WO2023273107A1 - 机器人行走控制方法、装置、机器人控制设备及存储介质 - Google Patents

机器人行走控制方法、装置、机器人控制设备及存储介质 Download PDF

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Publication number
WO2023273107A1
WO2023273107A1 PCT/CN2021/131191 CN2021131191W WO2023273107A1 WO 2023273107 A1 WO2023273107 A1 WO 2023273107A1 CN 2021131191 W CN2021131191 W CN 2021131191W WO 2023273107 A1 WO2023273107 A1 WO 2023273107A1
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WIPO (PCT)
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expected
trajectory
robot
biped robot
planned
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PCT/CN2021/131191
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English (en)
French (fr)
Inventor
葛利刚
熊友军
刘益彰
陈春玉
白杰
罗秋月
周江琛
谢铮
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深圳市优必选科技股份有限公司
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Publication of WO2023273107A1 publication Critical patent/WO2023273107A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles

Definitions

  • the present application relates to the technical field of robot control, in particular, to a method and device for controlling robot walking, robot control equipment, and a storage medium.
  • biped robot control is an important research direction in the field of robot control technology.
  • the walking stability of the biped robot will often be affected by the environmental objective factors of the slope terrain of the selected ground itself.
  • the purpose of this application includes providing a robot walking control method, device, robot control equipment and storage medium, which can enable a biped robot to walk smoothly on the corresponding slope when it encounters slope terrain during flat ground walking. On the surface, prevent the biped robot from falling down and improve the walking stability of the biped robot.
  • the present application provides a robot walking control method, the method comprising:
  • the planned trajectory of flat walking includes the planned trajectory of the leg swing and the position of the center of mass of the biped robot when walking on flat ground planning trajectory;
  • the biped robot is controlled to move according to the desired driving parameters, so that the biped robot can walk on a corresponding slope.
  • the step of adapting and adjusting the planned leg swing trajectory according to the target slope angle to obtain the corresponding expected leg swing trajectory includes:
  • the target slope angle and the planned step size included in the leg swing planning trajectory calculate the expected step distance and Expected foot height variation
  • a corresponding expected trajectory of leg swing is formed according to the expected stepping distance and the expected leg-lift height.
  • the step of performing parameter compensation on the planned trajectory of the centroid position according to the target slope angle to obtain the corresponding expected trajectory of the centroid position includes:
  • centroid forward compensation amount to compensate the centroid forward planned position included in the centroid position planning trajectory
  • expected foot height change amount to compensate the centroid height planned position included in the mass center position planned trajectory
  • the method also includes:
  • the step of determining the current expected torque of the biped ankle joint of the biped robot during walking according to the motion status information and the planned trajectory of the center of mass position includes:
  • the ankle joint moment is calculated according to the expected support force of the foot and the CP position difference, and the expected moment of the ankle joint corresponding to the foot is obtained.
  • the step of determining the current expected posture angle of the ankle joints of the feet according to the movement condition information and the expected moment of the ankle joints of the feet includes:
  • the present application provides a robot walking control device, the device comprising:
  • the walking information acquisition module is used to obtain the current planned trajectory of the biped robot walking on flat ground, and the target slope angle of the slope where the biped robot is currently located, wherein the planned trajectory of flat walking includes the legs of the biped robot when walking on flat ground
  • a leg trajectory adaptation module configured to adapt and adjust the planned leg swing trajectory according to the target slope angle to obtain a corresponding expected leg swing trajectory
  • a center-of-mass trajectory compensation module configured to perform parameter compensation on the planned trajectory of the center-of-mass position according to the target slope angle, to obtain a corresponding expected trajectory of the center-of-mass position;
  • the driving parameter calculation module is used to calculate the expected driving parameters that are matched with the expected trajectory of the leg swing and the expected trajectory of the center of mass position based on the inverse kinematics algorithm of the robot;
  • the slope walking control module is used to control the biped robot to move according to the expected driving parameters, so that the biped robot can walk on a corresponding slope.
  • the device also includes:
  • a motion information acquisition module configured to obtain current motion status information of the biped robot
  • the expected moment determination module is used to determine the expected moment of the biped ankle joint of the biped robot during walking according to the motion status information and the planned trajectory of the center of mass position;
  • An expected attitude determination module configured to determine the current expected attitude angle of the ankle joints of both feet according to the movement condition information and the expected moments of the ankle joints of both feet;
  • the slope angle calculation module is used to calculate the target slope angle of the slope where the biped robot is currently located according to the current expected attitude angle of the biped ankle joint.
  • the present application provides a robot control device, which includes a processor and a memory, the memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to realize the aforementioned embodiments
  • the robot walking control method described in any one is not limited to a robot control device, which includes a processor and a memory, the memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to realize the aforementioned embodiments The robot walking control method described in any one.
  • the present application provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the robot walking control method described in any one of the preceding embodiments is implemented.
  • the application After the application obtains the current planned trajectory of the biped robot walking on flat ground and the target slope angle of the slope where the biped robot is currently located, it will adapt and adjust the planned trajectory of the leg swing in the planned trajectory of walking on the flat ground based on the target slope angle.
  • FIG. 1 is a schematic diagram of the composition of a robot control device provided in an embodiment of the present application
  • Fig. 2 is the walking schematic diagram of the biped robot provided by the embodiment of the present application.
  • Fig. 3 is one of the schematic flow charts of the robot walking control method provided by the embodiment of the present application.
  • FIG. 4 is a schematic flow chart of substeps included in step S220 in FIG. 3;
  • Fig. 5 is a schematic diagram of comparison of leg swing tracks between walking on flat ground and walking on slopes according to the embodiment of the present application;
  • FIG. 6 is a schematic flow chart of substeps included in step S230 in FIG. 3;
  • Fig. 7 is a schematic diagram of the center of mass position trajectory comparison between walking on flat ground and walking on slopes provided by the embodiment of the present application;
  • FIG. 8 is the second schematic flow diagram of the robot walking control method provided by the embodiment of the present application.
  • FIG. 9 is a schematic flow chart of substeps included in step S270 in FIG. 8;
  • FIG. 10 is a schematic flow chart of substeps included in step S280 in FIG. 8;
  • Fig. 11 is one of the schematic diagrams of the composition of the robot walking control device provided by the embodiment of the present application.
  • Fig. 12 is the second schematic diagram of the composition of the robot walking control device provided by the embodiment of the present application.
  • Icons 10-robot control equipment; 11-memory; 12-processor; 13-communication unit; 100-robot walking control device; 110-walking information acquisition module; 120-leg trajectory adaptation module; 130-centroid trajectory compensation 140-driving parameter calculation module; 150-slope walking control module; 160-motion information acquisition module; 170-desired moment determination module; 180-desired attitude determination module; 190-slope angle calculation module.
  • FIG. 1 is a schematic diagram of the composition of a robot control device 10 provided by an embodiment of the present application.
  • the robot control device 10 is used to control the running state of the biped robot, so that the biped robot can walk on the flat ground according to the preset trajectory of walking on the flat ground, and When the footed robot encounters slope terrain, it can also control the bipedal robot to walk on the corresponding slope smoothly, preventing the bipedal robot from falling down, thereby improving the walking stability of the bipedal robot.
  • the robot control device 10 can be remotely connected with the biped robot, or can be integrated with the biped robot, so as to realize the motion control function of the biped robot.
  • the robot control device 10 may include a memory 11 , a processor 12 , a communication unit 13 and a robot walking control device 100 .
  • the components of the memory 11 , the processor 12 and the communication unit 13 are directly or indirectly electrically connected to each other to realize data transmission or interaction.
  • the memory 11 , the processor 12 and the communication unit 13 can be electrically connected to each other through one or more communication buses or signal lines.
  • the memory 11 can be, but not limited to, Random Access Memory (Random Access Memory, RAM), Read Only Memory (Read Only Memory, ROM), Programmable Read-Only Memory (Programmable Read-Only Memory, PROM), Erasable Programmable Read-Only Memory (EPROM), Electric Erasable Programmable Read-Only Memory (EEPROM), etc.
  • RAM Random Access Memory
  • ROM Read Only Memory
  • PROM Programmable Read-Only Memory
  • PROM Programmable Read-Only Memory
  • EPROM Erasable Programmable Read-Only Memory
  • EEPROM Electric Erasable Programmable Read-Only Memory
  • the processor 12 may be an integrated circuit chip capable of processing signals.
  • Described processor 12 can be general-purpose processor, comprises central processing unit (Central Processing Unit, CPU), graphics processing unit (Graphics Processing Unit, GPU) and network processor (Network Processor, NP), digital signal processor (DSP) ), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.
  • the general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc., and may realize or execute various methods, steps, and logic block diagrams disclosed in the embodiments of the present application.
  • the communication unit 13 is used to establish a communication connection between the robot control device 10 and other electronic devices through the network, and send and receive data through the network, wherein the network includes a wired communication network and a wireless communication network.
  • Communications network For example, the robot control device 10 may obtain the planned trajectory for walking on flat ground for the biped robot from the walking planning device through the communication unit 13, and send motion control instructions to the biped robot through the communication unit 13. , making the biped robot move according to the motion control instruction.
  • the robot walking control device 100 includes at least one software function module that can be stored in the memory 11 or in the operating system of the robot control device 10 in the form of software or firmware.
  • the processor 12 can be used to execute executable modules stored in the memory 11 , such as software function modules and computer programs included in the robot walking control device 100 .
  • the robot control device 10 can use the robot walking control device 100 to expand the planned trajectory of the biped robot for walking on flat ground, so that when the biped robot encounters slope terrain during the flat ground walking process, it can realize the planned trajectory based on flat ground walking.
  • the function of smooth walking on the slope prevents the biped robot from falling down when walking on the slope, thereby improving the walking stability of the biped robot.
  • FIG. 1 is only a schematic composition diagram of the robot control device 10, and the robot control device 10 may also include more or less components than those shown in FIG. 1, or have A different configuration than that shown in Figure 1.
