WO2025112145A1 - 一种机器人控制方法、装置、可读存储介质及机器人 - Google Patents

一种机器人控制方法、装置、可读存储介质及机器人 Download PDF

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Publication number
WO2025112145A1
WO2025112145A1 PCT/CN2023/141929 CN2023141929W WO2025112145A1 WO 2025112145 A1 WO2025112145 A1 WO 2025112145A1 CN 2023141929 W CN2023141929 W CN 2023141929W WO 2025112145 A1 WO2025112145 A1 WO 2025112145A1
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Prior art keywords
stroke length
ankle
expected
linear motor
robot
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English (en)
French (fr)
Inventor
罗秋月
葛利刚
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Ubtech Robotics Corp
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Ubtech Robotics Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present application belongs to the field of robotics technology, and in particular, relates to a robot control method, device, computer-readable storage medium, and robot.
  • the ankle structure of a humanoid robot is often relatively complex, and it is difficult to control it. In the prior art, it is often controlled by some complex algorithms or models, which has low control efficiency and is difficult to meet actual task requirements.
  • the embodiments of the present application provide a robot control method, device, computer-readable storage medium and robot to solve the problem in the prior art that when controlling the posture angle of the robot's ankle, the control efficiency is low and it is difficult to meet the actual task requirements.
  • a first aspect of an embodiment of the present application provides a robot control method, which may include:
  • the linear motor is controlled to move according to the desired stroke length.
  • determining the expected stroke length of the linear motor of the ankle according to the expected posture angle may include:
  • the linear motor of the ankle is determined according to the desired posture angle. Expected trip length;
  • the inverse kinematics analytical relationship is a pre-established analytical relationship between the posture angle of the ankle and the stroke length of the linear motor.
  • the method may further include:
  • the inverse kinematics analytical relationship is established according to the spatial structure of the ankle.
  • the inverse kinematics analytical relationship is an inverse kinematics analytical expression
  • the inverse kinematics analytical expression uses the posture angle of the ankle as an input quantity and the stroke length of the linear motor as an output quantity
  • the step of determining the expected stroke length of the linear motor of the ankle according to the expected posture angle based on the inverse kinematics analytical relationship may include:
  • the desired attitude angle is substituted as an input into the inverse kinematics analytical formula for calculation, and the desired stroke length is determined according to the calculated output.
  • determining the expected stroke length according to the calculated output may include:
  • a value within the range of the stroke length of the linear motor is selected from the calculated output as the expected stroke length.
  • the inverse kinematics analytical relationship is an analytical relationship correspondence table, and the analytical relationship correspondence table records the correspondence between each posture angle of the ankle and each stroke length of the linear motor;
  • the step of determining the expected stroke length of the linear motor of the ankle according to the expected posture angle based on the inverse kinematics analytical relationship may include:
  • the stroke length corresponding to the expected posture angle found in the analytical relationship correspondence table is determined as the expected stroke length.
  • the method may further include:
  • angle error is less than a preset angle error threshold, it is determined that the posture control of the ankle is completed.
  • a second aspect of the embodiments of the present application provides a robot control device, which may include:
  • An expected posture angle acquisition module is used to acquire an expected posture angle of the robot's ankle
  • An expected stroke length determination module used to determine an expected stroke length of the linear motor of the ankle according to the expected posture angle
  • a motion control module is used to control the linear motor to move according to the expected stroke length.
  • the expected stroke length determination module may include:
  • an inverse kinematics analysis unit configured to determine the expected stroke length of the linear motor of the ankle according to the expected posture angle based on an inverse kinematics analysis relationship
  • the inverse kinematics analytical relationship is a pre-established analytical relationship between the posture angle of the ankle and the stroke length of the linear motor.
  • the expected stroke length determination module may further include:
  • the inverse kinematics analytical relationship establishing unit is used to determine the spatial structure of the ankle; and establish the inverse kinematics analytical relationship according to the spatial structure of the ankle.
  • the inverse kinematics analytical relationship is an inverse kinematics analytical expression
  • the inverse kinematics analytical expression uses the posture angle of the ankle as an input and the stroke length of the linear motor as an output;
  • the inverse kinematics analysis unit may include:
  • a calculation subunit used for substituting the desired attitude angle as an input into the inverse kinematics analytical formula for calculation
  • the first determining subunit is used to determine the expected stroke length according to the calculated output.
  • the expected stroke length determination subunit may be specifically configured to: select, from the calculated output, a value within a stroke length range of the linear motor as the expected stroke length.
  • the inverse kinematics analytical relationship is an analytical relationship correspondence table, and the analytical relationship correspondence table records the correspondence between each posture angle of the ankle and each stroke length of the linear motor;
  • the inverse kinematics analysis unit may include:
  • a query subunit used for querying the stroke length corresponding to the expected attitude angle in the analytical relationship correspondence table
  • the second determining subunit is used to determine the stroke length corresponding to the expected posture angle found in the analytical relationship correspondence table as the expected stroke length.
  • the robot control device may further include:
  • the verification module is used to obtain the measured posture angle of the ankle; calculate the angle error between the measured posture angle and the expected posture angle; if the angle error is less than a preset angle error threshold, determine that the posture control of the ankle is completed.
