CN102658548A - Waist movement planning method and device for preventing humanoid robot from tilting back and forth - Google Patents
Waist movement planning method and device for preventing humanoid robot from tilting back and forth Download PDFInfo
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- CN102658548A CN102658548A CN2012101348925A CN201210134892A CN102658548A CN 102658548 A CN102658548 A CN 102658548A CN 2012101348925 A CN2012101348925 A CN 2012101348925A CN 201210134892 A CN201210134892 A CN 201210134892A CN 102658548 A CN102658548 A CN 102658548A
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Abstract
The invention provides a waist movement planning method and a waist movement planning device for preventing a humanoid robot from tilting back and forth. The robot is provided with two legs which can be used for driving the robot to walk, wherein the waist is provided with a waist joint; and the waist joint comprises a back-and-forth tilting joint which rotates around the waist in the X direction. The method comprises the following steps of: determining a compensation angle for the back-and-forth tilting joint according to specific data; and setting the compensation angle for a rotation angle of a motor in the X direction of the waist of the waist joint, wherein the motor of the waist X joint is a motor of which the axial direction is in the left-right direction of the robot. According to the waist movement planning method and the waist movement planning device, the phenomenon of tilting of an upper body caused by flexible error during single-leg supporting of the humanoid robot can be effectively reduced by compensating the tilt angle of the motor in the X direction of the waist, and the landing stability of a non-supporting leg is improved.
Description
Technical field
The present invention relates to anthropomorphic robot motion planning technical field, particularly prevent the waist movement planing method and the device that tilt before and after the anthropomorphic robot.
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 through being distributed in motor on each joint of anthropomorphic robot.The number of each joint motor has been represented the number of the free degree on this joint.How each motor rotates at each constantly, before the anthropomorphic robot performance, is provided by motion planning.At present; The method of anthropomorphic robot motion planning mainly is based on point of zero moment (ZMP; Zero Moment 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 actual ZMP of anthropomorphic robot drops on anthropomorphic robot instep (single pin or both feet) and ground contacts the polygonal region that is surrounded, anthropomorphic robot can not stablized, and is 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 with respect to feet from behind, and the length of being striden is called step-length, and the temporal summation that single pin supports phase and double support phase is called walking period.Human walking is exactly the cycle movement that constantly circulates these two periods.
Anthropomorphic robot in the performance process, also is divided into double support phase and single pin supports the phase.At double support phase, because both feet land fully, the point of zero moment of anthropomorphic robot (ZMP) can guarantee to stablize as long as drop on double-legged the contact with ground in the polygonal region that forms.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 frame for movement) and servo flexibility (causing) by departure because of produced by external force; Cause anthropomorphic robot upper body when single pin supports to tilt front and back easily; Anthropomorphic robot is fallen down easily; And on the fore-and-aft direction of anthropomorphic robot, the instep of 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 causes on the anthropomorphic robot in having upwardly sloped front and rear sides.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 fore-and-aft direction with ground, and the stability that influence lands is fallen down easily.
Because the model of existing anthropomorphic robot mostly adopts typical seven-link assembly model, there is not the waist joint in robot, and the front and back tilt phenomenon that robot is occurred in the process of walking can only compensate the motor corner that shank etc. is located the joint.In the present invention, the inventor is based on seven-link assembly model in the past to the modeling of anthropomorphic robot, and has increased two frees degree in waist joint newly, is respectively swing joint and front and back inclination joint, sees Fig. 2.Through the introducing in these two new waist joints, not only increased the flexibility and the scope of activities of upper limbs, more can be used for improving the stability of anthropomorphic robot at motion process.
Summary of the invention
Stability when landing in order to effectively reduce the phenomenon that anthropomorphic robot list pin tilts before and after when supporting, to increase it the present invention is based on the thought of waist movement compensation, and a kind of waist movement planing method and device of tilting before and after the anthropomorphic robot of preventing is provided.Said technical scheme is following:
A kind of waist movement planing method that prevents that the anthropomorphic robot front and back from tilting; Said robot has can drive two shanks that the walking of said robot is moved; Said waist has waist joint; Said waist joint comprises the front and back inclination joint around waist directions X rotation, and around the joint that swings of waist Y direction rotation
Wherein, said method comprising the steps of:
According to specific data is that said front and back inclination joint is confirmed offset angle;
Waist directions X motor corner to said waist joint is provided with said offset angle, and the motor in said waist X joint is axial motor along said robot left and right directions.