  • Each component shown in Fig. 1 may be implemented by hardware, software or a combination thereof.
  • the walking motion of the robot can be described with reference to the walking schematic diagram of the biped robot shown in FIG. 2 .
  • the biped robot no matter whether the biped robot is walking on a flat ground or on a slope with a gradient of ⁇ , there are two support states (ie, a double-leg support state and a single-leg support state).
  • both legs of the biped robot can be used as support legs to support the biped robot to maintain a standing state;
  • one leg of the biped robot will be used as a supporting leg to support the biped robot to maintain a standing state, and the other leg of the biped robot will be used as a swing leg that needs to change the moving track.
  • the movement trajectory changing operation of the swing leg includes a leg raising operation of the swing leg and a foot landing operation of the swing leg.
  • Cartesian right-handed coordinate system can be established by using the horizontal ground in contact with the sole of the biped robot as the origin of the world coordinate system, so that the positive direction of the X-axis represents the forward direction of the biped robot, and the direction of the Y-axis The positive direction represents the right orientation of the biped robot, so that the positive direction of the Z axis is vertically upward.
  • the position distribution of each component in the biped robot in the entire world coordinate system can be represented by the Cartesian right-hand coordinate system, so that the robot control device 10 can control the biped based on the Cartesian right-hand coordinate system.
  • the robot moves its own parts individually to the desired position.
  • the embodiment of the present application achieves the foregoing objectives by providing a method for controlling the walking of a robot.
  • the robot walking control method provided by the present application will be described in detail below.
  • FIG. 3 is one of the schematic flowcharts of the method for controlling the walking of a robot provided in the embodiment of the present application.
  • the robot walking control method shown in FIG. 3 may include steps S210 to S250.
  • Step S210 obtaining the current planned trajectory of the biped robot walking on the level ground and the target slope angle of the slope where the biped robot is currently located, wherein the planned trajectory of the biped robot walking on the level ground includes the planned trajectory of the leg swing and the center of mass position when the biped robot walks on the level ground.
  • the planned trajectory of walking on level ground is used to represent the robot motion trajectory planned in advance for the biped robot to realize the function of walking on level ground, at least including the leg swing planning of the biped robot during level ground walking Trajectory and centroid location planning trajectory.
  • the biped robot can be abstracted through the inverted pendulum model, so that all the mass of the biped robot can be concentrated at the center of mass, and the two legs of the biped robot can be regarded as two massless telescopic pendulums, Therefore, based on the inverted pendulum model, the corresponding leg swing planning trajectory and mass center position planning trajectory are constructed by using the dynamic equation of the inverted pendulum model.
  • the robot control device 10 can be used to determine the target of the slope where the biped robot is currently located by visual observation. For the slope angle, the robot control device 10 can also adaptively estimate the target slope angle of the slope where the biped robot is currently located according to the current motion status of the biped robot.
  • Step S220 adapting and adjusting the planned trajectory of the leg swing according to the target slope angle to obtain the corresponding expected trajectory of the leg swing.
  • the robot control device 10 After the robot control device 10 acquires the planned trajectory of the leg swing that the biped robot should exhibit on flat ground and the target slope angle of the slope where the biped robot is actually currently located, it will use The target slope angle corrects the parameters of the current corresponding leg swing planning trajectory, so that the corrected expected leg swing trajectory can make the current swing leg of the biped robot land on the slope of the corresponding slope normally and smoothly, avoiding
  • the swing leg of the biped robot has the problem of landing on the ground ahead of time, which improves the stability of the leg swing of the biped robot during walking on slopes.
  • step S220 may include sub-steps S221 to S223 to ensure that the final output expected trajectory of the leg swing matches the current actual slope of the biped robot, and ensure that the biped robot follows the expected trajectory of the leg swing. It has good leg swing stability when walking on the corresponding slope.
  • Sub-step S221 according to the target slope angle and the planned step size included in the leg swing planning trajectory, calculate the expected step distance and expected landing position between the swing leg lifting position and the swing leg landing position of the biped robot on the corresponding slope. foot height change.
  • the swing leg movement trajectory change operation of the biped robot ie, the leg swing trajectory
  • the leg lift stage refers to Corresponding to the entire movement process of the swinging leg foot starting from the lifting position of the swinging leg (for example, point A or A' in Figure 5) to the highest swing position (for example, point B or B' in Figure 5)
  • the landing stage refers to the entire movement process of the foot corresponding to the swing leg swinging from the highest swing position to the landing point of the swing leg (for example, point C or point C' in FIG. 5 ).
  • the planned leg lift height of the leg swing planning trajectory is the height corresponding to the highest swing position and the landing point of the swing leg in the Z-axis direction
  • the planned step length of the leg swing planning trajectory is the swing leg lift The distance between the leg position and the landing point of the swing leg in the X-axis direction.
  • the current position of the swing leg (point A') of the biped robot on the corresponding slope and the swing The expected stepping distance between the leg landing point positions (C' point) can be obtained by dividing the planned step size included in the leg swing planning trajectory by the cosine value of the target slope angle, and the biped robot is currently on the corresponding slope
  • the expected foot height variation on can be obtained by multiplying the planned step size included in the planned leg swing trajectory by the tangent of the target slope angle.
  • sub-step S222 the planned leg-lift height included in the leg swing planning trajectory is compensated by using the change amount of the expected foot height, so as to obtain the current expected leg-lift height of the biped robot on the corresponding slope.
  • the corresponding expected leg lift height is the leg lift position (A' point) and the highest swing position ( Point B') is the height in the direction of the Z axis.
  • the height value obtained by adding the planned leg-lift height included in the leg swing planning trajectory to the calculated expected foot height change can be used as the current expected leg-lift height of the biped robot on the corresponding slope, so that The amount of change in the height of the footfall caused by the slope is taken into account in the planning process of the desired trajectory of the leg swing.
  • Sub-step S223 planning to form a corresponding expected leg swing trajectory according to the expected stepping distance and expected leg-lift height.
  • the slope where the robot is currently on re-plans the matching expected trajectory of the leg swing to improve the stability of the leg swing during the slope walking process.
  • the present application can ensure that the final output expected trajectory of the leg swing matches the current actual slope of the biped robot by executing the above substep S221 to substep S223, and ensure that the biped robot follows the expected trajectory of the leg swing on the corresponding slope. Good leg swing stability when walking.
  • Step S230 perform parameter compensation on the planned trajectory of the centroid position according to the target slope angle, and obtain the corresponding expected trajectory of the centroid position.
  • the robot control device 10 After the robot control device 10 acquires the planned trajectory of the center of mass position that the biped robot should present on the flat ground and the target slope angle of the slope where the biped robot is actually currently located, it will use this The target slope angle performs parameter compensation on the current corresponding center of mass position planning trajectory, so that the expected trajectory of the center of mass position obtained by compensation can maintain the posture balance of the biped robot during the slope walking process, avoiding the rear side dumping problem of the biped robot, and improving Balance stability of a biped robot during walking on a slope.
  • step S230 may include sub-steps S231 to S232 to ensure that the final output expected trajectory of the center of mass position matches the current actual slope of the biped robot, and ensure that the biped robot follows the expected trajectory of the center of mass position in the corresponding The posture of the robot when walking on a slope has good balance and stability.
  • Sub-step S231 according to the limb height from the ankle joint to the sole of the biped robot and the target slope angle, calculate the current forward compensation amount of the center of mass of the biped robot.
  • the projection point M 0 of the center of mass M in the Z-axis direction is usually required to be maintained directly below the ankle joint of the corresponding supporting leg, that is, the center of the sole of the supporting leg (as shown in the upper view in FIG. 7 ).
  • the center position of the biped robot will be close to the back of the sole of the supporting leg, not the center of the sole of the supporting leg.
  • the biped robot is prone to the problem of rear side dumping, which affects the balance and stability of the robot's walking posture.
  • the centroid position change amount caused by the slope into the expected trajectory of the centroid position so that the projection point M2 of the centroid M corresponding to the expected trajectory of the centroid position in the Z-axis direction is controlled on the corresponding support leg
  • the position of the center of the sole of the foot (as shown in the lower view in Figure 7), at this time, the amount of change in the position of the center of mass required by the biped robot in the forward direction (i.e. the amount of compensation for the forward movement of the center of mass) can be determined by the biped robot.
  • Sub-step S232 using the center of mass forward compensation amount to compensate the center of mass forward planning position included in the center of mass position planning trajectory, and using the expected foot height change amount to compensate the mass center height planning position included in the mass center position planning trajectory, to obtain the corresponding The expected trajectory of the centroid position.
  • the planned center-of-mass forward position is used to represent the planned position component of the planned center-of-mass position in the planned trajectory of the center-of-mass position in the forward direction (X-axis direction) of the robot
  • the planned position of the center-of-mass height is used to represent The planned position component of the planned position of the center of mass in the Z-axis direction in the planned track of the centroid position, and the planned position component of the planned position of the center of mass in the Y-axis direction can be expressed as the planned position of the center of mass lateral shift.
  • the present application can ensure that the final output expected trajectory of the center of mass position matches the actual slope where the biped robot is currently located by executing the above sub-step S231 and sub-step S232, and ensure that the biped robot walks on the corresponding slope according to the expected trajectory of the center of mass position.
  • the robot pose has good balance stability.
  • step S240 the expected driving parameters matching the expected trajectory of the leg swing and the expected trajectory of the center of mass position are calculated based on the inverse kinematics algorithm of the robot.
  • the robot control device 10 determines the expected trajectory of the leg swing and the expected trajectory of the center of mass position required for the biped robot to walk on the slope, it can solve the simultaneous Expected driving parameters for the biped robot required to realize the desired trajectory of the leg swing and the desired trajectory of the center of mass position.
