CN100594460C - Motion programming method and apparatus for preventing human imitating robert from leaning one way or another - Google Patents
Motion programming method and apparatus for preventing human imitating robert from leaning one way or another Download PDFInfo
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- CN100594460C CN100594460C CN200810172220A CN200810172220A CN100594460C CN 100594460 C CN100594460 C CN 100594460C CN 200810172220 A CN200810172220 A CN 200810172220A CN 200810172220 A CN200810172220 A CN 200810172220A CN 100594460 C CN100594460 C CN 100594460C
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Abstract
The invention discloses a motion planning method for preventing leftward and rightward inclinations of a humanoid robot and a device using the same, which belongs to the technical field of the motionplanning of the humanoid robot. The method comprises the following steps: setting a compensation angle to a motor at a hip joint and a motor corner at an anklebone of a supporting leg respectively; and adding the corresponding compensation angle to planned angles of the motor at the hip joint and the motor corner at the anklebone of the supporting leg respectively. The device comprises a compensation angle setting module which is used for setting one compensation angle to the motor at the hip joint and the motor corner at the anklebone of the supporting leg respectively, and an adding module which is used for adding the corresponding compensation angle to the panned angles of the motor at the hip joint and the motor corner at the anklebone of the supporting leg respectively, wherein the motor at the hip joint and the motor at the anklebone are the motors axially arranged along the forward and the backward directions of the humanoid robot. The motion panning method effectively reduces the phenomenon of the leftward and the rightward inclinations when the humanoid robot is supported by a single leg, and improves the touchdown stability.
Description
Technical field
The present invention relates to anthropomorphic robot motion planning technical field, particularly prevent motion planning method and device that anthropomorphic robot tilts.
Background technology
The motion planning of anthropomorphic robot is a very important field in the anthropomorphic robot research.The performance of anthropomorphic robot is to rotate and realize by being distributed in motor on each joint of anthropomorphic robot.The number of each joint motor has been represented the number of degree of freedom on this joint.How each motor rotates constantly at each, is provided by motion planning before the anthropomorphic robot performance.At present, the method of anthropomorphic robot motion planning mainly is based on point of zero moment (ZMP, ZeroMoment Point) stability principle carries out, method is earlier according to the track of ground environment set foot ankle-joint, in the effective range of variable element, find out have maximum stable nargin the trunk track as last program results.Wherein, ZMP is meant the central point that the suffered ground reaction force of anthropomorphic robot is made a concerted effort.In the time of in the ZMP of anthropomorphic robot reality drops on anthropomorphic robot instep (single pin or both feet) and ground contacts the polygonal region that is surrounded, anthropomorphic robot can not stablized, as shown in Figure 1.
Human single pin support phase and the double support phase of in gait processes, being divided into, the relative ground of two pin (feet) invariant position when both feet support; A pin (feet) was fixed with respect to ground location when single pin supported, and another leg (non-feet) steps to the front from behind with respect to feet, and the length that is stepped is called step-length, and the summation that single pin supports phase and double support phase time is called walking period.Human walking is exactly the cyclical movement that constantly circulates these two periods.
Anthropomorphic robot also is divided into double support phase in the performance process and single pin supports the phase.At double support phase,,, the point of zero moment of anthropomorphic robot can guarantee to stablize as long as dropping on double-legged the contact with ground in the polygonal region that forms because both feet land fully.When single pin supported the phase, the point of zero moment of anthropomorphic robot need drop on and could keep stable in the feet instep.But because the existence of mechanical flexibility (referring to the deformation of physical construction) and servo flexibility (being caused) by departure because of produced by external force, cause anthropomorphic robot upper body tendency free leg one side when single pin supports, anthropomorphic robot is fallen down easily, and on the left and right directions of anthropomorphic robot, non-feet can form a bigger inclination angle with ground at landing instant, has influenced the stability that anthropomorphic robot lands.
After prior art was analyzed, the inventor found: because the existence of mechanical flexibility and servo flexibility, cause on the anthropomorphic robot on left and right directions to non-feet lopsidedness.This has not only influenced the balance of anthropomorphic robot upper body attitude and the precision of upper arm operation, and non-feet is at the inclination angle that landing instant also can produce a left and right directions with ground, and the stability that influence lands is fallen down easily.
