CN107807655B - Quadruped robot balance and stability control method based on gait adjustment in three-dimensional space - Google Patents
Quadruped robot balance and stability control method based on gait adjustment in three-dimensional space Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
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Abstract
A kind of quadruped robot balance and stability control method based on gait adjustment in three-dimensional space, moving coordinate system based on trunk is established to quadruped robot and based on the local coordinate system of hip joint, trunk pitch angle, rate of pitch, roll angle and the roll angular speed for acquiring quadruped robot, to obtain the current trunk posture of quadruped robot；It is calculated by the current trunk posture of quadruped robot compared with given trunk posture and through load on spring inverted pendulum model, be converted into quadruped robot falls foot point gait, it adjusts quadruped robot and falls foot point in coordinate system, to maintain the stabilization of its trunk roll angle and pitch angle.This method guarantees that quadruped robot can actively make adjustment to extraneous lateral impact, rugged topography etc. in the case where maintaining proper motion target and maintains stabilized walking, in the case where keeping moving target adjust automatically gait come realize the anti-interference under stable motion inhibit, prevent from toppling over rollover.
Description
Technical field
The present invention relates to a kind of quadruped robot trunk balance for maintaining trunk pitch angle, roll angle stable is stable
Control method belongs to quadruped robot stability control techniques field.
Background technique
Existing vehicle is very restricted in the rugged application for spending terrain environment big or complicated and changeable, such as ground
With there is intermittent gully or sandstone, soil etc. all may cause vehicle pass-through obstacle.Movement to this leg foot formula animal
Demand to ground only has point contact not need continuous ground, and multivariant leg has greater flexibility enough, to multiple
Miscellaneous landform has stronger adaptability, so the sufficient formula vehicle in conjunction with leg foot feature has broad application prospects.
The movement of active work is planned in the realization that foot formula vehicle is only limited under artificial control at present, is fitted to complex environment
Answer or extraneous lateral impact caused by tumble the pose adjustment of not active, however quadruped robot is during traveling, no
It can avoid there are environment and own institutions uncertainty, these situations can be to the movement of quadruped robot generation disturbance, so that in advance
The barycenter trajectory and track of leading leg first planned are difficult to obtain good effect.
The balance and stability problem of sufficient formula vehicle preferably adapts to environment raising complicated ground locomitivity to it and resistance is disturbed
It is dynamic to be of great significance.
Summary of the invention
For the balance and stability problem of existing sufficient formula vehicle, the present invention provides a kind of balance control for realizing quadruped robot
Make, prevent the quadruped robot balance and stability control method based on gait adjustment in three-dimensional space for situations such as toppling over rollover.
Quadruped robot balance and stability control method based on gait adjustment in three-dimensional space of the invention is:
Moving coordinate system based on trunk is established to quadruped robot and based on the local coordinate system of hip joint, the four-footed
The leg structure of robot at least needs Three Degree Of Freedom；Acquire trunk pitch angle, the rate of pitch, roll of quadruped robot
Angle and roll angular speed, to obtain the current trunk posture of quadruped robot；By the current trunk posture of quadruped robot
It is calculated compared with given trunk posture (pitch angle and roll angle) and through load on spring inverted pendulum model, is converted into four-footed machine
Device people's falls foot point gait, adjusts quadruped robot in coordinate system and falls foot point, to maintain its trunk roll angle and pitch angle
Stabilization.
The frequency acquisition is 100hz.
The load on spring inverted pendulum model calculates, and the process for falling foot point for being converted into quadruped robot is:
1. being responsible for lifting the direction xy in the control of leg height and swing process on the direction z by swing phase falls foot point control；It is logical
It crosses support phase and is responsible for the balance that gesture stability maintains trunk, including the highly stable of the maintenance direction z, maintain the side xy of target velocity
To control；
The sufficient end calculation formula of support phase:
zs(t)=z0,
Wherein xs0Indicate the direction support phase x initial position,Indicate the direction x target velocity, kprollIndicate roll posture tune
The proportional component coefficient of section, kdrollIndicate the differentiation element coefficient of roll attitude regulation, θrollIndicate that the trunk of acquisition is currently horizontal
Roll angle, θroll_dIndicate trunk target roll angle；Indicate the current roll angular speed of trunk of acquisition；Indicate trunk
Target roll angular speed；Indicate the direction y target velocity, kppitchIndicate pitch angle closed-loop parameters, kdpitchIndicate pitch angle speed
Spend closed-loop parameters；z0Indicate the direction z elemental height；θpitchIndicate the current pitch angle of trunk of acquisition；θpitch_dIndicate trunk
Target pitch angle；Indicate the current rate of pitch of trunk of acquisition；Indicate trunk target pitch angular speed；
Phase control target is swung to summarize are as follows:
xf(0)=xf0 xf(Tf)=xfT
zf(0)=zf0 zf(Tf)=zfT
Wherein TfIndicate swing phase time cycle, xf0Indicate the swing phase initial direction x position,Indicate the initial x of swing phase
Direction speed,Indicate the initial x directional acceleration of swing phase, xfTThe direction x target position at the end of expression swing phase,It indicates
The direction x target velocity, z at the end of swing phasef0Indicate the swing phase initial direction z position, zfTThe direction z at the end of expression swing phase
Target position, H indicate that target lifts leg height；
Wherein:kxvFor the direction x speed follower parameter (value range: [0.01,
0.2])；
2. obtaining the direction the x gait planning and the direction y gait planning of 5 functions composition by the above goal programming, and obtain
The z direction-controlling method constituted to 4 functions；
xf(t)=At5+Bt4+Ct3+Dt2+Et+F
F=xf0,
yf(t)=at5+bt4+ct3+dt2+et+f
F=yf0
Wherein:kxvIndicate the direction x speed follower parameter；
kyvIndicate the direction y speed follower parameter.