  • the expected driving parameters can be composed of the expected angular acceleration of each joint of the biped robot and the expected plantar force parameters of the biped robot feet, and the expected plantar force parameters can include the expected plantar force of the corresponding foot
  • the expected plantar force parameters can include the expected plantar force of the corresponding foot
  • Sub-step S250 control the biped robot to move according to the expected driving parameters, so that the biped robot can walk on the corresponding slope.
  • the robot control device 10 determines the expected driving parameters corresponding to the slope where the biped robot is currently located, it can control the real joints of the biped robot according to the expected driving parameters.
  • the operating conditions are controlled to ensure that the biped robot can walk smoothly on the corresponding slope.
  • the present application can expand the planned trajectory of walking on the flat ground by executing the above steps S210 to S250, so that when the biped robot encounters slope terrain during the walking process on the flat ground, it can realize the function of walking smoothly on the slope based on the planned trajectory of walking on the flat ground. Prevent the biped robot from falling and improve the walking stability of the biped robot.
  • the embodiment of the application provides A method of adaptively predicting the slope of the current slope of the biped robot by using the soles of the biped robot to improve the accuracy of slope perception and further improve the stability of the biped robot walking on slopes.
  • FIG. 8 is the second schematic flow chart of the robot walking control method provided by the embodiment of the present application.
  • the robot walking control method shown in FIG. 8 may include steps S260 to S290, so as to ensure that the final estimated slope has higher accuracy, improve the accuracy of slope perception, and further improve both Stability of footed robots walking on slopes.
  • Step S260 acquiring the current movement status information of the biped robot.
  • the motion status information of the biped robot can be sensed in real time by sensors installed in different parts of the biped robot.
  • the motion status information can be, but not limited to, the actual position of the center of mass, the actual speed of the center of mass , the actual position of the feet, the actual moment of the feet, and the actual angular velocity of the feet.
  • Step S270 according to the movement condition information and the trajectory planning of the center of mass position, determine the current expected torque of the biped ankle joint of the biped robot during walking.
  • the robot control device 10 After the robot control device 10 acquires the current movement status information of the biped robot on the slope, it will determine the center of mass position plan according to the algorithm expression of the CP algorithm in the inverted pendulum model Based on the CP position difference between the trajectory and the motion status information in the CP point position, and then based on the biped support force shown by the biped robot at the current moment, it is determined that the biped ankle joint of the biped robot needs to overcome all Desired torque required for the CP position difference condition.
  • FIG. 9 is a schematic flowchart of substeps included in step S270 in FIG. 8 .
  • the step S270 may include sub-steps S271-275.
  • Sub-step S271 according to the actual position of the center of mass and the actual velocity of the center of mass included in the motion status information, calculate the estimated position of the CP corresponding to the current biped robot.
  • the algorithmic expression of the CP algorithm in the inverted pendulum model can be expressed as and Among them, ⁇ 1 is used to represent the CP position of the biped robot on the plane of the X-axis and Z-axis, x is used to represent the position component of the inverted pendulum center of mass on the X-axis, is used to represent the velocity component of the inverted pendulum center of mass on the X-axis, ⁇ 2 is used to represent the CP position of the biped robot on the plane of the Y-axis and the Z-axis, y is used to represent the position component of the inverted pendulum center of mass on the Y-axis, is used to represent the velocity component of the center of mass of the inverted pendulum on the Y axis, ⁇ is used to represent the leg swing frequency of the biped robot, and its value is equal to the ratio between the acceleration of gravity and the position component of the center of mass of the inverted pendulum on the Z axis square root.
  • the robot control device 10 can use the formula Calculate the position component of the estimated position of the CP currently corresponding to the biped robot on the X-axis, and use the formula Calculate the position component of the estimated position of the CP currently corresponding to the biped robot on the Y axis.
  • Sub-step S272 according to the center of mass planned position and the center of mass planned velocity included in the center of mass position dynamic planning trajectory, calculate the current corresponding CP planned position of the biped robot.
  • the robot control device 10 can use the formula Calculate the position component of the current corresponding CP planning position of the biped robot on the X axis, and use the formula Calculate the position component of the current corresponding CP planning position of the biped robot on the Y axis.
  • Sub-step S273 calculating the CP position difference between the CP planned position and the CP predicted position.
  • the robot control device 10 may subtract the position component of the CP planned position on the X-axis from the position component of the CP estimated position on the X-axis to obtain the CP position difference The difference component on the X axis, and subtract the position component of the CP planning position on the Y axis from the position component of the CP estimated position on the Y axis to obtain the CP position difference on the Y axis difference component.
  • Sub-step S274 according to the actual position of the biped included in the motion status information and the planned position of the zero-moment point included in the planned swing trajectory of the leg, calculate the current expected support force of the biped of the biped robot.
  • the planned leg swing trajectory is planned for the zero-moment point position of the biped robot during pre-planning, that is, the planned position of the zero-moment point included in the planned leg swing trajectory is obtained.
  • the robot control device 10 can use the following formula to calculate the current biped expected support force of the biped robot:
  • f ld is used to represent the expected support force of the left foot of the biped robot
  • f rd is used to represent the expected support force of the right foot of the biped robot
  • pyplan is used to represent the position component of the zero moment point planning position on the Y axis
  • p lf It is used to represent the position component of the actual position of the left foot of the biped robot on the Y axis
  • p rf is used to represent the position component of the actual position of the right foot of the biped robot on the Y axis
  • Sub-step S275 for each foot of the biped robot, calculate the ankle joint moment according to the expected support force of the foot and the CP position difference, and obtain the expected moment of the ankle joint corresponding to the foot.
  • the position difference from the CP on the X-axis can be determined by using the ankle joint controller parameters and the expected support force corresponding to the foot. Multiply the difference component of the difference component to obtain the moment component of the expected moment of the ankle joint corresponding to the foot on the X-axis, and combine the ankle joint controller parameters and the expected support force corresponding to the foot with the CP The difference component of the position difference on the Y axis is multiplied to obtain the moment component of the expected moment of the ankle joint corresponding to the foot on the Y axis.
  • the expected moment required for the biped ankle joints of the biped robot to overcome the position difference of the swing CP can be determined accordingly.
  • Step S280 Determine the current expected attitude angle of the ankle joints of both feet according to the information on the exercise status and the expected moments of the ankle joints of both feet.
  • the robot control device 10 after the robot control device 10 acquires the expected moment required for the biped ankle joints of the biped robot to overcome the CP position difference, it can combine the biped
  • the actual state of the foot and ankle joints determines the current expected attitude angle of the feet and ankle joints that the biped robot needs to exhibit to overcome the gradient of the slope.
  • step S280 may include a sub-step S281 and a sub-step S282.
  • Sub-step S281 for each foot of the biped robot, extract the actual torque and actual angular velocity of the ankle joint corresponding to the foot from the motion status information.
  • sub-step S282 the expected moment, actual moment and actual angular velocity of the ankle joint corresponding to the foot are substituted into the attitude control equation of the ankle joint corresponding to the foot to solve the equation, and the ankle joint corresponding to the foot is obtained The desired attitude angle of .
  • the ankle joint attitude control equation can be constructed by means of PD control, can also be formed by means of PID control, and can also be formed by means of PI control.
  • the robot control device 10 can solve the equation by substituting the expected moment, actual moment and actual angular velocity of the ankle joint corresponding to the same foot into the corresponding ankle joint attitude control equation to solve the equation, and obtain the foot The attitude angle component of the expected attitude angle of the corresponding ankle joint on the X axis, and by substituting the respective components of the expected moment, actual moment and actual angular velocity of the ankle joint corresponding to the same foot on the Y axis to the corresponding ankle joint The equation is solved in the attitude control equation, and the attitude angle component of the expected attitude angle of the ankle joint corresponding to the foot on the Y axis is obtained.
  • the ankle joint posture control equation can be expressed by the following formula:
  • R is used to represent the expected attitude angle of the ankle joint corresponding to the foot
  • T d is used to represent the expected moment of the ankle joint corresponding to the foot
  • T m is used to represent the actual moment of the ankle joint corresponding to the foot
  • It is used to represent the angular velocity of the ankle joint corresponding to the foot
  • K P is used to represent the damping term parameter of the controller corresponding to the ankle joint of the foot
  • K s is used to represent the stiffness term parameter of the controller corresponding to the ankle joint of the foot.
  • step S290 the target slope angle of the slope where the biped robot is currently located is calculated according to the current expected attitude angle of the biped ankle joint.
  • the robot control device 10 calculates the expected attitude angle of the biped ankle joints corresponding to the current slope of the biped robot, it can select the expected attitude angles of the biped ankle joints respectively
  • the attitude angle component on the Y axis is calculated as the mean value, and then the calculated angle data is used as the target slope angle of the slope where the biped robot is currently located, so as to ensure that the estimated slope slope is more relevant to the biped robot. Strong, to ensure that the estimated slope has a higher accuracy, to improve the accuracy of slope perception, and to further improve the slope walking stability of the biped robot.
  • the present application can adaptively estimate the current slope gradient of the biped robot by using the feet of the biped robot by executing the above steps S260 to S290, so as to ensure that the estimated slope slope is more relevant to the biped robot. Strong, to ensure that the estimated slope has a higher accuracy, to improve the accuracy of slope perception, and to further improve the slope walking stability of the biped robot.
  • the present application implements the aforementioned functions by dividing the robot walking control device 100 into functional modules.
  • the specific composition of the robot walking control device 100 provided in the present application will be described accordingly below.
  • FIG. 11 is one of the composition diagrams of the robot walking control device 100 provided by the embodiment of the application.
  • the robot walking control device 100 may include a walking information acquisition module 110 , a leg trajectory adaptation module 120 , a centroid trajectory compensation module 130 , a driving parameter calculation module 140 and a slope walking control module 150 .
  • the walking information acquisition module 110 is used to obtain the current planned trajectory of the biped robot walking on flat ground, and the target slope angle of the slope where the biped robot is currently located, wherein the planned trajectory of flat walking includes the planned trajectory of the leg swing of the biped robot when walking on flat ground and Center of mass position planning trajectory.