Further, in the t moment of anthropomorphic robot motion, the size of said offset angle is:
=K*Sin (Pi*t/T_step) is 0＜=t＜=T_step wherein
Wherein, expression t is the offset angle of the motor in waist X joint constantly, and K＞0 is a penalty coefficient; Pi is the pi constant, and T_step is a walking period.
The present invention compensates through the inclination angle to waist directions X motor, and the phenomenon that is tilted by the upper body that flexible error caused in the time of can reducing the support of anthropomorphic robot list pin has effectively improved the stability that non-feet lands.
Description of drawings
Fig. 1 is that prior art anthropomorphic robot instep (single pin or both feet) contacts the polygonal region sketch map that is surrounded with ground;
Fig. 2 is the expansion waist model sketch map based on seven-link assembly of anthropomorphic robot;
Fig. 3 is an anthropomorphic robot when single pin supports, and adopts and not have to adopt the actual attitude of robot of the waist movement planing method that tilts before and after preventing to compare sketch map.
The specific embodiment
The embodiment of the invention provides a kind of waist movement planing method that prevents that the anthropomorphic robot front and back from tilting based on the thought of waist movement compensation, may further comprise the steps:
Modelling of human body motion is simplified, obtained the expansion waist model based on seven-link assembly of human emulated robot, as shown in Figure 3.The lower limb of anthropomorphic robot have 12 frees degree (motor is represented one degree of freedom) in Fig. 3 model, and every leg has 6 frees degree, and wherein hip joint is 3,1 at knee joint, 2 of ankle-joints.Right-hand with anthropomorphic robot is X axle positive direction, is Y axle positive direction with anthropomorphic robot the place ahead, is Z axle positive direction with the anthropomorphic robot top, sets up world coordinate system.
Tilt before and after when preventing that anthropomorphic robot list pin from supporting, to suitable angle of waist joint directions X motor compensation of anthropomorphic robot.In the t moment of anthropomorphic robot motion, the calculating formula of offset angle is following:
=K*sin (Pi*t/T_step) is 0＜=t＜=T_step wherein
Wherein, expression t is the offset angle of the motor in waist X joint constantly, and K＞0 is a penalty coefficient; Pi is the pi constant, and T_step is a walking period.
In the anthropomorphic robot kinematics; Each action of anthropomorphic robot is all designed by the off-line motion planning in advance; So the motion planning T_step according to this anthropomorphic robot is known, so the offset angle that tilts before and after the t bio-robot waist joint constantly can be calculated by following formula.
Penalty coefficient K is can not value excessive, otherwise the effect that tilts before and after when preventing that anthropomorphic robot list pin from supporting will descend.The maximum of K should be directed against concrete anthropomorphic robot, is confirmed by experiment.In the present embodiment, one meter six of anthropomorphic robot height, 55 kilograms of body weight.Non-feet instep and ground maintenance level are constantly got 0＜K＜3 in the present embodiment when anthropomorphic robot list pin is supported, and optimum is chosen K=2.
If uncompensation, anthropomorphic robot tilts front and back easily like this.Fig. 3 shows anthropomorphic robot when single pin supports, and adopts and not have to adopt the stability of the waist movement planing method that tilts before and after preventing to compare sketch map (front view).Fig. 3 (a) shows: if do not adopt the pour angle compensation method, will cause the robot tilted rearward by flexible error, and can find out that by figure anthropomorphic robot upper body and ground will have produced the inclination angle of a fore-and-aft direction.This backoff algorithm attitude of robot is later on adopted in Fig. 3 (b) expression.Can effectively reduce non-feet when landing and the angle on ground through compensation, its level is landed.
The embodiment of the invention compensates through the inclination angle to the waist motor, and phenomenon that front and back tilt in the time of can reducing the support of anthropomorphic robot list pin effectively and the phenomenon that is tilted to land by the non-feet that flexible error caused have improved the stability that lands.
Above-described embodiment, the present invention specific embodiment a kind of more preferably just, common variation that those skilled in the art carries out in technical scheme scope of the present invention and replacement all should be included in protection scope of the present invention.