The kprollValue range be [0.001,0.3]), kdrollValue range be [0.001,0.03]),
kppitchValue range be [0.02,0.4]), kdpitchValue range be [0,0.03])；kxvValue range be [0.01,
0.2]。
Gait track to the sufficient end of each of described quadruped robot relative to hip joint, maintains that trunk balance is modified to be
X/y plane falls foot point, and the track in the direction z is responsible for lifting leg height and trunk is supported to maintain constant altitude.
Above-mentioned control method can realize stability control on the mobile platform of similar topological structure, for difference
Platform needs the parameter adjusted, comprising: kxv, the direction x speed follower parameter；kyv, the direction y speed follower parameter；kppitch, pitching
Angle closed-loop parameters；kdpitch, rate of pitch closed-loop parameters；kproll, the proportional component coefficient of roll attitude regulation；kdroll: it is horizontal
Roll the differentiation element coefficient of attitude regulation.
The above method plans sufficient end track using the feedback of robot motion's target component and posture, is keeping moving mesh
Adjust automatically gait is in the case of target come situations such as realizing that the anti-interference under stable motion inhibits, prevent it from toppling over rollover.
The present invention utilizes vertical gyro system acquisition vehicle trunk inclination angle, calculates gait adjustment by spring inverted pendulum model
Amount improves quadruped robot before and after complicated landform and the adaptability under disturbance, maintenance quadruped robot and left and right is tumbled, guarantor
Card quadruped robot can actively make adjustment to extraneous lateral impact, rugged topography etc. in the case where maintaining proper motion target and remain steady
Fixed walking.
Detailed description of the invention
Fig. 1 is that the coordinate definition of quadruped robot and pitch angle and roll angle illustrate schematic diagram.
Fig. 2 is quadruped robot equivalent spring load inverted pendulum model schematic diagram.
Fig. 3 is lateral impact and restores to emulate screenshot.
Fig. 4 is lateral impact and recovery lab diagram.
Specific embodiment
The present invention is based on gait adjustment quadruped robot stability contorting in three-dimensional space, this method guarantees that quadruped robot exists
It maintains actively make adjustment to extraneous lateral impact, rugged topography etc. under proper motion target and maintains stabilized walking.This method
Details are provided below.
Moving coordinate system based on trunk is established to quadruped robot and based on the local coordinate system of hip joint, such as Fig. 1 institute
Show, thus the movement of quadruped robot is described.The trunk pitch angle of quadruped robot is acquired by VG sensor, is bowed
Elevation angle speed, roll angle and roll angular speed.Frequency acquisition is 100hz.
By the trunk posture of the collected current quadruped robot of sensor with given trunk angle changing rate and pass through
Load on spring inverted pendulum model calculate be converted into quadruped robot fall foot point gait, adjust quadruped robot falling in coordinate system
Foot point is to maintain the stabilization of its trunk roll angle and pitch angle.Load on spring inverted pendulum model such as Fig. 2.
The formula that the calculating of load on spring inverted pendulum model falls foot point is divided into support phase formula and swing phase formula.Swing phase is negative
Lift leg height controls on the duty direction z, the direction xy falls foot point control in swing process；Support phase is responsible for robot pose control and is maintained
The balance of trunk maintains the control in the direction xy of target velocity including maintaining the highly stable of the direction z.