  • the leg trajectory adaptation module 120 is configured to adapt and adjust the planned trajectory of the leg swing according to the target slope angle to obtain the corresponding expected trajectory of the leg swing.
  • the center-of-mass trajectory compensation module 130 is configured to perform parameter compensation on the planned trajectory of the centroid position according to the target slope angle to obtain the corresponding expected trajectory of the centroid position.
  • the driving parameter calculation module 140 is configured to calculate the expected driving parameters that match the expected trajectory of the leg swing and the expected trajectory of the center of mass position based on the inverse kinematics algorithm of the robot.
  • the slope walking control module 150 is used to control the biped robot to move according to the expected driving parameters, so that the biped robot can walk on the corresponding slope.
  • FIG. 12 is the second schematic diagram of the composition of the robot walking control device 100 provided by the embodiment of the present application.
  • the robot walking control device 100 may further include a motion information acquisition module 160 , an expected moment determination module 170 , an expected attitude determination module 180 and a slope angle calculation module 190 .
  • the motion information acquiring module 160 is used to acquire the current motion status information of the biped robot.
  • the expected moment determination module 170 is configured to determine the expected moment of the biped ankle joint of the biped robot during walking according to the movement status information and the trajectory planning of the center of mass position.
  • the desired posture determination module 180 is configured to determine the current desired posture angle of the ankle joints of both feet according to the motion condition information and the desired moments of the ankle joints of both feet.
  • the slope angle calculation module 190 is configured to calculate the target slope angle of the slope where the biped robot is currently located according to the current expected attitude angle of the biped ankle joint.
  • each block in a flowchart or block diagram may represent a module, program segment, or part of code that includes one or more Executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented by a dedicated hardware-based system that performs the specified function or action , or may be implemented by a combination of dedicated hardware and computer instructions.
  • each functional module in each embodiment of the present application may be integrated to form an independent part, each module may exist independently, or two or more modules may be integrated to form an independent part. If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .
  • the application obtains the current planned trajectory of the biped robot walking on flat ground and the target slope of the slope where the biped robot is currently located.
  • the leg swing planning trajectory in the level walking planning trajectory will be adapted and adjusted based on the target slope angle to obtain the corresponding expected leg swing trajectory
  • the centroid position planning trajectory in the level walking planning trajectory will be based on the target slope angle
  • Perform parameter compensation to obtain the corresponding expected trajectory of the center of mass position, and then calculate the expected driving parameters that match the expected trajectory of the leg swing and the expected trajectory of the center of mass position based on the inverse kinematics algorithm of the robot, and then use the expected driving parameters to control the biped robot to move.
  • the biped robot can walk smoothly on the corresponding slope when it encounters slope terrain in the process of walking on flat ground, preventing the biped robot from falling down, and improving the walking stability of the biped robot.

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Abstract

一种机器人行走控制方法、装置、机器人控制设备及存储介质。该机器人行走控制方法包括：获取双足机器人当前的平地行走规划轨迹以及该双足机器人当前所在斜坡的目标坡度角（S210）；根据目标坡度角对平地行走规划轨迹中的腿部摆动规划轨迹进行适配调整，得到腿部摆动期望轨迹（S220）；根据目标坡度角对平地行走规划轨迹中的质心位置规划轨迹进行参数补偿，得到质心位置期望轨迹（S230）；基于机器人逆运动学算法计算同时与腿部摆动期望轨迹及质心位置期望轨迹匹配的期望驱动参数（S240）；按照期望驱动参数控制双足机器人运动，使双足机器人在平地行走（S250），以便机器人遇到斜坡地形时平稳地行走在对应坡面上，从而提升双足机器人的行走稳定性。

Description

机器人行走控制方法、装置、机器人控制设备及存储介质
相关申请的交叉引用
本申请要求于2021年6月30日提交中国专利局的申请号为202110739449.X、名称为“机器人行走控制方法、装置、机器人控制设备及存储介质”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
本申请涉及机器人控制技术领域，具体而言，涉及一种机器人行走控制方法、装置、机器人控制设备及存储介质。
