语音通信。出于立体声采集或降噪的目的，麦克风可以为多个，分别设置在电子设备2900的不同部位。麦克风还可以是阵列麦克风或全向采集型麦克风。扬声器则用于将来自处理器2901或射频电路2904的电信号转换为声波。扬声器可以是传统的薄膜扬声器，也可以是压电陶瓷扬声器。当扬声器是压电陶瓷扬声器时，不仅可以将电信号转换为人类可听见的声波，也可以将电信号转换为人类听不见的声波以进行测距等用途。在一些实施例中，音频电路2907还可以包括耳机插孔。
电源2908用于为电子设备2900中的各个组件进行供电。电源2908可以是交流电、直流电、一次性电池或可充电电池。当电源2908包括可充电电池时，该可充电电池可以是有线充电电池或无线充电电池。有线充电电池是通过有线线路充电的电池，无线充电电池是通过无线线圈充电的电池。该可充电电池还可以用于支持快充技术。
在一些实施例中，电子设备2900还包括有一个或多个传感器2909。该一个或多个传感器2909包括但不限于：加速度传感器2910、陀螺仪传感器2911、压力传感器2912、光学传感器2913以及接近传感器2914。
加速度传感器2910可以检测以电子设备2900建立的坐标系的三个坐标轴上的加速度大小。比如，加速度传感器2910可以用于检测重力加速度在三个坐标轴上的分量。处理器2901 可以根据加速度传感器2910采集的重力加速度信号，控制显示屏2905以横向视图或纵向视图进行用户界面的显示。加速度传感器2910还可以用于游戏或者用户的运动数据的采集。
陀螺仪传感器2911可以检测电子设备2900的机体方向及转动角度，陀螺仪传感器2911可以与加速度传感器2910协同采集用户对电子设备2900的3D动作。处理器2901根据陀螺仪传感器2911采集的数据，可以实现如下功能：动作感应(比如根据用户的倾斜操作来改变UI)、拍摄时的图像稳定、游戏控制以及惯性导航。
压力传感器2912可以设置在电子设备2900的侧边框和/或显示屏2905的下层。当压力传感器2912设置在电子设备2900的侧边框时，可以检测用户对电子设备2900的握持信号，由处理器2901根据压力传感器2912采集的握持信号进行左右手识别或快捷操作。当压力传感器2912设置在显示屏2905的下层时，由处理器2901根据用户对显示屏2905的压力操作，实现对UI界面上的可操作性控件进行控制。可操作性控件包括按钮控件、滚动条控件、图标控件、菜单控件中的至少一种。
光学传感器2913用于采集环境光强度。在一个实施例中，处理器2901可以根据光学传感器2913采集的环境光强度，控制显示屏2905的显示亮度。具体地，当环境光强度较高时，调高显示屏2905的显示亮度；当环境光强度较低时，调低显示屏2905的显示亮度。在另一个实施例中，处理器2901还可以根据光学传感器2913采集的环境光强度，动态调整摄像头组件2906的拍摄参数。
接近传感器2914，也称距离传感器，通常设置在电子设备2900的前面板。接近传感器2914用于采集用户与电子设备2900的正面之间的距离。在一个实施例中，当接近传感器2914检测到用户与电子设备2900的正面之间的距离逐渐变小时，由处理器2901控制显示屏2905从亮屏状态切换为息屏状态；当接近传感器2914检测到用户与电子设备2900的正面之间的距离逐渐变大时，由处理器2901控制显示屏2905从息屏状态切换为亮屏状态。
本领域技术人员可以理解，图29中示出的结构并不构成对电子设备2900的限定，可以包括比图示更多或更少的组件，或者组合某些组件，或者采用不同的组件布置。
图30示出了本申请实施例提供的一种欠驱动系统机器人的结构示意性框图。如图30所示的本实施例中的欠驱动系统机器人可包括：一个或多个处理器3001；一个或多个传感器3002，一个或多个电机3003和存储器3004。上述处理器3001、传感器3002、电机3003和存储器3004通过总线3005连接。存储器3004用于存储计算机程序，计算机程序包括程序指令，处理器3001用于执行存储器3004存储的程序指令。
