CN107891920B - Automatic acquisition method for leg joint compensation angle of biped robot - Google Patents
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Abstract
A method for automatically acquiring the compensation angle of the leg joint of the stable walking of the biped robot is provided. The method provides a computable general evaluation index for measuring the effectiveness of the leg joint compensation angle, and comprehensively considers the error between the actual ZMP and the planned ZMP and the posture deviation of the trunk. The biped robot performs in-situ walking motion, automatically adjusts the periodic compensation angle of the leg joint, and calculates the evaluation index value corresponding to the current compensation angle; after traversing all the compensation angles in the amplitude limiting range of the preset compensation angle, comparing a plurality of groups of obtained evaluation index values, and taking the leg joint compensation angle corresponding to the minimum evaluation index value as the optimum. The invention avoids a large number of repeated walking experiments, eliminates the interference of external uncertain disturbance factors on the acquisition of the optimal compensation angle in the walking process, reduces the experiment cost, saves the debugging time, improves the leg joint compensation precision, and finally lays a foundation for the stable walking of the humanoid robot.
Description
Technical Field
The invention provides a method for automatically acquiring a leg joint compensation angle for stable walking of a biped robot, and belongs to the technical field of robots.
Background
The biped robot is a high and new electromechanical system which is developed according to the bionics principle and simulates the leg and foot structure, the motion characteristic and the like of a human body.
Compared with a wheel type and multi-legged robot, the biped robot has the characteristics of flexible obstacle crossing, strong capability of adapting to unstructured environments and the like, and has good application prospects in complex environments such as home services, disaster rescue, space exploration and the like. The stable walking capability of the biped robot is a necessary basis for realizing the application, so that the solution of the stable walking problem of the biped robot has important significance.
In order to realize the walking of the biped robot, firstly, a leg joint angle time sequence is generated according to a robot model and a required motion track. However, due to the existence of the actual model error and the execution error, when the robot walks according to the planned joint angle, the upper body inclines, the foot lifts too late or the foot falls too early, so that the foot and the ground generate huge impact, and the walking stability is seriously affected. Therefore, it is difficult to realize stable walking simply according to the angle planned in advance, and it is necessary to periodically compensate the leg joint angle according to the state of the biped robot. In the existing multiple angle compensation algorithms, a common method is to compensate the periodic angle of the hip joint and the ankle joint of the robot, so that the upper body of the robot is kept vertical in the walking process, thereby avoiding the generation of huge impact on the ground due to too late foot lifting or too early foot falling and improving the walking stability of the robot.
Generally, in order to obtain the optimal leg joint compensation angle, repeated walking experiments are required to be performed for many times, and the leg joint compensation angle is continuously and manually adjusted according to sensor data recorded in the walking experiments or the experience of experimenters until the biped robot can walk stably. The method needs a lot of repeated walking experiments for experimenters, once the ground environment changes, or the biped robot is used again after long-time shutdown, and needs repeated debugging, so that the experiment cost is high, and the debugging time is long; meanwhile, the walking process is easily influenced by random interference factors, and the effectiveness of the compensation angle is difficult to objectively evaluate; in addition, the method requires an experimenter to finely adjust the compensation angle by depending on self experience to obtain a better walking state, has low adjustment precision, can not be adjusted quantitatively, has no universality, and limits the application of the biped robot.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a method for automatically acquiring the compensation angle of the leg joint, which is characterized in that an experimenter is prevented from acquiring the compensation angle through a large number of repeated walking experiments by in-situ walking motion, the influence of external uncertain interference factors in the walking process is eliminated, meanwhile, the adjustment of the compensation angle is changed into a quantifiable universal method by utilizing a newly-proposed evaluation index, the debugging time is saved, the compensation precision is improved, the model error and the execution error of the robot are reduced, a good platform is provided for other walking stability control algorithms, and the stable walking of the biped robot is finally realized.
The technical scheme of the invention is as follows:
a method for automatically acquiring a leg joint compensation angle of a biped robot comprises the following steps:
step S1: setting walking parameters of the biped robot, and going to step S2;
step S2: generating an angle time sequence of the in-situ walking movement joint, and turning to the step S3;
step S3: step-by-step modification is carried out on the periodic compensation angle curve, and the step S4 is turned to;
step S4: performing in-situ walking motion under the action of the periodic compensation angle to obtain an actual ZMP track and a trunk attitude angle, and turning to the step S5;
step S5: calculating an evaluation index value, and proceeding to step S6;
step S6: judging whether the periodic compensation angle traverses the amplitude limiting range of the compensation angle, if so, turning to the step S7, otherwise, turning to the step S3;
step S7: comparing the evaluation index values, and proceeding to step S8;
step S8: and obtaining the optimal compensation angle of the leg joint.