The sufficient end calculation formula of support phase:
zs(t)=z0,
Wherein xs0Indicate the direction support phase x initial position,Indicate the direction x target velocity, kprollIndicate roll posture tune
The proportional component coefficient (parameter value range: [0.001,0.3]) of section, kdrollIndicate the differentiation element system of roll attitude regulation
Number (parameter value range: [0.001,0.03]), θrollIndicate the current roll angle of trunk of acquisition, θroll_dIndicate trunk target
Roll angle；Indicate the current roll angular speed of trunk of acquisition；Indicate trunk target roll angular speed；Indicate y
Direction target velocity, kppitchIt indicates pitch angle closed-loop parameters (parameter value range: [0.02,0.4]), kdpitchIndicate pitching
Angular speed closed-loop parameters (parameter value range: [0,0.03])；z0Indicate the direction z elemental height；θpitchIndicate the trunk of acquisition
Current pitch angle；θpitch_dIndicate trunk target pitch angle；Indicate the current rate of pitch of trunk of acquisition；
Indicate trunk target pitch angular speed.
Phase control target is swung to summarize are as follows:
xf(0)=xf0 xf(Tf)=xfT
zf(0)=zf0 zf(Tf)=zf0
Use xf(t),Respectively indicate target position, the relationship of speed, acceleration at any time in the direction x, Zf(t)Target position, the relationship of speed, acceleration at any time in the direction z are respectively indicated, wherein TfIndicate the swing phase time
Period, xf0Indicate the swing phase initial direction x position,Indicate the initial direction the x speed of swing phase,Indicate the initial x of swing phase
Directional acceleration, xfTThe direction x target position at the end of expression swing phase,The direction x target velocity at the end of expression swing phase.
zf0Indicate the swing phase initial direction z position, H indicates that target lifts leg height.
The direction x gait planning that 5 functions are constituted and the direction y gait planning and 4 times are obtained by the above goal programming
The z direction-controlling method that function is constituted.
xf(t)=At5+Bt4+Ct3+Dt2+Et+F
F=xf0,
F=yf0,
Wherein
The t time is obtained by timed automata, the time determines that every leg is in supportive phase or swing phase, then every
The track of leg is moved according to the point that formula as above is planned, the realization that sufficient end falls foot point passes through the inverse fortune of solution leg topological structure
Dynamic formula of learning is converted into the realization of joint angles servo.
The movement gait of quadruped robot uses trot gait, and each moment diagonal leg is in identical state, diagonal leg
With the alternately support phase movement and swing phase movement of non-diagonal leg.
Gait track to the sufficient end of each of described quadruped robot relative to hip joint, maintains that trunk balance is modified to be
X/y plane falls foot point, and the track in the direction z is responsible for lifting leg height and trunk is supported to maintain constant altitude.
Control method of the invention can realize stability control on the mobile platform of similar topological structure.Usually
In the case of target pitch angle θroll_dWith roll angle θpitch_dIt is all 0, when quadruped robot is at inclined-plane or concave-convex ground
θ can be optimizedroll_d, θpitch_dThus increase stability margin for landform angle.
The parameter adjusted, including k are needed for different platformxv: the direction x speed follower parameter；kyv: the direction y speed follower
Parameter；kppitch: pitch angle closed-loop parameters；kdpitch: rate of pitch closed-loop parameters；kproll: roll angle closed-loop parameters；
kdroll: roll angle speed closed loop parameter.
The leg structure of quadruped robot needs Three Degree Of Freedom at least to complete this movement and need in control method of the invention
It asks.
Fig. 3 provide to the simulation process and Fig. 4 of quadruped robot lateral impact and recovery provide to quadruped robot
The simulation process of lateral impact and recovery illustrates inventive process ensures that quadruped robot is in the case where maintaining proper motion target
It can actively make adjustment to extraneous lateral impact, rugged topography etc. and maintain stabilized walking.