其中，处理器3001可以是中央处理器(Central Processing Unit，CPU)。处理器3001还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(Application-Specific Integrated Circuit，ASIC)，可编程逻辑器件(Programmable Logic Device，PLD)等。该PLD可以是现场可编程逻辑门阵列(Field-Programmable Gate Array，FPGA)，通用阵列逻辑(Generic Array Logic，GAL)等。处理器3001也可以为上述结构的组合。在一些实施例中，处理器3001可实现为前述内容中所涉及的欠驱动系统机器人的内部控制器。
传感器3002，用于获取与欠驱动系统机器人的运动控制相关的状态数据，如前述内容中涉及的位置信息、和/或受力信息。
电机3003，用于控制欠驱动系统机器人的运动以及完成运动动作。可选的，电机3003包括欠驱动系统机器人的各个关节电机和轮子电机。
存储器3004可以包括易失性存储器(Volatile Memory)，如随机存取存储器(Random-Access Memory，RAM)；存储器3004也可以包括非易失性存储器(Non-Volatile Memory)，如快闪存储器(Flash Memory)，固态硬盘(Solid-State Drive，SSD)等。可选的，存储器3004还可以包括上述种类的存储器的组合。
本申请实施例中，存储器3004用于存储计算机程序，计算机程序包括程序指令，处理器3001用于执行存储器3004存储的程序指令，用来实现前述内容给出的欠驱动系统机器人的 运动控制方法。
本申请实施例还提供了一种计算机设备，计算机设备包括处理器；处理器，用于确定负载物体在基座部的状态信息；根据状态信息，控制基座部和车轮部中的至少一个运动，以保持负载物体在基座部上不掉落。
本申请实施例还提供了一种计算机可读存储介质，存储介质中存储有计算机程序，计算机程序用于被处理器执行，以实现如上所述的欠驱动系统机器人的运动控制方法。
本申请实施例还提供了一种芯片，芯片包括可编程逻辑电路和/或程序指令，当芯片运行时，用于实现如上所述的欠驱动系统机器人的运动控制方法。
本申请实施例还提供了一种计算机程序产品，计算机程序产品包括计算机指令，计算机指令存储在计算机可读存储介质中，处理器从计算机可读存储介质读取并执行计算机指令，以实现如上所述的欠驱动系统机器人的运动控制方法。
在本申请中，应该理解到，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。
上述所有可选技术方案，可以采用任意结合形成本申请的可选实施例，在此不再一一赘述。
以上所述仅为本申请的可选实施例，并不用以限制本申请，凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (24)

  1. 一种欠驱动系统机器人的运动控制方法，所述方法由欠驱动系统机器人的控制器执行，其中，所述欠驱动系统机器人包括车轮部和与所述车轮部连接的基座部，负载物体放置于所述基座部上，所述方法包括：
    确定所述负载物体在所述基座部的状态信息；
    根据所述状态信息，控制所述基座部和所述车轮部中的至少一个运动，以保持所述负载物体在所述基座部上不掉落。
  2. 根据权利要求1所述的方法，其中，所述车轮部包括腿部和轮部，所述根据所述状态信息，控制所述基座部和所述车轮部中的至少一个运动，保持所述负载物体保持在所述基座部上不掉落，包括：
    根据所述状态信息，控制所述轮部运动且控制所述基座部进行倾斜运动，以保持所述欠驱动系统机器人的机身平衡，且保持所述负载物体在所述基座部上不掉落，所述基座部的倾斜运动和所述轮部的运动通过所述腿部的伸缩相互影响。