Summary of the invention
Stability when landing in order to effectively reduce the phenomenon that tilts when anthropomorphic robot list pin supports, to increase it, the embodiment of the invention provides a kind of motion planning method and device that prevents that anthropomorphic robot from tilting based on the thought of the compensation that tilts.Described technical scheme is as follows:
A kind of motion planning method that prevents that anthropomorphic robot from tilting may further comprise the steps:
The motor of the hip joint of supporting leg and the motor corner of ankle-joint are provided with an offset angle respectively;
Increase corresponding described offset angle respectively on the corner planning angle with the motor of the motor of the hip joint of described supporting leg and ankle-joint.
Wherein, the motor of the motor of described hip joint and ankle-joint is axial motor along the anthropomorphic robot fore-and-aft direction.
Further, in the t moment of anthropomorphic robot motion, the size of described offset angle is:
Δθ
i(t)＝K
i×(X_waist(t)-X_ankle(t))
Wherein, i=1,2, Δ θ
1(t) offset angle of the motor corner of the hip joint of expression t moment supporting leg, Δ θ
2(t) offset angle of the motor corner of the ankle-joint of expression t moment supporting leg; K
i＞0 is penalty coefficient; X_waist is the t left and right directions coordinate of bio-robot waist two hip joint line mid points constantly; X_ankle is a t anthropomorphic robot feet ankle-joint left and right directions coordinate constantly.
A kind of motion planning device that prevents that anthropomorphic robot from tilting comprises: the offset angle module is set, is used for the motor of the hip joint of supporting leg and the motor corner of ankle-joint are provided with an offset angle respectively;
Add module, be used for increasing corresponding described offset angle respectively on the corner planning angle with the motor of the motor of the hip joint of described supporting leg and ankle-joint.
Wherein, the motor of the motor of described hip joint and ankle-joint is axial motor along the anthropomorphic robot fore-and-aft direction.
Further, in the t moment of anthropomorphic robot motion, the size of described offset angle is:
Δθ
i(t)＝K
i×(X_waist(t)-X_ankle(t))
Wherein, i=1,2, Δ θ
1(t) offset angle of the motor corner of the hip joint of expression t moment supporting leg, Δ θ
2(t) offset angle of the motor corner of the ankle-joint of expression t moment supporting leg; K
i＞0 is penalty coefficient; X_waist is the t left and right directions coordinate of bio-robot waist two hip joint line mid points constantly; X_ankle is a t anthropomorphic robot feet ankle-joint left and right directions coordinate constantly.
The embodiment of the invention is by compensating the hip joint fore-and-aft direction motor of supporting leg and the inclination angle of ankle-joint fore-and-aft direction motor, can reduce phenomenon that tilts when anthropomorphic robot list pin supports and the phenomenon that tilts to land by the non-feet that flexible error caused effectively, improve the stability that lands.
Description of drawings
Fig. 1 is that prior art anthropomorphic robot instep (single pin or both feet) contacts the polygonal region synoptic diagram that is surrounded with ground;
Fig. 2 is that the embodiment of the invention prevents the motion planning method process flow diagram that anthropomorphic robot tilts;
Fig. 3 is the seven-link assembly model synoptic diagram commonly used of anthropomorphic robot;
Fig. 4 is the anthropomorphic robot model synoptic diagram under the world coordinate system;
Fig. 5 is an anthropomorphic robot when single pin supports, and adopts and not have to adopt a robot actual attitude comparison synoptic diagram that prevents the motion planning method that tilts;
Fig. 6 is that the embodiment of the invention prevents the motion planning device synoptic diagram that anthropomorphic robot tilts.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing.
Embodiment one
The embodiment of the invention provides a kind of motion planning method that prevents that anthropomorphic robot from tilting based on the thought of the compensation that tilts, and referring to Fig. 2, may further comprise the steps:
210: the motor of the hip joint of supporting leg and the motor of ankle-joint are provided with an offset angle respectively.