  • a third aspect of the present application provides a computer-readable storage medium.
  • the read storage medium stores a computer program, and when the computer program is executed by the processor, the steps of any one of the above-mentioned robot control methods are implemented.
  • a fourth aspect of an embodiment of the present application provides a robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above-mentioned robot control methods when executing the computer program.
  • a fifth aspect of an embodiment of the present application provides a computer program product.
  • the computer program product runs on a robot, the robot executes the steps of any one of the above-mentioned robot control methods.
  • the embodiments of the present application have the following beneficial effects: the embodiments of the present application obtain the desired attitude angle of the ankle of the robot; determine the desired stroke length of the linear motor of the ankle according to the desired attitude angle; and control the linear motor to move according to the desired stroke length.
  • the attitude angle of the ankle of the robot is converted into the stroke length of the linear motor of the ankle, and the attitude angle of the ankle is controlled by controlling the stroke length of the linear motor, which has high control efficiency and helps to meet actual task requirements.
  • FIG1 is a flow chart of an embodiment of a robot control method in an embodiment of the present application.
  • FIG2 is a schematic diagram of a parallel ankle structure
  • FIG3 is a schematic diagram of verification results on a simulation platform
  • FIG4 is a structural diagram of an embodiment of a robot control device in an embodiment of the present application.
  • FIG5 is a schematic block diagram of a robot in an embodiment of the present application.
  • the term “if” may be interpreted as “when” or “upon” or “in response to determining” or “in response to detecting,” depending on the context.
  • the phrases “if it is determined” or “if [described condition or event] is detected” may be interpreted as meaning “upon determination” or “in response to determining” or “upon detection of [described condition or event]” or “in response to detecting [described condition or event],” depending on the context.
  • the ankle structure of a humanoid robot is often relatively complex, and it is difficult to control it. In the prior art, it is often controlled by some complex algorithms or models, which has low control efficiency and is difficult to meet actual task requirements.
  • the attitude angle of the robot's ankle can be converted into the stroke length of the ankle's linear motor.
  • the control of the ankle's attitude angle is achieved by controlling the stroke length of the linear motor. This has high control efficiency and helps meet actual task requirements.
  • the executor of the embodiment of the present application is a robot, including but not limited to any humanoid robot or other robot with an ankle structure.
  • An embodiment of a robot control method in an embodiment of the present application may include:
  • Step S101 Obtain the expected posture angle of the robot's ankle.
  • the posture angle of the ankle may include but is not limited to a pitch angle (pitch) and/or a roll angle (roll).
  • the expected posture angle is the posture angle that the ankle needs to reach to complete the expected task, which can be obtained in advance by performing motion planning on the ankle through any motion planning algorithm in the prior art, and the embodiments of the present application do not specifically limit it.
  • Step S102 determining the expected stroke length of the linear motor of the ankle according to the expected posture angle.
  • the linear motor is a transmission device that directly converts electrical energy into linear motion mechanical energy without the need for any intermediate conversion mechanism.
  • the posture angle of the ankle can be controlled by the linear motion of the linear motor.
  • the stroke length of the linear motor is the position change of the linear motor compared to its initial position, and the expected stroke length is the stroke length of the linear motor when the posture angle of the ankle reaches the expected posture angle.
  • an inverse kinematics analytical relationship can be established in advance. After the desired posture angle of the ankle is obtained, the straightness of the ankle can be determined according to the desired posture angle based on the inverse kinematics analytical relationship. The expected stroke length of the linear motor. The inverse kinematics analytical relationship is a pre-established analytical relationship between the ankle posture angle and the stroke length of the linear motor.
  • the spatial structure of the ankle may be determined first, and then the inverse kinematics analytical relationship may be established according to the spatial structure of the ankle.
  • FIG2 shows a schematic diagram of a possible parallel ankle structure.
  • the origin of the ankle (denoted as O) is the first passive ball joint located on the foot plate, and the first passive ball joint is connected to the support frame.
  • the forward direction of the ankle is the positive direction of the x-axis
  • the left direction of the ankle that is, the forward direction of the ankle is rotated 90 degrees counterclockwise on the horizontal plane, which is the positive direction of the y-axis
  • the vertically upward direction is the positive direction of the z-axis.
  • the support frame is provided with two left and right motion axes in parallel in the vertical direction, and the left and right linear motors perform linear motion on these two motion axes respectively.
  • the left linear motor (whose position is denoted as A1 ) is connected to the left first joint (whose position is denoted as B1 ) through the left first connecting rod, and the left first joint is connected to the left second joint (whose position is denoted as C1 ) through the left second connecting rod, and the left second joint is the second passive ball joint located on the foot plate.
  • the right linear motor (whose position is denoted as A 2 ) is connected to the right first joint (whose position is denoted as B 2 ) through the right first connecting rod, and the right first joint is connected to the right second joint (whose position is denoted as C 2 ) through the right second connecting rod.
  • the right second joint is a second passive ball joint located on the foot plate.