  3. 根据权利要求2所述的方法，其中，所述根据所述状态信息，控制所述轮部运动且控制所述基座部进行倾斜运动，以保持所述欠驱动系统机器人的机身平衡，且保持所述负载物体在所述基座部上不掉落，包括：
    在所述负载物体和/或所述欠驱动系统机器人受到外力干扰的情况下，根据所述状态信息，控制所述轮部运动且所述基座部进行倾斜运动，以保持所述欠驱动系统机器人的机身平衡，且保持所述负载物体在所述基座部上不掉落。
  4. 根据权利要求3所述的方法，其中，所述外力干扰包括如下情况中的至少一种：
    所述负载物体的中心受到外力干扰；
    所述负载物体的中心之外受到外力干扰；
    所述负载物体的质心受到外力干扰；
    所述负载物体的质心的周侧受到外力干扰；
    所述基座部受到外力干扰；
    所述车轮部受到外力干扰。
  5. 根据权利要求2所述的方法，其中，所述根据所述状态信息，控制所述车轮部运动且控制所述基座部进行倾斜运动，包括：
    根据所述状态信息，在所述负载物体在所述基座部上朝向第一方向移动的情况下，控制所述轮部朝向所述第一方向前进；
    或者，根据所述状态信息，在所述负载物体朝向所述第一方向移动的情况下，控制所述基座部靠近所述第一方向的一侧抬起，控制所述基座部远离所述第一方向的另一侧落下；
    或者，根据所述状态信息，在所述负载物体朝向所述第一方向移动的情况下，控制所述轮部朝向所述第一方向前进，且控制所述基座部靠近所述第一方向的一侧抬起，控制所述基座部远离所述第一方向的另一侧落下。
  6. 根据权利要求1至5任一所述的方法，其中，所述根据所述状态信息，控制所述基座部和所述车轮部中的至少一个运动，包括：
    根据所述状态信息确定所述基座部的倾斜角加速度参考值；
    根据所述倾斜角加速度参考值和所述欠驱动系统机器人的全身动力学模型，控制所述基座部和所述车轮部中的至少一个运动。
  7. 根据权利要求6所述的方法，其中，所述状态信息包括：所述负载物体在所述基座部上的接触点在所述基座部上相对于所述欠驱动系统机器人的质心在目标方向上的位移，所述接触点在所述基座部上沿所述目标方向的移动速度；
    所述根据所述状态信息确定所述基座部的倾斜角加速度参考值，包括：
    以所述位移与位移预设值的差值、所述移动速度与移动速度预设值的差值作为闭环比例-积分-微分PID控制器的输入，确定所述基座部的第一倾斜角加速度参考值。
  8. 根据权利要求6所述的方法，其中，所述状态信息包括：所述负载物体在所述基座部上的接触点在所述基座部上相对于所述欠驱动系统机器人的质心在所述目标方向上的位移，所述接触点在所述基座部上沿所述目标方向的移动速度，所述基座部的倾斜角度，所述基座部的倾斜角速度；
    所述根据所述状态信息确定所述基座部的倾斜角加速度参考值，包括：
    以所述位移与位移预设值的差值、所述移动速度与移动速度预设值的差值、所述倾斜角度和倾斜角度预设值的差值、所述倾斜角速度和倾斜角速度预设值的差值作为闭环比例-积分-微分PID控制器的输入，确定所述基座部的第二倾斜角加速度参考值。
  9. 根据权利要求7或8所述的方法，其中，所述位移预设值、所述移动速度预设值、所述倾斜角度预设值和所述倾斜角速度预设值中的至少一个是根据所述欠驱动系统机器人的结构特征确定的。
  10. 根据权利要求6所述的方法，其中，所述根据所述倾斜角加速度参考值和所述欠驱动系统机器人的全身动力学模型，控制所述基座部和所述车轮部中的至少一个运动，包括：
    以所述倾斜角加速度参考值和所述欠驱动系统机器人的全身动力学模型作为闭环比例-积分-微分PID控制器的输入，确定所述基座部和/或所述车轮部的力矩信息；
    根据所述力矩信息控制所述基座部和所述车轮部中的至少一个运动。
  11. 根据权利要求10所述的方法，其中，所述基于所述倾斜角加速度参考值和所述欠驱动系统机器人的全身动力学模型作为闭环比例-积分-微分PID控制器的输入，确定所述基座部和/或所述车轮部的力矩信息，包括：