Modelling of human body motion is simplified, obtained the seven-link assembly model commonly used of human emulated robot, as shown in Figure 3.1 is bio-robot waist two hip joint line mid points, and 2 is anthropomorphic robot left side ankle-joint.The lower limb of anthropomorphic robot have 12 degree of freedom (motor is represented one degree of freedom) in Fig. 3 model, and every leg has 6 degree of freedom, and wherein hip joint is 3,1 at knee joint, 2 of ankle-joints.The motor of above-mentioned hip joint and the motor of ankle-joint are axial motor along the anthropomorphic robot fore-and-aft direction.As shown in Figure 4, right-hand with anthropomorphic robot is the X-axis positive dirction, is the Y-axis positive dirction with anthropomorphic robot the place ahead, is Z axle positive dirction with the anthropomorphic robot top, sets up world coordinate system.The planning of humanoid robot foot section track is by planning that (X_ankle, Y_ankle realize that Z_ankle) in present embodiment planning, when instep lands and ground angle is set to zero angle to its left and right sides ankle-joint coordinate points; The angle on upper body and ground is set to 90 degree.
Single pin in anthropomorphic robot performance process supports the phase, anthropomorphic robot upper body attitude on left and right directions and ground whether level depend on the hip joint Y direction motor and the ankle-joint Y direction motor of supporting leg.Here Y direction motor refers to it axially along the motor of Y direction.For preventing to tilt when anthropomorphic robot list pin from supporting, support phase hip joint Y direction motor and suitable angle delta θ of ankle-joint Y direction motor compensation to supporting leg at anthropomorphic robot list pin
i(t), then this compensation rate is added on the planning angle of associated motor (the hip joint Y direction motor of supporting leg and ankle-joint Y direction motor) prior art and get final product.At the t moment of anthropomorphic robot motion, offset angle Δ θ
i(t) calculating formula is as follows:
Δθ
i(t)＝K
i×(X_waist(t)-X_ankle(t))
Wherein, K
i＞0 is penalty coefficient, unit degree of being/rice; X_waist (t) is the t left and right directions coordinate of bio-robot waist two hip joint line mid points constantly; X_ankle (t) is a t anthropomorphic robot feet ankle-joint left and right directions coordinate constantly; I=1,2 represent the hip joint Y direction motor and the ankle-joint Y direction motor of supporting leg respectively, so Δ θ
1(t) offset angle of the hip joint Y direction motor corner of expression t moment supporting leg, Δ θ
2(t) offset angle of the ankle-joint Y direction motor corner of expression t moment supporting leg.In the anthropomorphic robot kinematics, each action of anthropomorphic robot is all designed by motion planning in advance, so at any one time, according to the motion planning X_waist of this anthropomorphic robot and the difference of X_ankle is known, so t anthropomorphic robot list pin constantly prevents the offset angle Δ θ that tilts when supporting
i(t) can calculate by following formula.
Penalty coefficient K
iCan not value excessive, otherwise prevent that the effect that anthropomorphic robot list pin tilts when supporting from will descend.K
iMaximal value should be at concrete anthropomorphic robot, determine by experiment.In the present embodiment, one meter six of anthropomorphic robot height, 75 kilograms of body weight.The effect that tilts when preventing that anthropomorphic robot list pin from supporting is best, gets 0＜K in the present embodiment
i≤ 62.5, also be offset angle Δ θ
i(t) scope is | Δ θ
i(t) |≤5 degree.
220: increase corresponding compensation angle delta θ respectively on the corner planning angle with the motor of the motor of the hip joint of above-mentioned supporting leg and ankle-joint
i(t).
Offset angle Δ θ
i(t) be added on the original corner a of corresponding motor (t), after the compensation, the t corner of corresponding motor reality constantly is:
θ
i(t)＝a(t)+Δθ
i(t)
Wherein, i=1,2 represent hip joint Y direction motor and ankle-joint Y direction motor, i.e. the Δ θ that will compensate supporting leg respectively
1(t) offset angle of the hip joint Y direction motor corner of expression t moment supporting leg, Δ θ
2(t) offset angle of the ankle-joint Y direction motor corner of expression t moment supporting leg.