Preferably, the evaluation index value is calculated by formula (1):
wherein J is an evaluation index value,
respectively representing the maximum deviation values of the actual ZMP track and the planned ZMP track in the single-foot supporting period and the double-foot supporting period;
respectively representing the maximum error angles of the pitching direction and the rolling direction of the trunk deviating from the vertical and the horizontal in the walking process;
the variances of the deviation values of the actual ZMP and the planned ZMP trajectories of the single-foot support period and the double-foot support period are respectively represented;
respectively representing the variance of the error angle of the vertical deviation and the horizontal deviation of the rolling deviation of the body in the pitching direction during walking.
Preferably, the step S1 further includes: determining walking parameters for biped robot walking including the walking cycle TstepStep number NstepStep length LstepA foot lifting height HstepLeg compensation angle limiting range (theta)cop_max，θcop_min) Leg compensation angle adjustment precision thetacop_sen。
Preferably, the step S2 further includes: according to the walking parameters of walking, the step length L is divided intostepModified to 0, lift the foot height HstepAnd (3) modifying to be 0, keeping the rest walking parameters unchanged, and planning the track of the biped robot to obtain the planned ZMP track and the leg joint angle time sequence so that the biped robot can perform similar walking motion in situ.
Preferably, the step S3 further includes: adjusting precision theta according to leg compensation anglecop_senStep-by-step increasing the constant value of the periodic compensation angle in the single-foot supporting period
Assuming that the constant values of the initial periodic compensation angles of the hip joints (R2, L2) and the ankle joints (R6, L6) of the legs in the period of single-foot support are calculated by the formula (2):
according to this periodic compensation angle, the hip joints (R2, L2) and ankle joints (R6, L6) of the leg are compensated, calculated using equation (3):
wherein,
the angle to be performed for the leg joint of the robot,
and planning angles for the leg joints of the robot.
Preferably, the step S4 further includes: and storing the three-dimensional force, the three-dimensional moment and the trunk posture of the foot of the biped robot in the original walking motion process under the action of the periodic compensation angle, and calculating the actual ZMP track according to the three-dimensional force and the three-dimensional moment of the foot.
Preferably, the step S5 further includes: after the in-place walking is finished, calculating an evaluation index value J under the action of the periodic compensation angle according to an evaluation index formula-NAnd simultaneously storing the evaluation index value and the constant value of the corresponding periodic compensation angle in the single-foot supporting period.
Preferably, the step S6 further includes: let n beR2_ref，nR6_ref，nL2_ref，nL6_refSequentially traverse-N.thetacop_sen，-(N+1)·θcop_sen，…，0，…，(N-1)·θcop_sen，N·θcop_senThe (2N +1) sets of values;
under the action of the periodic compensation angles, the in-situ walking experiment is carried out according to a formula (3), and corresponding evaluation index values J are calculated to obtain (2N +1)4And (4) grouping evaluation index values.
Preferably, the step S7 further includes: comparison of the (2N +1)4And (4) setting the size of the evaluation index values, and selecting the constant value of the periodic compensation angle corresponding to the minimum evaluation index value in the single-foot supporting period.
Preferably, the step S8 further includes: and multiplying the constant value by a leg periodic compensation angle reference curve to obtain the optimal leg joint compensation angle under the walking parameter.
Compared with the prior art, the invention has the following advantages:
providing a general evaluation index which can be calculated and can measure the effectiveness of the leg joint compensation angle; the biped robot is enabled to carry out in-situ walking motion, the leg joint compensation angle is automatically adjusted within the set periodic compensation amplitude limiting range, and the corresponding evaluation index value is calculated; obtaining an optimal leg joint compensation angle by comparing a plurality of groups of evaluation index values; the method avoids a large number of repeated walking experiments, eliminates the interference of external uncertain disturbance factors on the acquisition of the optimal compensation angle in the walking process, reduces the experiment cost, saves the debugging time, improves the compensation precision, and finally lays a foundation for the stable walking of the humanoid robot.