背景技术
随着科学技术的不断发展，机器人技术因具有极大的研究价值及应用价值受到了各行各业的广泛重视，其中双足机器人控制便是机器人控制技术领域中的一项重要研究方向。而在按照预先规划好的平地行走轨迹控制双足机器人运动的过程中，往往会因选定地面本身存在不同程度的斜坡地形的环境客观因素影响双足机器人的行走稳定性。
申请内容
有鉴于此，本申请的目的包括提供一种机器人行走控制方法、装置、机器人控制设备及存储介质，能够使双足机器人在平地行走过程中遇到斜坡地形的情况下能平稳地行走在对应坡面上，防止双足机器人摔倒，提升双足机器人的行走稳定性。
为了实现上述目的，本申请实施例采用的技术方案如下：
第一方面，本申请提供一种机器人行走控制方法，所述方法包括：
获取双足机器人当前的平地行走规划轨迹，以及所述双足机器人当前所在斜坡的目标坡度角，其中所述平地行走规划轨迹包括所述双足机器人平地行走时的腿部摆动规划轨迹及质心位置规划轨迹；
根据所述目标坡度角对所述腿部摆动规划轨迹进行适配调整，得到对应的腿部摆动期望轨迹；
根据所述目标坡度角对所述质心位置规划轨迹进行参数补偿，得到对应的质心位置期望轨迹；
基于机器人逆运动学算法计算同时与所述腿部摆动期望轨迹及所述质心位置期望轨迹匹配的期望驱动参数；
按照所述期望驱动参数控制所述双足机器人进行运动，使所述双足机器人在对应斜坡上行走。
在可选的实施方式中，所述根据所述目标坡度角对所述腿部摆动规划轨迹进行适配调整，得到对应的腿部摆动期望轨迹的步骤，包括：
根据所述目标坡度角及所述腿部摆动规划轨迹包括的规划步长，计算所述双足机器人当前在对应斜坡上的摆动腿抬腿位置与摆动腿落点位置之间的期望迈步距离及期望落足高度变化量；
采用所述期望落足高度变化量对所述腿部摆动规划轨迹包括的规划抬腿高度进行补偿，得到所述双足机器人当前在对应斜坡上的期望抬腿高度；
根据所述期望迈步距离及所述期望抬腿高度规划形成对应的腿部摆动期望轨迹。
在可选的实施方式中，所述根据所述目标坡度角对所述质心位置规划轨迹进行参数补偿，得到对应的质心位置期望轨迹的步骤，包括：
根据所述双足机器人的从踝关节到足底之间的肢体高度以及所述目标坡度角，计算所述双足机器人当前的质心前移补偿量；
采用所述质心前移补偿量对所述质心位置规划轨迹包括的质心前移规划位置进行补偿，并采用所述期望落足高度变化量对所述质心位置规划轨迹包括的质心高度规划位置进行补偿，得到对应的质心位置期望轨迹。
在可选的实施方式中，所述方法还包括：
获取所述双足机器人当前的运动状况信息；
根据所述运动状况信息以及所述质心位置规划轨迹，确定所述双足机器人的双足踝关节当前在行走过程中的期望力矩；
根据所述运动状况信息以及所述双足踝关节的期望力矩，确定所述双足踝关节当前的期望姿态角；
根据所述双足踝关节当前的期望姿态角计算得到所述双足机器人当前所在斜坡的 目标坡度角。
在可选的实施方式中，所述根据所述运动状况信息以及所述质心位置规划轨迹，确定所述双足机器人的双足踝关节当前在行走过程中的期望力矩的步骤，包括：
根据所述运动状况信息包括的质心实际位置及质心实际速度，计算所述双足机器人当前对应的捕获点CP预估位置；
根据所述质心位置规划轨迹包括的质心规划位置及质心规划速度，计算所述双足机器人当前对应的CP规划位置；
计算所述CP规划位置与所述CP预估位置之间的CP位置差异；
根据所述运动状况信息包括的双足实际位置以及所述腿部摆动规划轨迹包括的零力矩点规划位置，计算所述双足机器人当前的双足期望支撑力；
针对所述双足机器人的每个足部，根据该足部的期望支撑力及所述CP位置差异进行踝关节力矩计算，得到与该足部对应的踝关节的期望力矩。
在可选的实施方式中，所述根据所述运动状况信息以及所述双足踝关节的期望力矩，确定所述双足踝关节当前的期望姿态角的步骤，包括：
针对所述双足机器人的每个足部，从所述运动状况信息提取与该足部对应的踝关节的实际力矩及实际角速度；
将与该足部对应的踝关节的期望力矩、实际力矩及实际角速度，代入到与该足部对应的踝关节姿态控制方程中进行方程求解，得到与该足部对应的踝关节的期望姿态角。
第二方面，本申请提供一种机器人行走控制装置，所述装置包括：
行走信息获取模块，用于获取双足机器人当前的平地行走规划轨迹，以及所述双足机器人当前所在斜坡的目标坡度角，其中所述平地行走规划轨迹包括所述双足机器人平地行走时的腿部摆动规划轨迹及质心位置规划轨迹；
腿部轨迹适配模块，用于根据所述目标坡度角对所述腿部摆动规划轨迹进行适配调整，得到对应的腿部摆动期望轨迹；
质心轨迹补偿模块，用于根据所述目标坡度角对所述质心位置规划轨迹进行参数补偿，得到对应的质心位置期望轨迹；
驱动参数计算模块，用于基于机器人逆运动学算法计算同时与所述腿部摆动期望轨迹及所述质心位置期望轨迹匹配的期望驱动参数；
斜坡行走控制模块，用于按照所述期望驱动参数控制所述双足机器人进行运动，使所述双足机器人在对应斜坡上行走。
在可选的实施方式中，所述装置还包括：
运动信息获取模块，用于获取所述双足机器人当前的运动状况信息；
期望力矩确定模块，用于根据所述运动状况信息以及所述质心位置规划轨迹，确定所述双足机器人的双足踝关节当前在行走过程中的期望力矩；
期望姿态确定模块，用于根据所述运动状况信息以及所述双足踝关节的期望力矩，确定所述双足踝关节当前的期望姿态角；
斜坡角度计算模块，用于根据所述双足踝关节当前的期望姿态角计算得到所述双足机器人当前所在斜坡的目标坡度角。
第三方面，本申请提供一种机器人控制设备，包括处理器和存储器，所述存储器存储有能够被所述处理器执行的计算机程序，所述处理器可执行所述计算机程序，实现前述实施方式中任意一项所述的机器人行走控制方法。
第四方面，本申请提供一种存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时，实现前述实施方式中任意一项所述的机器人行走控制方法。
在此情况下，本申请实施例的有益效果包括以下内容：
本申请在获取到双足机器人当前的平地行走规划轨迹以及该双足机器人当前所在斜坡的目标坡度角后，会基于目标坡度角对平地行走规划轨迹中的腿部摆动规划轨迹进行适配调整，得到对应的腿部摆动期望轨迹，并基于目标坡度角对平地行走规划轨迹中的质心位置规划轨迹进行参数补偿，得到对应的质心位置期望轨迹，而后基于机器人逆运动学算法计算同时与腿部摆动期望轨迹及质心位置期望轨迹匹配的期望驱动参数，接着采用期望驱动参数控制双足机器人进行运动，从而使双足机器人在平地行走过程中遇到斜坡地形的情况下能够平稳地行走在对应坡面上，防止双足机器人摔倒，提升双足机器人的行走稳定性。
为使本申请的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合 所附附图，作详细说明如下。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本申请实施例提供的机器人控制设备的组成示意图；
图2为本申请实施例提供的双足机器人的行走示意图；
图3为本申请实施例提供的机器人行走控制方法的流程示意图之一；
图4为图3中的步骤S220包括的子步骤的流程示意图；
图5为本申请实施例提供的平地行走与坡面行走的腿部摆动轨迹比较示意图；
图6为图3中的步骤S230包括的子步骤的流程示意图；
图7为本申请实施例提供的平地行走与坡面行走的质心位置轨迹比较示意图；
图8为本申请实施例提供的机器人行走控制方法的流程示意图之二；
图9为图8中的步骤S270包括的子步骤的流程示意图；
图10为图8中的步骤S280包括的子步骤的流程示意图；
图11为本申请实施例提供的机器人行走控制装置的组成示意图之一；
图12为本申请实施例提供的机器人行走控制装置的组成示意图之二。
图标：10-机器人控制设备；11-存储器；12-处理器；13-通信单元；100-机器人行走控制装置；110-行走信息获取模块；120-腿部轨迹适配模块；130-质心轨迹补偿模块；140-驱动参数计算模块；150-斜坡行走控制模块；160-运动信息获取模块；170-期望力矩确定模块；180-期望姿态确定模块；190-斜坡角度计算模块。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请 实施例的组件可以以各种不同的配置来布置和设计。
因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
在本申请的描述中，需要理解的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，或者是该申请产品使用时惯常摆放的方位或位置关系，或者是本领域技术人员惯常理解的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的设备或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互结合。
请参照图1，图1是本申请实施例提供的机器人控制设备10的组成示意图。在本申请实施例中，所述机器人控制设备10用于对双足机器人的运行状态进行控制，使所述双足机器人能够按照预设的平地行走规划轨迹在平地上行走，并在所述双足机器人遇到斜坡地形的情况下也能控制该双足机器人平稳地行走在对应坡面上，防止双足机器人出现摔倒现象，从而提升双足机器人的行走稳定性。其中，所述机器人控制设备10可以与双足机器人远程通信连接，也可以与所述双足机器人集成在一起，用以实现对所述双足机器人的运动控制功能。
在本实施例中，所述机器人控制设备10可以包括存储器11、处理器12、通信单元13及机器人行走控制装置100。其中，所述存储器11、所述处理器12及所述通信单元13各个元件相互之间直接或间接地电性连接，以实现数据的传输或交互。例如，所述存储器11、所述处理器12及所述通信单元13这些元件相互之间可通过一条或多条通讯总线或信号线实现电性连接。
在本实施例中，所述存储器11可以是，但不限于，随机存取存储器(Random Access Memory，RAM)，只读存储器(Read Only Memory，ROM)，可编程只读存储器(Programmable Read-Only Memory，PROM)，可擦除只读存储器(Erasable Programmable Read-Only Memory，EPROM)，电可擦除只读存储器(Electric Erasable Programmable Read-Only Memory，EEPROM)等。其中，所述存储器11用于存储计算机程序，所述处理器12在接收到执行指令后，可相应地执行所述计算机程序。