  • connection structure of the linear motor on the left it has the following geometric relationship:
  • Rx is the rotation matrix around the x-axis
  • Ry is the rotation matrix around the y-axis, which can be expressed as:
  • a x1 , a y1 , and a z1 are The x-axis component, y-axis component and z-axis component of L x1 , L y1 , L z1 are The x-axis component, y-axis component and z-axis component of , l rod1 is the rod length of the second connecting rod on the left.
  • a x2 , a y2 , and a z2 are The x-axis component, y-axis component and z-axis component of is the position of the second joint of the right side of the ankle in the initial state, L x2 , Ly2 , and L z2 are The x-axis component, y-axis component and z-axis component of Right
  • the position change vector of the side linear motor compared to its initial position, l rod2 is the rod length of the second connecting rod on the right.
  • the above expression is an analytical formula for inverse kinematics with the ankle posture angle as input and the linear motor stroke length as output.
  • the inverse kinematics analytical expression can be directly used as the inverse kinematics analytical relationship
  • the desired attitude angle can be substituted as the input into the inverse kinematics analytical expression for calculation
  • the desired stroke length can be determined according to the calculated output.
  • a value within the stroke length range of the linear motor can be selected from the calculated output as the desired stroke length.
  • an analytical relationship correspondence table can also be constructed based on the inverse kinematics analytical expression, and the analytical relationship correspondence table records the correspondence between each posture angle of the ankle and each stroke length of the linear motor, as shown in the following table:
  • the attitude angle 1 is substituted as the input into the inverse kinematics analytical formula for calculation, and the value within the stroke length range of the linear motor is selected from the calculated output, which is the stroke length 1, thereby establishing a corresponding relationship between the attitude angle 1 and the stroke length 1, and the attitude angle 2 is substituted as the input into the inverse kinematics analytical formula for calculation, and the value within the stroke length range of the linear motor is selected from the calculated output.
  • the value within the range of the stroke length is the stroke length 2, thereby establishing a corresponding relationship between the attitude angle 2 and the stroke length 2.
  • the corresponding relationship between each attitude angle and each stroke length of the linear motor can be established, that is, the construction of the analytical relationship correspondence table is completed, and the analytical relationship correspondence table is used as the inverse kinematics analytical relationship.
  • the stroke length corresponding to the expected attitude angle can be queried in the analytical relationship correspondence table, and the stroke length corresponding to the expected attitude angle queried in the analytical relationship correspondence table is determined as the expected stroke length.
  • the table lookup process can be used to replace the analytical calculation process, which has higher processing efficiency.
  • Step S103 Control the linear motor to move according to the desired stroke length.
  • the linear motor can be controlled to move to a position corresponding to the desired stroke length, thereby driving the connecting rod to make the posture angle of the ankle reach the desired posture angle.
  • the measured posture angle of the ankle may be obtained, wherein the measured posture angle is an actual posture angle measured by a preset sensor.
  • the angle error between the measured posture angle and the expected posture angle is calculated. If the angle error is less than a preset angle error threshold, it can be determined that the posture control of the ankle is completed.
  • the angle error threshold can be set according to actual conditions, and the embodiment of the present application does not specifically limit this.
  • FIG3 is a schematic diagram of the verification results on the simulation platform.
  • the upper figure is a comparison diagram of the pitch angle, and the lower figure is a comparison diagram of the roll angle. It can be seen from the figure that the measured attitude angle and the expected attitude angle are basically consistent, which confirms the effectiveness of the method of the present application.
  • the embodiment of the present application obtains the desired attitude angle of the robot's ankle; determines the desired stroke length of the ankle's linear motor according to the desired attitude angle; and controls the linear motor to move according to the desired stroke length.
  • the attitude angle of the robot's ankle is converted into the stroke length of the ankle's linear motor, and the attitude angle of the ankle is controlled by controlling the stroke length of the linear motor. It has higher control efficiency and helps to meet actual task requirements.
  • FIG4 shows a structural diagram of an embodiment of a robot control device provided in an embodiment of the present application.
  • a robot control device may include:
  • the expected posture angle acquisition module 401 is used to acquire the expected posture angle of the ankle of the robot;
  • the motion control module 403 is used to control the linear motor to move according to the desired stroke length.
  • the expected stroke length determination module may include:
  • an inverse kinematics analysis unit configured to determine the expected stroke length of the linear motor of the ankle according to the expected posture angle based on an inverse kinematics analysis relationship
  • the inverse kinematics analytical relationship is a pre-established analytical relationship between the posture angle of the ankle and the stroke length of the linear motor.
  • the expected stroke length determination module may further include:
  • the inverse kinematics analytical relationship establishing unit is used to determine the spatial structure of the ankle; and establish the inverse kinematics analytical relationship according to the spatial structure of the ankle.
  • the inverse kinematics analytical relationship is an inverse kinematics analytical expression
  • the inverse kinematics analytical expression uses the posture angle of the ankle as an input quantity and the stroke length of the linear motor as an output quantity
  • the inverse kinematics analysis unit may include:
  • a calculation subunit used for substituting the desired attitude angle as an input into the inverse kinematics analytical formula for calculation
  • the first determining subunit is used to determine the expected stroke length according to the calculated output.