Drawings
Fig. 1 is a schematic overall flow chart of the method for automatically obtaining the optimal compensation angle of the leg joint according to the present invention.
Fig. 2 is a schematic view of the biped robot structure used in the present invention.
Fig. 3 is a schematic diagram of a pre-generated leg periodic compensation angle reference curve based on walking parameters.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The biped robot used in the present invention has 6 degrees of freedom for each of the left and right legs, as shown in fig. 2, with 3 hips, 1 knee, and 2 ankles. For convenience of description, the leg degrees of freedom are numbered in the order of R1-R6 and L1-L6 as shown in FIG. 2. The feet of the biped robot are provided with six-dimensional force/moment sensors which can measure the three-dimensional force and three-dimensional moment of the interaction between the feet and the ground, thereby calculating the actual ZMP track; the waist is provided with a posture sensor which can measure the inclination posture of the trunk.
The invention mainly aims at the situation that the feet generate huge impact with the ground due to the fact that the upper body of the biped robot inclines and the feet lift too late or fall too early in the walking process of the biped robot, so that the transverse rolling directions (R2 and L2) of hip joints and the transverse rolling directions (R6 and L6) of ankle joints are compensated. In order to measure the effectiveness of the periodic compensation angle, the invention provides a novel general evaluation index which can be calculated, and the general evaluation index is used for quantifying the stability of the walking experiment under the current compensation angle. The evaluation index comprehensively considers the error between the actual ZMP track and the planned ZMP track and the degree of the deviation of the trunk posture from the vertical direction, and the specific formula is as follows:
wherein,
respectively representing the maximum deviation values of the actual ZMP track and the planned ZMP track in the single-foot supporting period and the double-foot supporting period;
respectively representing the maximum error angles of the pitching direction and the rolling direction of the trunk deviating from the vertical and the horizontal in the walking process;
the variances of the deviation values of the actual ZMP and the planned ZMP trajectories of the single-foot support period and the double-foot support period are respectively represented;
respectively representing the variance of the error angle of the vertical deviation and the horizontal deviation of the rolling deviation of the body in the pitching direction during walking.
The overall flow of the method for automatically obtaining the optimal compensation angle of the leg joint is shown in the attached figure 1. Firstly, according to the actual task requirement, determining walking parameters of the biped robot, including the walking period TstepStep number NstepStep length LstepA foot lifting height HstepLeg compensation angle amplitude limiting value (theta)cop_max，θcop_min) Leg compensation angle adjustment precision thetacop_sen. For the sake of algorithm explanation, we assume: thetacop_max/θcop_sen＝N，θcop_min/θcop_sen-N (N is a positive integer). Meanwhile, a leg periodic compensation angle reference curve theta is pre-generated according to the walking parameterscop[k]As shown in fig. 3. The periodic compensation angle value is constant at 1 degree or-1 degree in the single-foot supporting period, and is interpolated from a negative constant value to a positive constant value or from the positive constant value to the negative constant value through a cubic spline curve in the double-foot supporting period.
Then, the step length L is adjusted according to the walking parameters of the walkingstepModified to 0, lift the foot height HstepAnd (3) modifying to be 0, keeping the rest walking parameters unchanged, and planning the track of the biped robot to obtain the planned ZMP track and the leg joint angle time sequence so that the biped robot can perform similar walking motion in situ.
Then, the constant values of the initial periodic compensation angles of the hip joints (R2, L2) and the ankle joints (R6, L6) of the legs in the single-foot supporting period are set as follows:
according to the periodical compensation angle, the hip joints (R2, L2) and the ankle joints (R6, L6) of the legs are compensated, and the specific formula is as follows:
wherein,
the angle to be performed for the leg joint of the robot,
and planning angles for the leg joints of the robot.
And storing the three-dimensional force, the three-dimensional moment and the trunk posture of the foot of the biped robot in the original walking motion process under the action of the periodic compensation angle, and calculating the actual ZMP track according to the three-dimensional force and the three-dimensional moment of the foot.
After the in-situ walking is finishedAccording to the above-mentioned evaluation index formula (1), the evaluation index value J under the effect of the current periodical compensation angle is calculated on line-NAnd simultaneously storing the evaluation index value and the constant value of the corresponding periodic compensation angle in the single-foot supporting period.