在本实施例中，所述处理器12可以是一种具有信号的处理能力的集成电路芯片。所述处理器12可以是通用处理器，包括中央处理器(Central Processing Unit，CPU)、图形处理器(Graphics Processing Unit，GPU)及网络处理器(Network Processor，NP)、数字信号处理器(DSP)、专用集成电路(ASIC)、现成可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件中的至少一种。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等，可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。
在本实施例中，所述通信单元13用于通过网络建立所述机器人控制设备10与其他电子设备之间的通信连接，并通过所述网络收发数据，其中所述网络包括有线通信网络及无线通信网络。例如，所述机器人控制设备10可以通过所述通信单元13从行走规划设备处获取针对所述双足机器人的平地行走规划轨迹，并通过所述通信单元13向所述双足机器人发送运动控制指令，使所述双足机器人按照所述运动控制指令进行运动。
在本实施例中，所述机器人行走控制装置100包括至少一个能够以软件或固件的形式存储于所述存储器11中或者在所述机器人控制设备10的操作系统中的软件功能模块。所述处理器12可用于执行所述存储器11存储的可执行模块，例如所述机器人行走控制装置100所包括的软件功能模块及计算机程序等。所述机器人控制设备10可通过所述机器人行走控制装置100对双足机器人的平地行走规划轨迹进行扩展，使双足机器人在平地行走过程中遇到斜坡地形的情况下能够基于平地行走规划轨迹实现坡面平稳行走 功能，避免双足机器人在坡面行走过程中出现摔倒现象，从而提升了双足机器人的行走稳定性。
可以理解的是，图1所示的框图仅为所述机器人控制设备10的一种组成示意图，所述机器人控制设备10还可包括比图1中所示更多或者更少的组件，或者具有与图1所示不同的配置。图1中所示的各组件可以采用硬件、软件或其组合实现。
而对双足机器人来说，可以参照图2所示的双足机器人的行走示意图对机器人行走运动进行描述。在本申请实施例中，所述双足机器人无论是行走在平地上还是行走在坡度为θ的坡面上，都可存在两种支撑状态(即双腿支撑状态和单腿支撑状态)。当所述双足机器人处于双腿支撑状态时，所述双足机器人的双腿都可作为支撑腿用以支撑所述双足机器人保持站立状态；当所述双足机器人处于单腿支撑状态时，所述双足机器人的一条腿将作为支撑腿用以支撑所述双足机器人保持站立状态，所述双足机器人的另一条腿将作为需要进行移动轨迹变化的摆动腿。其中，摆动腿的移动轨迹变化操作包括摆动腿抬腿操作以及摆动腿落脚操作。
其中，可通过将与所述双足机器人的足底接触的水平地面作为世界坐标系的原点，建立笛卡尔右手坐标系，使X轴的正方向代表双足机器人的前进方向，使Y轴的正方向代表双足机器人的右侧朝向，使Z轴的正方向垂直地面向上。
由此，可通过该笛卡尔右手坐标系对该双足机器人中各部件在整个世界坐标系中的位置分布状况进行表示，以便于所述机器人控制设备10基于该笛卡尔右手坐标系控制双足机器人将自身部件分别移动到期望位置。
在本申请中，为确保所述机器人控制设备10能够对平地行走规划轨迹进行扩展，使双足机器人在平地行走过程中遇到斜坡地形时基于平地行走规划轨迹实现坡面平稳行走功能，以提升双足机器人的行走稳定性，本申请实施例通过提供一种机器人行走控制方法实现前述目的。下面对本申请提供的机器人行走控制方法进行详细描述。
请参照图3，图3是本申请实施例提供的机器人行走控制方法的流程示意图之一。在本申请实施例中，图3所示的机器人行走控制方法可以包括步骤S210～步骤S250。
步骤S210，获取双足机器人当前的平地行走规划轨迹，以及双足机器人当前所在斜坡的目标坡度角，其中平地行走规划轨迹包括双足机器人平地行走时的腿部摆动规划轨迹及质心位置规划轨迹。
在本实施例中，所述平地行走规划轨迹用于表示针对所述双足机器人预先规划出的实现平地行走功能的机器人运动轨迹，至少包括该双足机器人在平地行走过程中的腿部摆动规划轨迹及质心位置规划轨迹。其中，可通过倒立摆模型对双足机器人进行抽象化处理，以将双足机器人的所有质量都集中到质心处，并将双足机器人的两条腿视作两个无质量的伸缩摆杆，从而得以倒立摆模型为基础利用倒立摆模型的动力学方程构建出对应的腿部摆动规划轨迹及质心位置规划轨迹。
当所述双足机器人在平地行走过程中遇到斜坡地形时，可通过与所述机器人控制设备10通信的其他视觉设备(例如，摄像头)通过视觉观测方式确定该双足机器人当前所在斜坡的目标坡度角，也可由所述机器人控制设备10根据双足机器人当前的运动状况自适应地预估出该双足机器人当前所在斜坡的目标坡度角。
步骤S220，根据目标坡度角对腿部摆动规划轨迹进行适配调整，得到对应的腿部摆动期望轨迹。
在本实施例中，当所述机器人控制设备10在获取到双足机器人当前在平地上应该展现出的腿部摆动规划轨迹，以及该双足机器人当前实际所在斜坡的目标坡度角后，会采用该目标坡度角对当前对应的腿部摆动规划轨迹进行参数修正，使修正得到的腿部摆动期望轨迹能够让双足机器人当前的摆动腿能够正常且平稳地落在对应斜坡的坡面上，避免双足机器人的摆动腿出现提前着地问题，提升双足机器人在坡面行走过程中的腿部摆动平稳性。
可选地，请参照图4，图4是图3中的步骤S220包括的子步骤的流程示意图。在本实施例中，所述步骤S220可以包括子步骤S221～子步骤S223，以确保最终输出的腿部摆动期望轨迹与双足机器人当前实际所在斜坡匹配，确保双足机器人按照腿部摆动期望轨迹在对应坡面行走时具有良好的腿部摆动平稳性。
子步骤S221，根据目标坡度角及腿部摆动规划轨迹包括的规划步长，计算双足机器人当前在对应斜坡上的摆动腿抬腿位置与摆动腿落点位置之间的期望迈步距离及期望落足高度变化量。
在本实施例中，请参照图5所示的平地行走与坡面行走的腿部摆动轨迹比较示意图，平地行走时对应的腿部摆动规划轨迹与坡面行走时对应的腿部摆动期望轨迹可通过捕获点(Capture Point，CP)算法构建形成。其中，所述双足机器人的摆动腿移动轨迹变 化操作(即腿部摆动轨迹)可被分解为抬腿阶段的摆动腿抬腿操作以及落脚阶段的摆动腿落脚操作，其中抬腿阶段指的是对应摆动腿足部从摆动腿抬腿位置(例如，图5中的A点或A'点)开始摆动到最高摆动位置(例如，图5中的B点或B'点)的整个运动过程，而落脚阶段则指的是对应摆动腿足部从最高摆动位置摆动到摆动腿落点位置(例如，图5中的C点或C'点)的整个运动过程。
对于平地行走时对应的腿部摆动规划轨迹(图5中的上方视图所示)来说，摆动腿足部的摆动腿抬腿位置与摆动腿落点位置在Z轴方向上的高度是一致的，此时该腿部摆动规划轨迹的规划抬腿高度即为对应最高摆动位置与摆动腿落点位置在Z轴方向上的高度大小，该腿部摆动规划轨迹的规划步长即为摆动腿抬腿位置与摆动腿落点位置在X轴方向上的间距大小。
而对坡面行走时对应的腿部摆动期望轨迹(图5中的下方视图所示)来说，其相对于腿部摆动规划轨迹需要与坡面地形相适配，否则如果仍然使用腿部摆动规划轨迹来维持摆动腿抬腿位置与摆动腿落点位置的高度一致的话，双足机器人在落脚阶段就会出现严重的提前着地问题，影响机器人的腿部摆动稳定性。
由此，需要将斜坡所引起的落足高度变化量考虑到所述腿部摆动期望轨迹中，此时所述双足机器人当前在对应斜坡上的摆动腿抬腿位置(A'点)与摆动腿落点位置(C'点)之间的期望迈步距离即可由所述腿部摆动规划轨迹包括的规划步长除以所述目标坡度角的余弦值得到，所述双足机器人当前在对应斜坡上的期望落足高度变化量即可由所述腿部摆动规划轨迹包括的规划步长乘以所述目标坡度角的正切值得到。
子步骤S222，采用期望落足高度变化量对腿部摆动规划轨迹包括的规划抬腿高度进行补偿，得到双足机器人当前在对应斜坡上的期望抬腿高度。
在本实施例中，对坡面行走时对应的腿部摆动期望轨迹来说，其对应的期望抬腿高度即为对应坡面上的摆动腿抬腿位置(A'点)与最高摆动位置(B'点)在Z轴方向上的高度大小。可通过将腿部摆动规划轨迹包括的规划抬腿高度与计算出的期望落足高度变化量进行加法运算所得到的高度数值，作为该双足机器人当前在对应斜坡上的期望抬腿高度，从而将斜坡所引起的落足高度变化量考虑到所述腿部摆动期望轨迹的规划过程中。
子步骤S223，根据期望迈步距离及期望抬腿高度规划形成对应的腿部摆动期望轨迹。
在本实施例中，当确定出所述双足机器人当前在对应斜坡上的期望迈步距离以及期望抬腿高度后，可基于CP算法所对应的三次样条曲线轨迹规划方法，针对所述双足机器人当前所在斜坡重新规划出匹配的用以提高坡面行走过程中的腿部摆动平稳性的腿部摆动期望轨迹。
由此，本申请可通过执行上述子步骤S221～子步骤S223，确保最终输出的腿部摆动期望轨迹与双足机器人当前实际所在斜坡匹配，确保双足机器人按照腿部摆动期望轨迹在对应坡面行走时具有良好的腿部摆动平稳性。
步骤S230，根据目标坡度角对质心位置规划轨迹进行参数补偿，得到对应的质心位置期望轨迹。
在本实施例中，当所述机器人控制设备10在获取到双足机器人当前在平地上应该展现出的质心位置规划轨迹，以及该双足机器人当前实际所在斜坡的目标坡度角后，会采用该目标坡度角对当前对应的质心位置规划轨迹进行参数补偿，使补偿得到的质心位置期望轨迹能够让双足机器人在坡面行走过程中的姿态维持平衡，避免双足机器人出现后侧倾倒问题，提升双足机器人在坡面行走过程中的平衡稳定性。
可选地，请参照图6，图6是图3中的步骤S230包括的子步骤的流程示意图。在本实施例中，所述步骤S230可以包括子步骤S231～子步骤S232，以确保最终输出的质心位置期望轨迹与双足机器人当前实际所在斜坡匹配，确保双足机器人按照质心位置期望轨迹在对应坡面行走时的机器人姿态具有良好的平衡稳定性。
子步骤S231，根据双足机器人的从踝关节到足底之间的肢体高度以及目标坡度角，计算双足机器人当前的质心前移补偿量。
在本实施例中，请参照图7所示的平地行走与坡面行走的质心位置轨迹比较示意图，对于平地行走时对应的质心位置规划轨迹来说，为保证双足机器人在平地上站立时处于平衡状态，通常需要质心M在Z轴方向上的投影点M 0维持在对应支撑腿的踝关节正下方，即支撑腿脚掌中心位置(如图7中的上方视图所示)。
而对于坡面行走时对应的质心位置期望轨迹来说，其相对于质心位置规划轨迹需要与坡面地形相适配，否则如果仍然使用质心位置规划轨迹来维持质心投影点处于对应支撑腿的踝关节正下方(如图7中下方视图的质心M在Z轴方向上的投影点M 1)的话，双足机器人的中心位置将会靠近支撑腿的脚掌后侧，并非支撑腿的脚掌中心位置，使双 足机器人容易出现后侧倾倒问题，影响机器人的行走姿态平衡稳定性。