Claims (10)
1. waist movement planing method that prevents to tilt before and after the anthropomorphic robot, wherein
Said robot has can drive two shanks that the walking of said robot is moved,
Said waist has waist joint, and said waist joint comprises the front and back inclination joint around the rotation of waist directions X,
It is characterized in that, said method comprising the steps of:
According to specific data is that said front and back inclination joint is confirmed offset angle;
Waist directions X motor corner to said waist joint is provided with said offset angle, and the motor in said waist X joint is axial motor along said robot left and right directions.
2. method according to claim 1 is characterized in that said data comprise the walking period that said walking is moved.
3. method according to claim 2 is characterized in that, said walking period is confirmed by the design of off-line motion planning.
4. method according to claim 3 is characterized in that, in said robot motion's the t moment, the size of said offset angle is:
=K*Sin (Pi*t/T_step) is 0＜=t＜=T_step wherein;
Wherein, expression t is the offset angle of the motor in waist X joint constantly, and K＞0 is a penalty coefficient; Pi is the pi constant, and T_step is a walking period.
5. method according to claim 4 is characterized in that, the span of said penalty coefficient is 0＜K＜3.
6. waist movement planning system that prevents to tilt before and after the anthropomorphic robot, said robot comprises:
Two shanks, it can drive the walking of said robot and move;
Waist is positioned at said shank top, and it has waist joint, and said waist joint comprises the front and back inclination joint around the rotation of waist directions X;
It is characterized in that said system comprises:
Being used for according to specific data is the device that said front and back inclination joint is confirmed offset angle;
Be used for the waist directions X motor corner of said waist joint is provided with the device of said offset angle, the motor in said waist Y joint is axial motor along the anthropomorphic robot fore-and-aft direction.
7. system according to claim 6 is characterized in that said data comprise the walking period that said walking is moved.
8. system according to claim 7 is characterized in that, said walking period is confirmed by the design of off-line motion planning.
9. system according to claim 8 is characterized in that, in said robot motion's the t moment, the size of said offset angle is:
=K*Sin (Pi*t/T_step) is 0＜=t＜=T_step wherein
Wherein, expression t is the offset angle of the motor in waist X joint constantly, and K＞0 is a penalty coefficient; Pi is the pi constant, and T_step is a walking period.
10. system according to claim 9 is characterized in that, the span of said penalty coefficient is 0＜K＜3.
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| CN103292786A (en) * | 2013-05-21 | 2013-09-11 | 华南理工大学 | Double-foot walking inclination angle detection device for walking robot |
| CN104570732A (en) * | 2014-12-15 | 2015-04-29 | 浙江大学 | Online generation method for walking mode of humanoid robot |
| CN106426269A (en) * | 2016-11-24 | 2017-02-22 | 深圳市旗瀚云技术有限公司 | Waist structure for humanoid robot and control method |
| CN107351936A (en) * | 2016-05-10 | 2017-11-17 | 松下电器产业株式会社 | Walking control method, record media and bipod walking robot |
| CN110816705A (en) * | 2019-11-11 | 2020-02-21 | 北京理工大学 | Bionic pneumatic driven semi-passive walking robot and control method thereof |
| CN111376252A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Motion control method, motion control device and robot |
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| CN104570732A (en) * | 2014-12-15 | 2015-04-29 | 浙江大学 | Online generation method for walking mode of humanoid robot |
| CN104570732B (en) * | 2014-12-15 | 2017-02-08 | 浙江大学 | Online generation method for walking mode of humanoid robot |
| CN107351936A (en) * | 2016-05-10 | 2017-11-17 | 松下电器产业株式会社 | Walking control method, record media and bipod walking robot |
| CN107351936B (en) * | 2016-05-10 | 2021-03-26 | 松下电器产业株式会社 | Walking control method, recording medium, and biped walking robot |
| CN106426269A (en) * | 2016-11-24 | 2017-02-22 | 深圳市旗瀚云技术有限公司 | Waist structure for humanoid robot and control method |
| CN111376252A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Motion control method, motion control device and robot |
| CN110816705A (en) * | 2019-11-11 | 2020-02-21 | 北京理工大学 | Bionic pneumatic driven semi-passive walking robot and control method thereof |
| CN110816705B (en) * | 2019-11-11 | 2020-10-09 | 北京理工大学 | Bionic pneumatic driven semi-passive walking robot and control method thereof |
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Application publication date: 20120912 |