Then, the accuracy theta is adjusted according to the leg compensation anglecop_senStep-by-step increasing the constant value of the periodic compensation angle in the single-foot supporting period
I.e. let nR2_ref，nR6_ref，nL2_ref，nL6_refSequentially traverse-N.thetacop_sen，-(N+1)·θcop_sen，…，0，…，(N-1)·θcop_sen，N·θcop_senThese (2N +1) sets of values. Under the action of the periodic compensation angles, the in-situ walking experiment is carried out according to a formula (3), and corresponding evaluation index values J are calculated to obtain (2N +1)4And (4) grouping evaluation index values.
Then, the above (2N +1) are compared4And (4) setting the sizes of the evaluation index values, selecting the constant value of the periodic compensation angle corresponding to the minimum evaluation index value in the single-foot supporting period, and multiplying the constant value by the reference curve of the periodic compensation angle of the leg to obtain the optimal leg joint compensation angle under the walking parameter. Finally, according to the compensation angle of the leg joint, the step length L is adjustedstepA foot lifting height HstepAnd the preset value is modified, so that a foundation can be laid for the stable walking of the biped robot under the walking parameters.
The steps can be automatically carried out through a program, and therefore the automatic acquisition of the optimal compensation angle of the leg joint is achieved.
It will be appreciated by those skilled in the art that the method of the present invention can be implemented in any form known in the art without departing from the spirit and essential characteristics of the invention. In addition, the specific embodiments are to be considered in all respects as illustrative and not restrictive. Any combination of these embodiments can be used to achieve the object of the present invention. The scope of protection of the invention is defined by the appended claims.
The word "comprising" in the description and in the claims does not exclude the presence of other elements or steps. The functions of the individual steps described in the specification or recited in the claims may be separated or combined, and implemented by corresponding plural steps or a single step.
Claims (10)
1. A method for automatically acquiring a leg joint compensation angle of a biped robot comprises the following steps:
step S1: setting walking parameters of walking of the biped robot, and turning to step S2;
step S2: generating an angle time sequence of leg joints for the in-situ walking movement, and turning to the step S3;
step S3: step-by-step modification is carried out on the periodic compensation angle curve, and the step S4 is turned to;
step S4: performing in-situ walking motion under the action of the periodic compensation angle to obtain an actual ZMP track and a trunk attitude angle, and turning to the step S5;
step S5: calculating an evaluation index value, and proceeding to step S6;
step S6: judging whether the periodic compensation angle traverses the leg compensation angle amplitude limiting range or not, if so, turning to the step S7, otherwise, turning to the step S3;
step S7: comparing the evaluation index values, and proceeding to step S8;
step S8: and obtaining the optimal compensation angle of the leg joint.
2. The automatic acquisition method of the leg joint compensation angle for the biped robot according to claim 1, wherein the evaluation index value is calculated by formula (1):
wherein J is an evaluation index value,
respectively representing the maximum deviation values of the actual ZMP track and the planned ZMP track in the single-foot supporting period and the double-foot supporting period;
respectively representing the maximum error angles of the pitching direction and the rolling direction of the trunk deviating from the vertical and the horizontal in the walking process;
respectively representing variances of deviation values of the actual ZMP trajectories and the planned ZMP trajectories in the single-foot supporting period and the double-foot supporting period;
respectively representing the variance of the error angle of the vertical deviation and the horizontal deviation of the rolling deviation of the body in the pitching direction during walking.
3. The automatic acquisition method of the leg joint compensation angle for the biped robot as claimed in claim 2, wherein the step S1 further comprises: determining walking parameters for biped robot walking including the walking cycle TstepStep number NstepStep length LstepA foot lifting height HstepLeg compensation angle limiting range (theta)cop_max，θcop_min) Leg compensation angle adjustment precision thetacop_sen。
4. The automatic acquisition method for the leg joint compensation angle of the biped robot as claimed in claim 3, wherein the step S2 further comprises: according to the walking parameters of the biped robot walking, the step length L is adjustedstepModified to 0, lift the foot height HstepAnd (3) modifying to be 0, keeping the walking parameters of the walking of the other biped robots unchanged, and planning the track of the biped robot to obtain a planned ZMP track and a leg joint angle time sequence so that the biped robot can perform similar walking motion in situ.