  • the expected stroke length determination subunit may be specifically used to select a value within the stroke length range of the linear motor from the calculated output as the expected stroke length.
  • the inverse kinematics analytical relationship is an analytical relationship correspondence table, and the analytical relationship correspondence table records the correspondence between each posture angle of the ankle and each stroke length of the linear motor;
  • the inverse kinematics analysis unit may include:
  • a query subunit used for querying the stroke length corresponding to the expected attitude angle in the analytical relationship correspondence table
  • the second determining subunit is used to determine the stroke length corresponding to the expected posture angle found in the analytical relationship correspondence table as the expected stroke length.
  • the robot control device may further include:
  • the verification module is used to obtain the measured posture angle of the ankle; calculate the angle error between the measured posture angle and the expected posture angle; if the angle error is less than a preset angle error threshold, determine that the posture control of the ankle is completed.
  • FIG5 shows a schematic block diagram of a robot provided in an embodiment of the present application. For ease of explanation, only the parts related to the embodiment of the present application are shown.
  • the robot 5 of this embodiment includes: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50.
  • the processor 50 executes the computer program 52, the steps in the above-mentioned robot control method embodiments are implemented, such as steps S101 to S103 shown in FIG1 .
  • the processor 50 executes the computer program 52, the functions of the modules/units in the above-mentioned device embodiments are implemented, such as the functions of modules 401 to 403 shown in FIG4 .
  • the computer program 52 may be divided into one or more modules/units, which are stored in the memory 51 and executed by the processor 50 to complete the present application.
  • the one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 52 in the robot 5.
  • FIG5 is merely an example of the robot 5 and does not constitute a limitation on the robot 5.
  • the robot 5 may include more or fewer components than shown in the figure, or a combination of certain components, or different components.
  • the robot 5 may also include input and output devices, network access devices, buses, etc.
  • the processor 50 may be a central processing unit (CPU). It may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.
  • the memory 51 may be an internal storage unit of the robot 5, such as a hard disk or memory of the robot 5.
  • the memory 51 may also be an external storage device of the robot 5, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the robot 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the robot 5.
  • the memory 51 is used to store the computer program and other programs and data required by the robot 5.
  • the memory 51 may also be used to temporarily store data that has been output or is to be output.