    基于所述欠驱动系统机器人的驱动转矩、地面摩擦力和闭环力，构建所述全身动力学模型；
    将所述倾斜角加速度参考值代入所述全身动力学模型，通过所述PID控制器确定所述力矩信息。
  12. 根据权利要求11所述的方法，其中，所述全身动力学模型受到动力学模型约束条件的约束，所述动力学模型约束条件中包括所述倾斜角加速度参考值。
  13. 根据权利要求1至5任一所述的方法，其中，所述确定所述负载物体在所述基座部的状态信息，包括：
    获取所述负载物体在所述基座部上的位置信息；
    根据所述位置信息进行接触位置坐标转换，确定所述状态信息。
  14. 根据权利要求13所述的方法，其中，所述获取所述负载物体在所述基座部上的位置信息，包括如下中的至少一种：
    通过铺设于所述基座部上的触觉传感器获取所述位置信息；
    通过铺设于所述基座部上的压力传感器获取所述位置信息；
    通过动作捕捉系统获取所述位置信息；
    通过所述摄像头获取所述负载物体在所述基座部上的位置信息。
  15. 根据权利要求14所述的方法，其中，所述基座部的上表面设置有压力传感器阵列；
    所述通过铺设于所述基座部上的触觉传感器获取所述位置信息，包括：
    通过所述负载物体在所述压力传感器阵列的接触点，确定所述位置信息。
  16. 根据权利要求15所述的方法，其中，所述触觉传感器包括呈m×n矩阵排列的压力传感器阵列，所述m×n矩阵的长度和宽度与所述基座部的上表面相适配，m、n为正整数。
  17. 根据权利要求14所述的方法，其中，所述摄像头的摄像区域覆盖所述基座部的上表面；
    所述通过所述摄像头获取所述负载物体在所述基座部上的位置信息，包括：
    根据所述摄像头获取到的图像信息，确定所述位置信息。
  18. 根据权利要求1至5任一所述的方法，其中，所述确定所述负载物体在所述基座部的状态信息，包括：
    获取所述负载物体在所述基座部上的位置信息和所述负载物体的形态信息，所述状态信息包括受力信息、形状信息、结构信息、物理信息中的至少一种；
    根据所述位置信息和所述形态信息进行接触位置坐标转换，确定所述状态信息。
  19. 一种欠驱动系统机器人，其中，所述欠驱动系统机器人包括车轮部和与所述车轮部连接的基座部，所述基座部用于承载负载物体；
    所述欠驱动系统机器人中设置有控制器，所述控制器用于控制所述欠驱动系统机器人实现：根据所述负载物体在所述基座部的状态信息，控制所述基座部和所述车轮部中的至少一个运动，以保持所述负载物体在所述基座部上不掉落。
  20. 一种欠驱动系统机器人的运动控制装置，其中，所述装置包括：
    确定模块，用于确定负载物体在基座部的状态信息；
    控制模块，用于根据所述状态信息控制所述基座部和所述车轮部中的至少一个运动，以保持所述负载物体在所述基座部上不掉落。
  21. 一种计算机设备，其中，所述计算机设备包括处理器；
    所述处理器，用于确定负载物体在基座部的状态信息；
    根据所述状态信息，控制所述基座部和车轮部中的至少一个运动，以保持所述负载物体在所述基座部上不掉落。
  22. 一种计算机可读存储介质，其中，所述存储介质中存储有计算机程序，所述计算机程序用于被处理器执行，以实现如权利要求1至18任一所述的欠驱动系统机器人的运动控制方法。
  23. 一种芯片，其中，所述芯片包括可编程逻辑电路和/或程序指令，当所述芯片运行时，所述芯片用于实现如权利要求1至18任一所述的欠驱动系统机器人的运动控制方法。
  24. 一种计算机程序产品，其特，所述计算机程序产品包括计算机指令，所述计算机指令存储在计算机可读存储介质中，处理器从所述计算机可读存储介质读取并执行所述计算机指令，以实现如权利要求1至18任一所述的欠驱动系统机器人的运动控制方法。
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