Claims (3)
1. a kind of quadruped robot balance and stability control method based on gait adjustment in three-dimensional space, it is characterized in that:
Moving coordinate system based on trunk is established to quadruped robot and based on the local coordinate system of hip joint, the four-footed machine
The leg structure of people at least needs Three Degree Of Freedom；Acquire trunk pitch angle, the rate of pitch, roll angle of quadruped robot
And roll angular speed, to obtain the current trunk posture of quadruped robot；By the current trunk posture of quadruped robot with give
Fixed trunk posture relatively and by load on spring inverted pendulum model calculates, and be converted into quadruped robot falls foot point gait, adjusts
Whole quadruped robot falls foot point coordinate system, to maintain the stabilization of its trunk roll angle and pitch angle；
The load on spring inverted pendulum model calculates, and the process for falling foot point for being converted into quadruped robot is:
1. being responsible for lifting the direction xy in the control of leg height and swing process on the direction z by swing phase falls foot point control；Pass through branch
Support is mutually responsible for the balance that gesture stability maintains trunk and maintains the direction xy of target velocity including maintaining the highly stable of the direction z
Control；
The sufficient end calculation formula of support phase:
zs(t)=z0,
Wherein xs0Indicate the direction support phase x initial position,Indicate the direction x target velocity, kprollIndicate roll attitude regulation
Proportional component coefficient, kdrollIndicate the differentiation element coefficient of roll attitude regulation, θrollIndicate the current roll angle of trunk of acquisition,
θroll_dIndicate trunk target roll angle；Indicate the current roll angular speed of trunk of acquisition；Indicate that trunk target is horizontal
Roll angle speed；Indicate the direction y target velocity, kppitchIndicate pitch angle closed-loop parameters, kdpitchIndicate rate of pitch closed loop
Parameter；z0Indicate the direction z elemental height；θpitchIndicate the current pitch angle of trunk of acquisition；θpitch_dIndicate that trunk target is bowed
Elevation angle degree；Indicate the current rate of pitch of trunk of acquisition；Indicate trunk target pitch angular speed；
Phase control target is swung to summarize are as follows:
xf(0)=xf0 xf(Tf)=xfT
zf(0)=zf0 zf(Tf)=zfT
Wherein TfIndicate swing phase time cycle, xf0Indicate the swing phase initial direction x position,Indicate the initial direction x of swing phase
Speed,Indicate the initial x directional acceleration of swing phase, xfTThe direction x target position at the end of expression swing phase,It indicates to swing
The direction x target velocity, z at the end of phasef0Indicate the swing phase initial direction z position, zfTThe direction z target at the end of expression swing phase
Position, H indicate that target lifts leg height；
2. obtaining the direction the x gait planning and the direction y gait planning of 5 functions composition by the above goal programming, and obtain 4 times
The z direction-controlling method that function is constituted；
xf(t)=At5+Bt4+Ct3+Dt2+Et+F
F=yf0
Wherein:kxvIndicate the direction x speed follower parameter；
kyvIndicate the direction y speed follower parameter.
2. the quadruped robot balance and stability control method according to claim 1 based on gait adjustment in three-dimensional space,
It is characterized in that: frequency acquisition is 100hz.
3. the quadruped robot balance and stability control method according to claim 1 based on gait adjustment in three-dimensional space,
It is characterized in that: the kprollValue range be [0.001,0.3]), kdrollValue range be [0.001,0.03]),
kppitchValue range be [0.02,0.4]), kdpitchValue range be [0,0.03])；kxvValue range be [0.01,
0.2]。
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| CN108614421B (en) * | 2018-05-17 | 2020-06-30 | 长安大学 | Four-legged robot motion control method based on central pattern generator |
| CN108960155B (en) * | 2018-07-09 | 2021-04-23 | 济南大学 | Adult gait extraction and anomaly analysis method based on Kinect |
| CN109093626B (en) * | 2018-09-28 | 2020-10-30 | 中科新松有限公司 | Body attitude control method and device of quadruped robot |
| CN110328670B (en) * | 2019-08-27 | 2022-05-27 | 山东科技大学 | Terrain fuzzy self-adaptive four-footed robot static gait planning method |
| CN110502857B (en) * | 2019-08-27 | 2022-12-27 | 山东科技大学 | Terrain roughness online estimation method for quadruped robot |
| CN111309039B (en) * | 2020-02-27 | 2023-08-22 | 杭州云深处科技有限公司 | Gesture control method and device for four-foot robot |
| CN111506100B (en) * | 2020-06-15 | 2020-10-02 | 深圳市优必选科技股份有限公司 | Multi-legged robot joint control method and device and multi-legged robot |
| CN111913490B (en) * | 2020-08-18 | 2023-11-14 | 山东大学 | Four-foot robot dynamic gait stability control method and system based on foot falling adjustment |
| CN112147890B (en) * | 2020-09-04 | 2021-12-28 | 西安交通大学 | Acrobot model-based diagonal support static balance control method for quadruped robot |
| CN112757301B (en) * | 2020-12-30 | 2022-05-03 | 乐聚(深圳)机器人技术有限公司 | Robot anti-disturbance control method and device, electronic equipment and storage medium |
| CN112904883B (en) * | 2021-01-26 | 2022-08-05 | 德鲁动力科技(成都)有限公司 | Terrain perception method, motion control method and system for quadruped robot |
| CN112987769B (en) * | 2021-02-22 | 2022-07-05 | 武汉科技大学 | Active leg adjusting method for stable transition of quadruped robot in variable-rigidity terrain |
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