5. The method of claim 4The method for automatically obtaining the leg joint compensation angle of the biped robot, wherein the step S3 further comprises: adjusting precision theta according to leg compensation anglecop_senStep-by-step increasing the constant value of the periodic compensation angle in the single-foot supporting period
Let θcop_max/θcop_sen＝N，θcop_min/θcop_sen-N, N being a positive integer, the constant values of the initial periodic compensation angles of the hip joints (R2, L2) and ankle joints (R6, L6) of the leg during the single-foot support period are calculated by equation (2):
according to this periodic compensation angle, the hip joints (R2, L2) and ankle joints (R6, L6) of the leg are compensated, calculated using equation (3):
wherein,
the angle to be performed for the leg joint of the robot,
planning angles, theta, for the joints of the robot legscop[k]The angular reference curve is periodically compensated for the leg.
6. The automatic acquisition method for the leg joint compensation angle of the biped robot as claimed in claim 5, wherein the step S4 further comprises: and storing the three-dimensional force, the three-dimensional moment and the trunk posture of the foot of the biped robot in the original walking motion process under the action of the periodic compensation angle, and calculating the actual ZMP track according to the three-dimensional force and the three-dimensional moment of the foot.
7. The automatic acquisition method for the leg joint compensation angle of the biped robot as claimed in claim 6, wherein the step S5 further comprises: after the in-situ walking movement is finished, calculating an evaluation index value J under the action of the periodic compensation angle according to an evaluation index formula-NAnd simultaneously storing the evaluation index value and the constant value of the corresponding periodic compensation angle in the single-foot supporting period.
8. The automatic acquisition method for the leg joint compensation angle of the biped robot as claimed in claim 7, wherein the step S6 further comprises: let n beR2_ref，nR6_ref，nL2_ref，nL6_refSequentially traverse-N.thetacop_sen，-(N+1)·θcop_sen，…，0，…，(N-1)·θcop_sen，N·θcop_senThe (2N +1) sets of values;
under the action of the periodic compensation angles, the original ground walking motion is carried out according to a formula (3), and corresponding evaluation index values J are calculated to obtain (2N +1)4And (4) grouping evaluation index values.
9. The automatic acquisition method for the leg joint compensation angle of the biped robot as claimed in claim 8, wherein the step S7 further comprises: comparison of the (2N +1)4And (4) setting the size of the evaluation index values, and selecting the constant value of the periodic compensation angle corresponding to the minimum evaluation index value in the single-foot supporting period.
10. The automatic acquisition method of the leg joint compensation angle for the biped robot as claimed in claim 9, wherein the step S8 further comprises: and multiplying the constant value by a leg periodic compensation angle reference curve to obtain the optimal leg joint compensation angle under the walking parameters of the biped robot walking.
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| CN111377004B (en) * | 2018-12-28 | 2021-11-16 | 深圳市优必选科技有限公司 | Biped robot gait control method and biped robot |
| WO2020133288A1 (en) * | 2018-12-28 | 2020-07-02 | 深圳市优必选科技有限公司 | Method for controlling gait of biped robot, and biped robot |
| CN110244791B (en) * | 2019-07-11 | 2020-05-15 | 北京理工大学 | Foot force and moment following control method for biped robot |
| 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 |
| CN112644599B (en) * | 2020-12-30 | 2022-03-04 | 乐聚(深圳)机器人技术有限公司 | Posture adjustment method, device, equipment and storage medium of biped robot |
| CN112925205B (en) * | 2021-01-25 | 2022-03-29 | 河南大学 | Net distribution optimization method for gait pattern generation of biped robot |
| CN113246124B (en) * | 2021-04-30 | 2023-06-02 | 深圳市优必选科技股份有限公司 | Robot control method and device, computer readable storage medium and robot |
| CN113467246B (en) * | 2021-07-16 | 2023-10-20 | 浙江大学 | Offset moment compensation method for biped robot |
| CN113618740B (en) * | 2021-08-24 | 2022-07-29 | 深圳市优必选科技股份有限公司 | Dance balance control method and device for biped robot and biped robot |
| CN114200951B (en) * | 2021-12-09 | 2024-03-19 | 之江实验室 | Pavement self-adaptive attitude control method for ankle of biped robot |
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| CN104407611B (en) * | 2014-09-30 | 2017-02-01 | 同济大学 | Humanoid robot stable waling control method |
| CN104709374B (en) * | 2015-02-13 | 2017-03-08 | 中国北方车辆研究所 | A kind of method preventing legged type robot from tilting |
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