  • the technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration.
  • the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.
  • the functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.
  • the disclosed devices/robots and methods can be implemented in other ways.
  • the device/robot embodiments described above are merely schematic.
  • the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.
  • Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.
  • the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program.
  • the computer program can be stored in a computer-readable storage medium.
  • the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented.
  • the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form.
  • the computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • electric carrier signal telecommunication signal and software distribution medium.
  • the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.
  • computer-readable storage media do not include electric carrier signals and telecommunication signals.

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Abstract

一种机器人（5）控制方法、装置、可读存储介质及机器人（5）。机器人（5）控制方法包括：获取机器人（5）的脚踝的期望姿态角（S101）；根据期望姿态角确定脚踝的直线电机的期望行程长度（S102）；按照期望行程长度控制直线电机进行运动（S103）。

Description

一种机器人控制方法、装置、可读存储介质及机器人
本申请要求于2023年11月28日在中国专利局提交的、申请号为202311612875.2、发明名称为“一种机器人控制方法、装置、可读存储介质及机器人”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
本申请属于机器人技术领域，尤其涉及一种机器人控制方法、装置、计算机可读存储介质及机器人。
背景技术
在机器人执行任务的过程中，有时需要对机器人的脚踝的姿态角进行控制，使其能够完成期望的任务。
但是，人形机器人的脚踝结构往往相对比较复杂，对其的控制难度较大。在现有技术中，往往会通过一些复杂的算法或模型来对其进行控制，控制效率较低，难以满足实际的任务需求。
技术问题
有鉴于此，本申请实施例提供了一种机器人控制方法、装置、计算机可读存储介质及机器人，以解决现有技术中存在的对机器人的脚踝的姿态角进行控制时，控制效率较低，难以满足实际的任务需求的问题。
技术解决方案
本申请实施例的第一方面提供了一种机器人控制方法，可以包括：
获取机器人的脚踝的期望姿态角；
根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度；
按照所述期望行程长度控制所述直线电机进行运动。
在第一方面的一种具体实现方式中，所述根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度，可以包括：
基于逆运动学解析关系，根据所述期望姿态角确定所述脚踝的直线电机的 期望行程长度；
其中，所述逆运动学解析关系为预先建立的所述脚踝的姿态角与所述直线电机的行程长度之间的解析关系。
在第一方面的一种具体实现方式中，在基于逆运动学解析关系，根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度之前，还可以包括：
确定所述脚踝的空间结构；
根据所述脚踝的空间结构建立所述逆运动学解析关系。
在第一方面的一种具体实现方式中，所述逆运动学解析关系为逆运动学解析式，所述逆运动学解析式以所述脚踝的姿态角为输入量，以所述直线电机的行程长度为输出量；
所述基于逆运动学解析关系，根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度，可以包括：
将所述期望姿态角作为输入量代入所述逆运动学解析式进行计算，并根据计算得到的输出量确定所述期望行程长度。
在第一方面的一种具体实现方式中，所述根据计算得到的输出量确定所述期望行程长度，可以包括：
从计算得到的输出量中选取处于所述直线电机的行程长度范围区间内的取值作为所述期望行程长度。
在第一方面的一种具体实现方式中，所述逆运动学解析关系为解析关系对应表，所述解析关系对应表中记录了所述脚踝的各个姿态角与所述直线电机的各个行程长度之间的对应关系；
所述基于逆运动学解析关系，根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度，可以包括：
在所述解析关系对应表中查询与所述期望姿态角对应的行程长度；
将在所述解析关系对应表中查询到的与所述期望姿态角对应的行程长度确定为所述期望行程长度。
在第一方面的一种具体实现方式中，在按照所述期望行程长度控制所述直线电机进行运动之后，还可以包括：
获取脚踝的测量姿态角；
计算所述测量姿态角和所述期望姿态角之间的角度误差；
若所述角度误差小于预设的角度误差阈值，则确定完成对所述脚踝的姿态控制。
本申请实施例的第二方面提供了一种机器人控制装置，可以包括：
期望姿态角获取模块，用于获取机器人的脚踝的期望姿态角；
期望行程长度确定模块，用于根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度；
运动控制模块，用于按照所述期望行程长度控制所述直线电机进行运动。
在第二方面的一种具体实现方式中，所述期望行程长度确定模块可以包括：
逆运动学解析单元，用于基于逆运动学解析关系，根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度；
其中，所述逆运动学解析关系为预先建立的所述脚踝的姿态角与所述直线电机的行程长度之间的解析关系。