If uncompensation, t motor constantly are angle a (t) rotations of planning in advance according to prior art, anthropomorphic robot tilts easily like this.Fig. 5 shows anthropomorphic robot when single pin supports, and adopts and not have to adopt a stability comparison synoptic diagram (front elevation) that prevents the method that tilts.Fig. 5 (a) shows: if do not adopt the pour angle compensation method, will cause robot to tilt to the free leg direction by flexible error, anthropomorphic robot upper body and ground have produced the inclination angle of a left and right directions as seen from the figure.This backoff algorithm attitude of robot is later on adopted in Fig. 5 (b) expression.Can effectively reduce non-feet when landing and the angle on ground by compensation, its level is landed.In the embodiment of the invention, t constantly can be any time.
The embodiment of the invention is by compensating the hip joint fore-and-aft direction motor of supporting leg and the inclination angle of ankle-joint fore-and-aft direction motor, can reduce phenomenon that tilts when anthropomorphic robot list pin supports and the phenomenon that tilts to land by the non-feet that flexible error caused effectively, improve the stability that lands.
Embodiment two
The embodiment of the invention provides a kind of motion planning device that prevents that anthropomorphic robot from tilting based on the thought of the compensation that tilts, and referring to Fig. 6, comprising:
The motor of above-mentioned hip joint and the motor of ankle-joint are axial motor along the anthropomorphic robot fore-and-aft direction.
As shown in Figure 4, right-hand with anthropomorphic robot is the X-axis positive dirction, is the Y-axis positive dirction with anthropomorphic robot the place ahead, is Z axle positive dirction with the anthropomorphic robot top, sets up world coordinate system.The planning of humanoid robot foot section track is by planning that (X_ankle, Y_ankle realize that Z_ankle) in present embodiment planning, when instep lands and ground angle is set to zero angle to its left and right sides ankle-joint coordinate points; The angle on upper body and ground is set to 90 degree.
Single pin in anthropomorphic robot performance process supports the phase, anthropomorphic robot upper body attitude on left and right directions and ground whether level depend on the hip joint Y direction motor and the ankle-joint Y direction motor of supporting leg.Here Y direction motor refers to it axially along the motor of Y direction.For preventing to tilt when anthropomorphic robot list pin from supporting, support phase hip joint Y direction motor and suitable angle delta θ of ankle-joint Y direction motor compensation to supporting leg at anthropomorphic robot list pin
i(t), then this compensation rate is added on the planning angle of associated motor (the hip joint Y direction motor of supporting leg and ankle-joint Y direction motor) prior art and get final product.At the t moment of anthropomorphic robot motion, offset angle Δ θ
i(t) calculating formula is as follows:
Δθ
i(t)＝K
i×(X_waist(t)-X_ankle(t))
Wherein, K
i＞0 is penalty coefficient, unit degree of being/rice; X_waist (t) is the t left and right directions coordinate of bio-robot waist two hip joint line mid points constantly; X_ankle (t) is a t anthropomorphic robot feet ankle-joint left and right directions coordinate constantly; I=1,2 represent the hip joint Y direction motor and the ankle-joint Y direction motor of supporting leg respectively, so Δ θ
1(t) offset angle of the hip joint Y direction motor corner of expression t moment supporting leg, Δ θ
2(t) offset angle of the ankle-joint Y direction motor corner of expression t moment supporting leg.In the anthropomorphic robot kinematics, each action of anthropomorphic robot is all designed by motion planning in advance, so at any one time, according to the motion planning X_waist of this anthropomorphic robot and the difference of X_ankle is known, so t anthropomorphic robot list pin constantly prevents the offset angle Δ θ that tilts when supporting
i(t) can calculate by following formula.
Penalty coefficient K
iCan not value excessive, otherwise prevent that the effect that anthropomorphic robot list pin tilts when supporting from will descend.K
iMaximal value should be at concrete anthropomorphic robot, determine by experiment.In the present embodiment, one meter six of anthropomorphic robot height, 75 kilograms of body weight.The effect that tilts when preventing the support of anthropomorphic robot list pin for making is best, gets 0＜K in the present embodiment
i≤ 62.5, also be offset angle Δ θ
i(t) scope is | Δ θ
i(t) |≤5 degree.
Add module 602, be used for increasing corresponding described offset angle respectively on the corner planning angle with the motor of the motor of the hip joint of described supporting leg and ankle-joint.