由此，需要将斜坡引起的质心位置变化量考虑到所述质心位置期望轨迹中，来使所述质心位置期望轨迹所对应的质心M在Z轴方向上的投影点M 2控制在对应支撑腿脚掌中心位置(如图7中的下方视图所示)，此时所述双足机器人当前在前进方向上所需的质心位置变化量(即质心前移补偿量)即可由所述双足机器人的从踝关节到足底之间的肢体高度乘以所述目标坡度角的正弦值得到，所述双足机器人当前在Z轴方向上所需的质心位置变化量也需与落足高度变化量保持一致，以保证机器人质心高度随坡面变化逐步升高或降低，即所述双足机器人当前在Z轴方向上所需的质心位置变化量将与上述期望落足高度变化量相等。
子步骤S232，采用质心前移补偿量对质心位置规划轨迹包括的质心前移规划位置进行补偿，并采用期望落足高度变化量对质心位置规划轨迹包括的质心高度规划位置进行补偿，得到对应的质心位置期望轨迹。
在本实施例中，所述质心前移规划位置用于表示所述质心位置规划轨迹中质心规划位置在机器人前进方向(X轴方向)上的规划位置分量，所述质心高度规划位置用于表示所述质心位置规划轨迹中质心规划位置在Z轴方向上的规划位置分量，而所述质心规划位置在Y轴方向上的规划位置分量即可表示为质心侧移规划位置。此时，可通过将上述计算出的质心前移补偿量叠加到所述质心位置规划轨迹包括的质心前移规划位置上，并将上述计算出的期望落足高度变化量叠加到所述质心位置规划轨迹包括的质心高度规划位置上，进而相应地求得所述双足机器人当前在对应斜坡上的质心前移期望位置及质心高度期望位置，而后基于常规轨迹规划手段确定出当前匹配的质心位置期望轨迹。
由此，本申请可通过执行上述子步骤S231及子步骤S232，确保最终输出的质心位置期望轨迹与双足机器人当前实际所在斜坡匹配，确保双足机器人按照质心位置期望轨迹在对应坡面行走时的机器人姿态具有良好的平衡稳定性。
请再次参照图3，步骤S240，基于机器人逆运动学算法计算同时与腿部摆动期望轨迹及质心位置期望轨迹匹配的期望驱动参数。
在本实施例中，当所述机器人控制设备10确定出所述双足机器人当前在斜坡上行走所需的腿部摆动期望轨迹及质心位置期望轨迹后，可基于机器人逆运动学算法求解出同时实现所述腿部摆动期望轨迹及所述质心位置期望轨迹所需的针对所述双足机器人 的期望驱动参数。其中，所述期望驱动参数可采用所述双足机器人各关节的期望角加速度和所述双足机器人双足的期望足底力参数组成，所述期望足底力参数可以包括对应足部的期望足底力矢量在笛卡尔坐标系下的X轴、Y轴及Z轴方向上的分量，和对应足部的期望足底力矩矢量在笛卡尔坐标系下的X轴、Y轴及Z轴方向上的分量。
子步骤S250，按照期望驱动参数控制双足机器人进行运动，使双足机器人在对应斜坡上行走。
在本实施例中，当所述机器人控制设备10确定出与所述双足机器人当前所在斜坡对应的期望驱动参数后，可通过按照所述期望驱动参数对所述双足机器人的各真实关节的运行状况进行控制，以确保所述双足机器人能够在对应斜坡上平稳地行走。
由此，本申请可通过执行上述步骤S210～步骤S250，对平地行走规划轨迹进行扩展，使双足机器人在平地行走过程中遇到斜坡地形时基于平地行走规划轨迹实现坡面平稳行走功能，以防止双足机器人摔倒，提升双足机器人的行走稳定性。
可选地，在本申请中，为确保针对所述双足机器人计算出的腿部摆动期望轨迹及质心位置期望轨迹均是与双足机器人当前所在斜坡的真实坡度匹配，本申请实施例通过提供一种利用双足机器人脚掌自适应地预估出双足机器人当前所在斜坡的坡度的方法来提升斜坡坡度感知精准度，进一步提升双足机器人的坡面行走稳定性。
请参照图8，图8是本申请实施例提供的机器人行走控制方法的流程示意图之二。在本申请实施例中，图8所示的机器人行走控制方法可以包括步骤S260～步骤S290，以确保最终预估出的斜坡坡度具有更高的准确性，提升斜坡坡度感知精准度，进一步提升双足机器人的坡面行走稳定性。
步骤S260，获取双足机器人当前的运动状况信息。
在本实施例中，所述双足机器人的运动状况信息可由安装在所述双足机器人不同部位的传感器进行实时感知，所述运动状况信息可以是，但不限于，质心实际位置、质心实际速度、双足实际位置、双足实际力矩及双足实际角速度等。
步骤S270，根据运动状况信息以及质心位置规划轨迹，确定双足机器人的双足踝关节当前在行走过程中的期望力矩。
在本实施例中，当所述机器人控制设备10获取到所述双足机器人当前在斜坡上的 运动状况信息后，会根据CP算法在倒立摆模型中的算法表达式确定出所述质心位置规划轨迹与所述运动状况信息在CP点位置方面上存在的CP位置差异状况，而后基于双足机器人在当前时刻表现出的双足支撑力，确定出该双足机器人的双足踝关节要克服所述CP位置差异状况所需的期望力矩。
可选地，请参照图9，图9是图8中的步骤S270包括的子步骤的流程示意图。在本实施例中，所述步骤S270可以包括子步骤S271～275。
子步骤S271，根据运动状况信息包括的质心实际位置及质心实际速度，计算双足机器人当前对应的CP预估位置。
在本实施例中，CP算法在倒立摆模型中的算法表达式可表示为
Figure PCTCN2021131191-appb-000001
及
Figure PCTCN2021131191-appb-000002
其中，ξ 1用于表示双足机器人在X轴与Z轴所在平面上的CP位置，x用于表示倒立摆质心在X轴上的位置分量，
Figure PCTCN2021131191-appb-000003
用于表示倒立摆质心在X轴上的速度分量，ξ 2用于表示双足机器人在Y轴与Z轴所在平面上的CP位置，y用于表示倒立摆质心在Y轴上的位置分量，
Figure PCTCN2021131191-appb-000004
用于表示倒立摆质心在Y轴上的速度分量，ω用于表示所述双足机器人的腿部摆动频率，其值等于重力加速度与倒立摆质心在Z轴上的位置分量之间的比值的平方根。
由此，所述机器人控制设备10可根据所述运动状况信息包括的质心实际位置及质心实际速度各自在X轴上的分量，利用公式
Figure PCTCN2021131191-appb-000005
计算出所述双足机器人当前对应的CP预估位置在X轴上的位置分量，并根据所述运动状况信息包括的质心实际位置及质心实际速度各自在Y轴上的分量，利用公式
Figure PCTCN2021131191-appb-000006
计算出所述双足机器人当前对应的CP预估位置在Y轴上的位置分量。
子步骤S272，根据质心位置动规划轨迹包括的质心规划位置及质心规划速度，计算双足机器人当前对应的CP规划位置。
在本实施例中，所述机器人控制设备10可根据所述质心位置规划轨迹包括的质心规划位置及质心规划速度各自在X轴上的分量，利用公式
Figure PCTCN2021131191-appb-000007
计算出所述双足机器人当前对应的CP规划位置在X轴上的位置分量，并根据所述质心规划位置及所述 质心规划速度各自在Y轴上的分量，利用公式
Figure PCTCN2021131191-appb-000008
计算出所述双足机器人当前对应的CP规划位置在Y轴上的位置分量。
子步骤S273，计算CP规划位置与CP预估位置之间的CP位置差异。
在本实施例中，所述机器人控制设备10可将所述CP规划位置在X轴上的位置分量与所述CP预估位置在X轴上的位置分量进行减法运算，得到所述CP位置差异在X轴上的差异分量，并将所述CP规划位置在Y轴上的位置分量与所述CP预估位置在Y轴上的位置分量进行减法运算，得到所述CP位置差异在Y轴上的差异分量。
子步骤S274，根据运动状况信息包括的双足实际位置以及腿部摆动规划轨迹包括的零力矩点规划位置，计算双足机器人当前的双足期望支撑力。
在本实施例中，所述腿部摆动规划轨迹在预先规划时会针对双足机器人的零力矩点位置进行规划，即得到该腿部摆动规划轨迹包括的零力矩点规划位置。此时，所述机器人控制设备10可采用如下式子计算出所述双足机器人当前的双足期望支撑力：
Figure PCTCN2021131191-appb-000009
其中，f ld用于表示双足机器人左足的期望支撑力，f rd用于表示双足机器人右足的期望支撑力，p yplan用于表示零力矩点规划位置在Y轴上的位置分量，p lf用于表示双足机器人左足实际位置在Y轴上的位置分量，p rf用于表示双足机器人右足实际位置在Y轴上的位置分量，M用于表示双足机器人质量，0<＝K f<＝1。
子步骤S275，针对双足机器人的每个足部，根据该足部的期望支撑力及CP位置差异进行踝关节力矩计算，得到与该足部对应的踝关节的期望力矩。
在本实施例中，针对所述双足机器人的左足足部或者右足足部，可通过将该足部所对应的踝关节控制器参数及期望支撑力，与所述CP位置差异在X轴上的差异分量进行乘法运算，得到与该足部对应的踝关节的期望力矩在X轴上的力矩分量，并通过将该足 部所对应的踝关节控制器参数及期望支撑力，与所述CP位置差异在Y轴上的差异分量进行乘法运算，得到与该足部对应的踝关节的期望力矩在Y轴上的力矩分量。由此，可相应地确定出该双足机器人的双足踝关节要克服摆动CP位置差异状况所需的期望力矩。
步骤S280，根据运动状况信息以及双足踝关节的期望力矩，确定双足踝关节当前的期望姿态角。
在本实施例中，当所述机器人控制设备10获取到双足机器人的双足踝关节要克服CP位置差异状况所需的期望力矩后，可结合该双足机器人当前在斜坡上表现出的双足踝关节实际状态，确定出该双足机器人要克服斜坡的坡度所需表现出的双足踝关节当前的期望姿态角。
可选地，请参照图10，图10是图8中的步骤S280包括的子步骤的流程示意图。在本实施例中，所述步骤S280可以包括子步骤S281及子步骤S282。
子步骤S281，针对双足机器人的每个足部，从运动状况信息提取与该足部对应的踝关节的实际力矩及实际角速度。
子步骤S282，将与该足部对应的踝关节的期望力矩、实际力矩及实际角速度，代入到与该足部对应的踝关节姿态控制方程中进行方程求解，得到与该足部对应的踝关节的期望姿态角。
其中，所述踝关节姿态控制方程可以采用PD控制手段构建形成，也可以采用PID控制手段构建形成，还可以采用PI控制手段构建形成。所述机器人控制设备10可通过将同一足部所对应的踝关节的期望力矩、实际力矩及实际角速度各自在X轴上的分量代入到对应踝关节姿态控制方程中进行方程求解，得到该足部所对应的踝关节的期望姿态角在X轴上的姿态角分量，并通过将同一足部所对应的踝关节的期望力矩、实际力矩及实际角速度各自在Y轴上的分量代入到对应踝关节姿态控制方程中进行方程求解，得到该足部所对应的踝关节的期望姿态角在Y轴上的姿态角分量。在本实施例的一种实施方式中，所述踝关节姿态控制方程可采用如下式子进行表示：
Figure PCTCN2021131191-appb-000010
其中，R用于表示对应足部的踝关节的期望姿态角，T d用于表示对应足部的踝关节的期望力矩，T m用于表示对应足部的踝关节的实际力矩，
Figure PCTCN2021131191-appb-000011
用于表示对应足部的踝 关节的角速度，K P用于表示对应足部的踝关节的控制器阻尼项参数，K s用于表示对应足部的踝关节的控制器刚度项参数。由此，可相应地确定出该双足机器人要克服斜坡的坡度所需表现出的双足踝关节当前的期望姿态角。