在第二方面的一种具体实现方式中，所述期望行程长度确定模块还可以包括：
逆运动学解析关系建立单元，用于确定所述脚踝的空间结构；根据所述脚踝的空间结构建立所述逆运动学解析关系。
在第二方面的一种具体实现方式中，所述逆运动学解析关系为逆运动学解析式，所述逆运动学解析式以所述脚踝的姿态角为输入量，以所述直线电机的行程长度为输出量；
所述逆运动学解析单元可以包括：
计算子单元，用于将所述期望姿态角作为输入量代入所述逆运动学解析式进行计算；
第一确定子单元，用于根据计算得到的输出量确定所述期望行程长度。
在第二方面的一种具体实现方式中，所述期望行程长度确定子单元可以具体用于：从计算得到的输出量中选取处于所述直线电机的行程长度范围区间内的取值作为所述期望行程长度。
在第二方面的一种具体实现方式中，所述逆运动学解析关系为解析关系对应表，所述解析关系对应表中记录了所述脚踝的各个姿态角与所述直线电机的各个行程长度之间的对应关系；
所述逆运动学解析单元可以包括：
查询子单元，用于在所述解析关系对应表中查询与所述期望姿态角对应的行程长度；
第二确定子单元，用于将在所述解析关系对应表中查询到的与所述期望姿态角对应的行程长度确定为所述期望行程长度。
在第二方面的一种具体实现方式中，所述机器人控制装置还可以包括：
验证模块，用于获取脚踝的测量姿态角；计算所述测量姿态角和所述期望姿态角之间的角度误差；若所述角度误差小于预设的角度误差阈值，则确定完成对所述脚踝的姿态控制。
本申请实施例的第三方面提供了一种计算机可读存储介质，所述计算机可 读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现上述任一种机器人控制方法的步骤。
本申请实施例的第四方面提供了一种机器人，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现上述任一种机器人控制方法的步骤。
本申请实施例的第五方面提供了一种计算机程序产品，当计算机程序产品在机器人上运行时，使得机器人执行上述任一种机器人控制方法的步骤。
有益效果
本申请实施例与现有技术相比存在的有益效果是：本申请实施例获取机器人的脚踝的期望姿态角；根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度；按照所述期望行程长度控制所述直线电机进行运动。通过本申请实施例，将机器人的脚踝的姿态角转换为脚踝的直线电机的行程长度，通过对直线电机的行程长度进行控制来实现对于脚踝的姿态角的控制，具有较高的控制效率，有助于满足实际的任务需求。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，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它的附图。
图1为本申请实施例中一种机器人控制方法的一个实施例流程图；
图2为一种并联脚踝结构的示意图；
图3为在仿真平台上的验证结果示意图；
图4为本申请实施例中一种机器人控制装置的一个实施例结构图；
图5为本申请实施例中一种机器人的示意框图。
本发明的实施方式
为使得本申请的发明目的、特征、优点能够更加的明显和易懂，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，下面所描述的实施例仅仅是本申请一部分实施例，而非全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本申请保护的范围。
应当理解，当在本说明书和所附权利要求书中使用时，术语“包括”指示所描述特征、整体、步骤、操作、元素和/或组件的存在，但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。
还应当理解，在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。
还应当进一步理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
如在本说明书和所附权利要求书中所使用的那样，术语“如果”可以依据上下文被解释为“当...时”或“一旦”或“响应于确定”或“响应于检测到”。类似地，短语“如果确定”或“如果检测到[所描述条件或事件]”可以依据上下文被解释为意指“一旦确定”或“响应于确定”或“一旦检测到[所描述条件或事件]”或“响应于检测到[所描述条件或事件]”。
另外，在本申请的描述中，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
在机器人执行任务的过程中，有时需要对机器人的脚踝的姿态角进行控制，使其能够完成期望的任务。
但是，人形机器人的脚踝结构往往相对比较复杂，对其的控制难度较大。在现有技术中，往往会通过一些复杂的算法或模型来对其进行控制，控制效率较低，难以满足实际的任务需求。
在本申请实施例中，可以将机器人的脚踝的姿态角转换为脚踝的直线电机的行程长度，通过对直线电机的行程长度进行控制来实现对于脚踝的姿态角的控制，具有较高的控制效率，有助于满足实际的任务需求。
本申请实施例的执行主体为机器人，包括但不限于任意一种具有脚踝结构的人形机器人或其它机器人。
请参阅图1，本申请实施例中一种机器人控制方法的一个实施例可以包括：
步骤S101、获取机器人的脚踝的期望姿态角。
在本申请实施例中，脚踝的姿态角可以包括但不限于俯仰角(pitch)和/或翻滚角(roll)。
期望姿态角即为脚踝完成期望的任务所需达到的姿态角，可以预先通过现有技术中的任意一种运动规划算法对脚踝进行运动规划得到，本申请实施例对其不作具体限定。
步骤S102、根据期望姿态角确定脚踝的直线电机的期望行程长度。
其中，直线电机是一种将电能直接转换成直线运动机械能，而不需要任何中间转换机构的传动装置，在本申请实施例中，可以通过直线电机的直线运动来对脚踝的姿态角进行控制。
直线电机的行程长度为直线电机的位置相较于其初始位置的位置变化量，期望行程长度即为使得脚踝的姿态角达到期望姿态角时直线电机的行程长度。
在本申请实施例中，可以预先建立起逆运动学解析关系，在获取到脚踝的期望姿态角之后，则可基于逆运动学解析关系，根据期望姿态角确定脚踝的直 线电机的期望行程长度。其中，逆运动学解析关系为预先建立的脚踝的姿态角与直线电机的行程长度之间的解析关系。
具体地，在建立逆运动学解析关系时，可以首先确定脚踝的空间结构，然后根据脚踝的空间结构建立逆运动学解析关系。
图2示出了一种可能的并联脚踝结构的示意图，如图所示，脚踝的原点(记为O)为位于脚板上的第一被动球铰，第一被动球铰与支撑架连接。脚踝的前进方向为x轴正向，脚踝的左侧方向，也即在水平平面上将脚踝的前进方向逆时针旋转90度为y轴正向，竖直向上的方向为z轴正向。支撑架在竖直方向上并行设置左右两个运动轴，左右两个直线电机分别在这两个运动轴上做直线运动，左侧直线电机(其位置记为A1)通过左侧第一连杆与左侧第一关节(其位置记为B1)连接，左侧第一关节通过左侧第二连杆与左侧第二关节(其位置记为C1)连接，左侧第二关节为位于脚板上的第二被动球铰。类似地，右侧直线电机(其位置记为A2)通过右侧第一连杆与右侧第一关节(其位置记为B2)连接，右侧第一关节通过右侧第二连杆与右侧第二关节(其位置记为C2)连接，右侧第二关节为位于脚板上的第二被动球铰。