Offset angle Δ θ
i(t) be added on the original corner a of corresponding motor (t), after the compensation, the t corner of corresponding motor reality constantly is:
θ
i(t)＝a(t)+Δθ
i(t)
Wherein, i=1,2 represent hip joint Y direction motor and ankle-joint Y direction motor, i.e. the Δ θ that will compensate supporting leg respectively
1(t) offset angle of the hip joint Y direction motor corner of expression t moment supporting leg, Δ θ
2(t) offset angle of the ankle-joint Y direction motor corner of expression t moment supporting leg.
If uncompensation, t motor constantly are angle a (t) rotations of planning in advance according to prior art, anthropomorphic robot tilts easily like this.In the embodiment of the invention, t constantly can be any time.The embodiment of the invention is by compensating the hip joint fore-and-aft direction motor of supporting leg and the inclination angle of ankle-joint fore-and-aft direction motor, can reduce phenomenon that tilts when anthropomorphic robot list pin supports and the phenomenon that tilts to land by the non-feet that flexible error caused effectively, improve the stability that lands.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. a motion planning method that prevents that anthropomorphic robot from tilting is characterized in that, may further comprise the steps:
Corner to the motor of the motor of the hip joint of supporting leg and ankle-joint is provided with an offset angle respectively;
Increase corresponding described offset angle respectively on the corner planning angle with the motor of the motor of the hip joint of described supporting leg and ankle-joint;
Wherein, the motor of the motor of described hip joint and ankle-joint is axial motor along the anthropomorphic robot fore-and-aft direction.
2. the motion planning method that prevents that anthropomorphic robot from tilting according to claim 1 is characterized in that, in the t moment of anthropomorphic robot motion, the size of described offset angle is:
Δθ
i(t)＝K
i×(X_waist(t)-X_ankle(t))
Wherein, i=1,2, Δ θ
1(t) offset angle of the motor corner of the hip joint of expression t moment supporting leg, Δ θ
2(t) offset angle of the motor corner of the ankle-joint of expression t moment supporting leg; K
i＞0 is penalty coefficient; X_waist (t) is the t left and right directions coordinate of bio-robot waist two hip joint line mid points constantly; X_ankle (t) is a t anthropomorphic robot feet ankle-joint left and right directions coordinate constantly.
3. prevent the motion planning device that anthropomorphic robot tilts, it is characterized in that, comprising:
The offset angle module is set, is used for the motor of the hip joint of supporting leg and the motor corner of ankle-joint are provided with an offset angle respectively;
Add module, be used for increasing corresponding described offset angle respectively on the corner planning angle with the motor of the motor of the hip joint of described supporting leg and ankle-joint;
Wherein, the motor of the motor of described hip joint and ankle-joint is axial motor along the anthropomorphic robot fore-and-aft direction.
4. the motion planning device that prevents that anthropomorphic robot from tilting according to claim 3 is characterized in that, in the t moment of anthropomorphic robot motion, the size of described offset angle is:
Δθ
i(t)＝K
i×(X_waist(t)-X_ankle(t))
Wherein, i=1,2, Δ θ
1(t) offset angle of the motor corner of the hip joint of expression t moment supporting leg, Δ θ
2(t) offset angle of the motor corner of the ankle-joint of expression t moment supporting leg; K
i＞0 is penalty coefficient; X_waist (t) is the t left and right directions coordinate of bio-robot waist two hip joint line mid points constantly; X_ankle (t) is a t anthropomorphic robot feet ankle-joint left and right directions coordinate constantly.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102658548A (en) * | 2012-05-04 | 2012-09-12 | 北京理工大学 | Waist movement planning method and device for preventing humanoid robot from tilting back and forth |
| CN102896632A (en) * | 2012-05-04 | 2013-01-30 | 北京理工大学 | Waist movement planning method and device for preventing lateral tilt of humanoid robot |
| CN109032142B (en) * | 2018-08-14 | 2020-07-28 | 浙江大学 | Design and feedback control method for biped robot with waist structure |
| CN110262510B (en) * | 2019-07-11 | 2020-08-28 | 北京理工大学 | Humanoid robot centroid trajectory planning method capable of reducing walking energy consumption |
| CN112666939B (en) * | 2020-12-09 | 2021-09-10 | 深圳先进技术研究院 | Robot path planning algorithm based on deep reinforcement learning |
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