步骤S290，根据双足踝关节当前的期望姿态角计算得到双足机器人当前所在斜坡的目标坡度角。
在本实施例中，当所述机器人控制设备10计算出所述双足机器人在当前所在斜坡上所对应的双足踝关节的期望姿态角后，可通过选取双足踝关节的期望姿态角各自在Y轴上的姿态角分量进行均值计算，而后将计算出的角度数据作为所述双足机器人当前所在斜坡的目标坡度角，从而确保预估出的斜坡坡度与所述双足机器人关联性更强，确保预估出的斜坡坡度具有更高的准确性，以提升斜坡坡度感知精准度，并进一步提升双足机器人的坡面行走稳定性。
由此，本申请可通过执行上述步骤S260～步骤S290，利用双足机器人脚掌自适应地预估出双足机器人当前所在斜坡坡度，确保预估出的斜坡坡度与所述双足机器人关联性更强，确保预估出的斜坡坡度具有更高的准确性，以提升斜坡坡度感知精准度，并进一步提升双足机器人的坡面行走稳定性。
在本申请中，为确保所述机器人控制设备10能够通过所述机器人行走控制装置100执行上述机器人行走控制方法，本申请通过对所述机器人行走控制装置100进行功能模块划分的方式实现前述功能。下面对本申请提供的机器人行走控制装置100的具体组成进行相应描述。
请参照图11，图11是申请实施例提供的机器人行走控制装置100的组成示意图之一。在本申请实施例中，所述机器人行走控制装置100可以包括行走信息获取模块110、腿部轨迹适配模块120、质心轨迹补偿模块130、驱动参数计算模块140及斜坡行走控制模块150。
行走信息获取模块110，用于获取双足机器人当前的平地行走规划轨迹，以及双足机器人当前所在斜坡的目标坡度角，其中平地行走规划轨迹包括双足机器人平地行走时的腿部摆动规划轨迹及质心位置规划轨迹。
腿部轨迹适配模块120，用于根据目标坡度角对腿部摆动规划轨迹进行适配调整，得到对应的腿部摆动期望轨迹。
质心轨迹补偿模块130，用于根据目标坡度角对质心位置规划轨迹进行参数补偿，得到对应的质心位置期望轨迹。
驱动参数计算模块140，用于基于机器人逆运动学算法计算同时与腿部摆动期望轨迹及质心位置期望轨迹匹配的期望驱动参数。
斜坡行走控制模块150，用于按照期望驱动参数控制双足机器人进行运动，使双足机器人在对应斜坡上行走。
可选地，请参照图12，图12是本申请实施例提供的机器人行走控制装置100的组成示意图之二。在本申请实施例中，所述机器人行走控制装置100还可以包括运动信息获取模块160、期望力矩确定模块170、期望姿态确定模块180及斜坡角度计算模块190。
运动信息获取模块160，用于获取双足机器人当前的运动状况信息。
期望力矩确定模块170，用于根据运动状况信息以及质心位置规划轨迹，确定双足机器人的双足踝关节当前在行走过程中的期望力矩。
期望姿态确定模块180，用于根据运动状况信息以及双足踝关节的期望力矩，确定双足踝关节当前的期望姿态角。
斜坡角度计算模块190，用于根据双足踝关节当前的期望姿态角计算得到双足机器人当前所在斜坡的目标坡度角。
需要说明的是，本申请实施例所提供的机器人行走控制装置100，其基本原理及产生的技术效果与前述的机器人行走控制方法相同。为简要描述，本实施例部分未提及之处，可参考上述的针对机器人行走控制方法的描述内容。
在本申请所提供的实施例中，应该理解到，所揭露的装置和方法，也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，附图中的流程图和框图显示了根据本申请的实施例的装置、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/ 或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
另外，在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。所述功能如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
综上所述，在本申请提供的机器人行走控制方法、装置、机器人控制设备及存储介质中，本申请在获取到双足机器人当前的平地行走规划轨迹以及该双足机器人当前所在斜坡的目标坡度角后，会基于目标坡度角对平地行走规划轨迹中的腿部摆动规划轨迹进行适配调整，得到对应的腿部摆动期望轨迹，并基于目标坡度角对平地行走规划轨迹中的质心位置规划轨迹进行参数补偿，得到对应的质心位置期望轨迹，而后基于机器人逆运动学算法计算同时与腿部摆动期望轨迹及质心位置期望轨迹匹配的期望驱动参数，接着采用期望驱动参数控制双足机器人进行运动，从而使双足机器人在平地行走过程中遇到斜坡地形的情况下能够平稳地行走在对应坡面上，防止双足机器人摔倒，提升双足机器人的行走稳定性。
以上所述，仅为本申请的各种实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应当以权利要求的保护范围为准。

Claims (10)

  1. 一种机器人行走控制方法，其特征在于，所述方法包括：
    获取双足机器人当前的平地行走规划轨迹，以及所述双足机器人当前所在斜坡的目标坡度角，其中所述平地行走规划轨迹包括所述双足机器人平地行走时的腿部摆动规划轨迹及质心位置规划轨迹；
    根据所述目标坡度角对所述腿部摆动规划轨迹进行适配调整，得到对应的腿部摆动期望轨迹；
    根据所述目标坡度角对所述质心位置规划轨迹进行参数补偿，得到对应的质心位置期望轨迹；
    基于机器人逆运动学算法计算同时与所述腿部摆动期望轨迹及所述质心位置期望轨迹匹配的期望驱动参数；
    按照所述期望驱动参数控制所述双足机器人进行运动，使所述双足机器人在对应斜坡上行走。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述目标坡度角对所述腿部摆动规划轨迹进行适配调整，得到对应的腿部摆动期望轨迹的步骤，包括：
    根据所述目标坡度角及所述腿部摆动规划轨迹包括的规划步长，计算所述双足机器人当前在对应斜坡上的摆动腿抬腿位置与摆动腿落点位置之间的期望迈步距离及期望落足高度变化量；
    采用所述期望落足高度变化量对所述腿部摆动规划轨迹包括的规划抬腿高度进行补偿，得到所述双足机器人当前在对应斜坡上的期望抬腿高度；
    根据所述期望迈步距离及所述期望抬腿高度规划形成对应的腿部摆动期望轨迹。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述目标坡度角对所述质心位置规划轨迹进行参数补偿，得到对应的质心位置期望轨迹的步骤，包括：
    根据所述双足机器人的从踝关节到足底之间的肢体高度以及所述目标坡度角，计算所述双足机器人当前的质心前移补偿量；
    采用所述质心前移补偿量对所述质心位置规划轨迹包括的质心前移规划位置进行 补偿，并采用所述期望落足高度变化量对所述质心位置规划轨迹包括的质心高度规划位置进行补偿，得到对应的质心位置期望轨迹。
  4. 根据权利要求1-3中任意一项所述的方法，其特征在于，所述方法还包括：
    获取所述双足机器人当前的运动状况信息；
    根据所述运动状况信息以及所述质心位置规划轨迹，确定所述双足机器人的双足踝关节当前在行走过程中的期望力矩；
    根据所述运动状况信息以及所述双足踝关节的期望力矩，确定所述双足踝关节当前的期望姿态角；
    根据所述双足踝关节当前的期望姿态角计算得到所述双足机器人当前所在斜坡的目标坡度角。
  5. 根据权利要求4所述的方法，其特征在于，所述根据所述运动状况信息以及所述质心位置规划轨迹，确定所述双足机器人的双足踝关节当前在行走过程中的期望力矩的步骤，包括：
    根据所述运动状况信息包括的质心实际位置及质心实际速度，计算所述双足机器人当前对应的捕获点CP预估位置；
    根据所述质心位置规划轨迹包括的质心规划位置及质心规划速度，计算所述双足机器人当前对应的CP规划位置；
    计算所述CP规划位置与所述CP预估位置之间的CP位置差异；
    根据所述运动状况信息包括的双足实际位置以及所述腿部摆动规划轨迹包括的零力矩点规划位置，计算所述双足机器人当前的双足期望支撑力；
    针对所述双足机器人的每个足部，根据该足部的期望支撑力及所述CP位置差异进行踝关节力矩计算，得到与该足部对应的踝关节的期望力矩。
  6. 根据权利要求4所述的方法，其特征在于，所述根据所述运动状况信息以及所述双足踝关节的期望力矩，确定所述双足踝关节当前的期望姿态角的步骤，包括：
    针对所述双足机器人的每个足部，从所述运动状况信息提取与该足部对应的踝关节的实际力矩及实际角速度；
    将与该足部对应的踝关节的期望力矩、实际力矩及实际角速度，代入到与该足部对应的踝关节姿态控制方程中进行方程求解，得到与该足部对应的踝关节的期望姿态角。
  7. 一种机器人行走控制装置，其特征在于，所述装置包括：
    行走信息获取模块，用于获取双足机器人当前的平地行走规划轨迹，以及所述双足机器人当前所在斜坡的目标坡度角，其中所述平地行走规划轨迹包括所述双足机器人平地行走时的腿部摆动规划轨迹及质心位置规划轨迹；
    腿部轨迹适配模块，用于根据所述目标坡度角对所述腿部摆动规划轨迹进行适配调整，得到对应的腿部摆动期望轨迹；
    质心轨迹补偿模块，用于根据所述目标坡度角对所述质心位置规划轨迹进行参数补偿，得到对应的质心位置期望轨迹；
    驱动参数计算模块，用于基于机器人逆运动学算法计算同时与所述腿部摆动期望轨迹及所述质心位置期望轨迹匹配的期望驱动参数；
    斜坡行走控制模块，用于按照所述期望驱动参数控制所述双足机器人进行运动，使所述双足机器人在对应斜坡上行走。
  8. 根据权利要求7所述的装置，其特征在于，所述装置还包括：
    运动信息获取模块，用于获取所述双足机器人当前的运动状况信息；
    期望力矩确定模块，用于根据所述运动状况信息以及所述质心位置规划轨迹，确定所述双足机器人的双足踝关节当前在行走过程中的期望力矩；
    期望姿态确定模块，用于根据所述运动状况信息以及所述双足踝关节的期望力矩，确定所述双足踝关节当前的期望姿态角；
    斜坡角度计算模块，用于根据所述双足踝关节当前的期望姿态角计算得到所述双足机器人当前所在斜坡的目标坡度角。
  9. 一种机器人控制设备，其特征在于，包括处理器和存储器，所述存储器存储有能够被所述处理器执行的计算机程序，所述处理器可执行所述计算机程序，实现权利要求1-6中任意一项所述的机器人行走控制方法。
  10. 一种存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时，实现权利要求1-6中任意一项所述的机器人行走控制方法。
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