以左侧直线电机的连接结构为例，具有如下的几何关系：
其中，即为
将左侧直线电机的初始位置记为则上式可表示为：
其中，为左侧直线电机的位置相较于其初始位置的位置变化向量。
当机器人的脚踝在初始状态，其俯仰角和翻滚角均为0时，记左侧第二关节的位置为则可表示为：
其中，Rx为绕x轴的旋转矩阵，Ry为绕y轴的旋转矩阵，可表示为：

令可以得到：
对上式左右两边求平方，可以得到：
由于向量模的平方等于向量各个方向分量的平方和，于是：
(ax1-Lx1)2+(ay1-Ly1)2+(az1-Lz1)2＝lrod1 2
其中，ax1、ay1、az1分别为的x轴分量、y轴分量和z轴分量，Lx1、Ly1、Lz1分别为的x轴分量、y轴分量和z轴分量，lrod1为左侧第二连杆的杆长。
由于脚踝的直线电机只能延z轴上下运动，令Lx1＝0，Ly1＝0，则能得到：
ax1 2+ay1 2+(az1-Lz1)2＝lrod1 2
求解上式可以得到左侧直线电机的行程长度的表达式为：
类似地，可以得到右侧直线电机的行程长度的表达式为：
其中，ax2、ay2、az2分别为的x轴分量、y轴分量和z轴分量， 为脚踝在初始状态时右侧第二关节的位置，Lx2、Ly2、Lz2分别为的x轴分量、y轴分量和z轴分量，为右 侧直线电机的位置相较于其初始位置的位置变化向量，lrod2为右侧第二连杆的杆长。
上述的表达式即为以脚踝的姿态角为输入量，以直线电机的行程长度为输出量的逆运动学解析式。
需要说明的是，上述的并联脚踝结构仅为示例，对于其它的脚踝空间结构，也可以参考上述分析过程建立对应的逆运动学解析式，本申请实施例对此不再赘述。
在本申请实施例的一种具体实现方式中，可以直接将逆运动学解析式作为逆运动学解析关系，将期望姿态角作为输入量代入逆运动学解析式进行计算，并根据计算得到的输出量确定期望行程长度。具体地，可以从计算得到的输出量中选取处于直线电机的行程长度范围区间内的取值作为期望行程长度。
在本申请实施例的另一种具体实现方式中，还可以基于逆运动学解析式构建解析关系对应表，解析关系对应表中记录了脚踝的各个姿态角与直线电机的各个行程长度之间的对应关系，如下表所示：
具体地，将姿态角1作为输入量代入逆运动学解析式进行计算，从计算得到的输出量中选取处于直线电机的行程长度范围区间内的取值，即为行程长度1，从而建立起了姿态角1与行程长度1之间的对应关系，将姿态角2作为输入量代入逆运动学解析式进行计算，从计算得到的输出量中选取处于直线电机的行 程长度范围区间内的取值，即为行程长度2，从而建立起了姿态角2与行程长度2之间的对应关系，以此类推，可以建立起各个姿态角与直线电机的各个行程长度之间的对应关系，即完成解析关系对应表的构建，并将解析关系对应表作为逆运动学解析关系。
在需要根据期望姿态角确定期望行程长度时，可以在解析关系对应表中查询与期望姿态角对应的行程长度，并将在解析关系对应表中查询到的与期望姿态角对应的行程长度确定为期望行程长度。通过这样的方式，可以用查表过程来替代解析计算过程，具有更高的处理效率。
步骤S103、按照期望行程长度控制直线电机进行运动。
在确定出期望行程长度之后，则可控制直线电机运动至与期望行程长度对应的位置，从而带动连杆使得脚踝的姿态角达到期望姿态角。
为了对运动控制的效果进行验证，在步骤S103之后，还可以获取脚踝的测量姿态角，其中，测量姿态角为通过预设的传感器测量得到的实际姿态角。
然后计算测量姿态角和期望姿态角之间的角度误差，若角度误差小于预设的角度误差阈值，则可以确定完成对脚踝的姿态控制。其中，角度误差阈值可以根据实际情况进行设置，本申请实施例对此不作具体限定。
图3所示为在仿真平台上的验证结果示意图，上图为俯仰角的对比图，下图为翻滚角的对比图，从图中可以看出，测量姿态角和期望姿态角基本可以保持一致，证实了本申请方法的有效性。
综上，本申请实施例获取机器人的脚踝的期望姿态角；根据期望姿态角确定脚踝的直线电机的期望行程长度；按照期望行程长度控制直线电机进行运动。通过本申请实施例，将机器人的脚踝的姿态角转换为脚踝的直线电机的行程长度，通过对直线电机的行程长度进行控制来实现对于脚踝的姿态角的控制，具 有较高的控制效率，有助于满足实际的任务需求。
应理解，上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
对应于上文实施例所述的一种机器人控制方法，图4示出了本申请实施例提供的一种机器人控制装置的一个实施例结构图。
本实施例中，一种机器人控制装置可以包括：
期望姿态角获取模块401，用于获取机器人的脚踝的期望姿态角；
期望行程长度确定模块402，用于根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度；
运动控制模块403，用于按照所述期望行程长度控制所述直线电机进行运动。
在本申请实施例的一种具体实现方式中，所述期望行程长度确定模块可以包括：
逆运动学解析单元，用于基于逆运动学解析关系，根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度；
其中，所述逆运动学解析关系为预先建立的所述脚踝的姿态角与所述直线电机的行程长度之间的解析关系。
在本申请实施例的一种具体实现方式中，所述期望行程长度确定模块还可以包括：
逆运动学解析关系建立单元，用于确定所述脚踝的空间结构；根据所述脚踝的空间结构建立所述逆运动学解析关系。
在本申请实施例的一种具体实现方式中，所述逆运动学解析关系为逆运动学解析式，所述逆运动学解析式以所述脚踝的姿态角为输入量，以所述直线电机的行程长度为输出量；
所述逆运动学解析单元可以包括：
计算子单元，用于将所述期望姿态角作为输入量代入所述逆运动学解析式进行计算；
第一确定子单元，用于根据计算得到的输出量确定所述期望行程长度。
在本申请实施例的一种具体实现方式中，所述期望行程长度确定子单元可以具体用于：从计算得到的输出量中选取处于所述直线电机的行程长度范围区间内的取值作为所述期望行程长度。
在本申请实施例的一种具体实现方式中，所述逆运动学解析关系为解析关系对应表，所述解析关系对应表中记录了所述脚踝的各个姿态角与所述直线电机的各个行程长度之间的对应关系；
所述逆运动学解析单元可以包括：
查询子单元，用于在所述解析关系对应表中查询与所述期望姿态角对应的行程长度；
第二确定子单元，用于将在所述解析关系对应表中查询到的与所述期望姿态角对应的行程长度确定为所述期望行程长度。
在本申请实施例的一种具体实现方式中，所述机器人控制装置还可以包括：
验证模块，用于获取脚踝的测量姿态角；计算所述测量姿态角和所述期望姿态角之间的角度误差；若所述角度误差小于预设的角度误差阈值，则确定完成对所述脚踝的姿态控制。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述 的装置，模块和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。
图5示出了本申请实施例提供的一种机器人的示意框图，为了便于说明，仅示出了与本申请实施例相关的部分。
如图5所示，该实施例的机器人5包括：处理器50、存储器51以及存储在所述存储器51中并可在所述处理器50上运行的计算机程序52。所述处理器50执行所述计算机程序52时实现上述各个机器人控制方法实施例中的步骤，例如图1所示的步骤S101至步骤S103。或者，所述处理器50执行所述计算机程序52时实现上述各装置实施例中各模块/单元的功能，例如图4所示模块401至模块403的功能。
示例性的，所述计算机程序52可以被分割成一个或多个模块/单元，所述一个或者多个模块/单元被存储在所述存储器51中，并由所述处理器50执行，以完成本申请。所述一个或多个模块/单元可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述所述计算机程序52在所述机器人5中的执行过程。
本领域技术人员可以理解，图5仅仅是机器人5的示例，并不构成对机器人5的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如所述机器人5还可以包括输入输出设备、网络接入设备、总线等。
所述处理器50可以是中央处理单元(Central Processing Unit，CPU)，还 可以是其它通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其它可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。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。
所述存储器51可以是所述机器人5的内部存储单元，例如机器人5的硬盘或内存。所述存储器51也可以是所述机器人5的外部存储设备，例如所述机器人5上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。进一步地，所述存储器51还可以既包括所述机器人5的内部存储单元也包括外部存储设备。所述存储器51用于存储所述计算机程序以及所述机器人5所需的其它程序和数据。所述存储器51还可以用于暂时地存储已经输出或者将要输出的数据。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、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单元、模块完成，即将所述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述系统中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详 述或记载的部分，可以参见其它实施例的相关描述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
在本申请所提供的实施例中，应该理解到，所揭露的装置/机器人和方法，可以通过其它的方式实现。例如，以上所描述的装置/机器人实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口，装置或单元的间接耦合或通讯连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读存储介质中。基于这样的理解，本 申请实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读存储介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读存储介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读存储介质不包括电载波信号和电信信号。
以上所述实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种机器人控制方法，其特征在于，包括：
    获取机器人的脚踝的期望姿态角；
    根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度；
    按照所述期望行程长度控制所述直线电机进行运动。
  2. 根据权利要求1所述的机器人控制方法，其特征在于，所述根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度，包括：
    基于逆运动学解析关系，根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度；
    其中，所述逆运动学解析关系为预先建立的所述脚踝的姿态角与所述直线电机的行程长度之间的解析关系。
  3. 根据权利要求2所述的机器人控制方法，其特征在于，在基于逆运动学解析关系，根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度之前，还包括：
    确定所述脚踝的空间结构；
    根据所述脚踝的空间结构建立所述逆运动学解析关系。
  4. 根据权利要求2所述的机器人控制方法，其特征在于，所述逆运动学解析关系为逆运动学解析式，所述逆运动学解析式以所述脚踝的姿态角为输入量，以所述直线电机的行程长度为输出量；
    所述基于逆运动学解析关系，根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度，包括：
    将所述期望姿态角作为输入量代入所述逆运动学解析式进行计算，并根据计算得到的输出量确定所述期望行程长度。
  5. 根据权利要求4所述的机器人控制方法，其特征在于，所述根据计算得到的输出量确定所述期望行程长度，包括：
    从计算得到的输出量中选取处于所述直线电机的行程长度范围区间内的取值作为所述期望行程长度。
  6. 根据权利要求2所述的机器人控制方法，其特征在于，所述逆运动学解析关系为解析关系对应表，所述解析关系对应表中记录了所述脚踝的各个姿态角与所述直线电机的各个行程长度之间的对应关系；
    所述基于逆运动学解析关系，根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度，包括：
    在所述解析关系对应表中查询与所述期望姿态角对应的行程长度；
    将在所述解析关系对应表中查询到的与所述期望姿态角对应的行程长度确定为所述期望行程长度。
  7. 根据权利要求1至6中任一项所述的机器人控制方法，其特征在于，在按照所述期望行程长度控制所述直线电机进行运动之后，还包括：
    获取脚踝的测量姿态角；
    计算所述测量姿态角和所述期望姿态角之间的角度误差；
    若所述角度误差小于预设的角度误差阈值，则确定完成对所述脚踝的姿态控制。
  8. 一种机器人控制装置，其特征在于，包括：
    期望姿态角获取模块，用于获取机器人的脚踝的期望姿态角；
    期望行程长度确定模块，用于根据所述期望姿态角确定所述脚踝的直线电机的期望行程长度；
    运动控制模块，用于按照所述期望行程长度控制所述直线电机进行运动。
  9. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至7中任一项所述的机器人控制方法的步骤。
  10. 一种机器人，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1至7中任一项所述的机器人控制方法的步骤。
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