CN108508906A - A kind of bilateral tactile remote control system of novel multi-foot robot and control method under outdoor environment - Google Patents
A kind of bilateral tactile remote control system of novel multi-foot robot and control method under outdoor environment Download PDFInfo
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Abstract
A kind of bilateral tactile remote control system of novel multi-foot robot and control method under outdoor environment are related to a kind of multi-foot robot when in face of outdoor non-ideal environment, it can be achieved that the remote operating mode of body various dimensions control.The bilateral tactile remote control system of multi-foot robot and control method under outdoor environment of the present invention, consider the influence of vola interface complicated and changeable for multi-foot robot motion state, on the basis of semi-autonomous control model design can coordinated regulation body speed and pose two-dimentional remote control system；Based on the bilateral controller of Passivity Theory desin speed layer remote operating subsystem, and feed back acceleration difference power；The bilateral controller of pose layer remote operating subsystem is designed further according to virtual Suspension Model, while feeding back the equivalent virtual spring damping force of body；The remote control system and control method proposed is also that the design of multi-foot robot remote control system under follow-up more complicated environment is laid the groundwork.The present invention is suitable for the remote operating field of multi-foot robot.
Description
Technical field
The invention belongs to legged type robot teleoperation fields, and in particular to one kind is distant for outdoor environment operator
Operation multi-foot robot completes new method that is efficient, steadily walking.
Background technology
In multi-foot robot walking outdoors true environment, its movenent performance is caused at vola interface complicated and changeable
Influence it is very notable, particularly with soft rugged orographic condition.Due to the contact condition at multi-foot robot foot end and ground
Unpredictable, falling for robot planning can have larger difference at this time between sufficient position and physical location.Therefore according to polypody
When robot ideal movements model solution calculates the target rotation angle in leg joint and carries out drive control to robot, body pose
There certainly will be certain error between expected pose, as a result not only result in the speed loss in target direction of motion, come from
The unexpected pose fluctuation of body but will cause the deficiency of multi-foot robot stability margin.
If in conclusion be designed to the remote control system of multi-foot robot from the angle of speed tracking performance merely,
It would potentially result in the decline of controllability and the problem of adaptability deficiency.Therefore it proposes to assist based on speed and pose under outdoor environment
With the bilateral tactile remote control system of multi-foot robot and control method of regulation and control.For the mission requirements for coping with different, separately design
Velocity layer and pose layer remote operating subsystem, there are one main side robot is matching in each subsystem, two main sides
Robot can be completed at the same time the coordinated regulation between multi-foot robot body pose and body speed.It is calculated since conventional closed loop controls
The close coupling redundancy that method can not solve when multi-foot robot Pose Control between pose aim parameter and joint angle controlled volume is non-linear
Problem, therefore sufficient power of the design based on multiple target collaboration constraint optimizes allocation algorithm in bottom control unit, using virtual outstanding
Frame model compensates the undulate quantity of body pose, and establishes the submissive regulatory mechanism of sufficient power by impedance Control Model.Respectively
Operator will be fed back in the form of haptic force from the pose undulate quantity of terminal device human organism and acceleration difference, improved with this
Operation and control ability of the bilateral tactile remote control system of multi-foot robot when in face of outdoor non-ideal environment.
Invention content
The present invention is to solve multi-foot robot due to itself multiple degrees of freedom redundancy structure and outdoor non-ideal contact
Single remote operating pattern caused by the reasons such as environment is difficult to meet it under full landform for the need of controllability and adaptability
It asks, it is proposed that a kind of bilateral tactile remote control system of novel multi-foot robot and control method under outdoor environment.
For the bilateral tactile remote control system of multi-foot robot under outdoor environment and control method, it is broadly divided into five parts：It is outdoor
The design of multi-foot robot remote operating scheme under environment；The group of the bilateral tactile remote control system of multi-foot robot under outdoor environment
At；The autonomous control algorithm design of bottom control unit in multi-foot robot remote control system；The distant behaviour of multi-foot robot velocity layer
Make subsystem modeling, controls the design of framework and control algolithm；Multi-foot robot pose layer remote operating subsystem modeling, control
The design of framework and control algolithm.
A kind of bilateral tactile remote control system of novel multi-foot robot and control method, specifically include under the outdoor environment
Following steps：
Step 1：According to the restriction of non-ideal contact conditions under the design feature of multi-foot robot itself, outdoor environment, to be promoted
The controllability and adaptability of multi-foot robot system, design are distant based on body speed and the multi-foot robot of pose coordinated regulation
Operation scheme；
Step 2：The remote operating scheme formulated according to step 1 builds the group of the bilateral tactile remote control system of multi-foot robot
At specifically including：Velocity layer remote operating subsystem and pose layer remote operating subsystem；
Step 3：According to the design feature of multi-foot robot itself multiple degrees of freedom redundancy, to reduce remote control system to greatest extent
Control burden, based on it is semi-autonomous strategy design multi-foot robot remote control system in bottom control unit autonomous control calculate
Method；
Step 4：Remote control system constructed by step 2 determines the control framework of velocity layer remote operating subsystem, establishes speed
The model at layer remote operating subsystem principal and subordinate end is spent, on this basis the control algolithm of desin speed layer remote operating subsystem, and led to
Passivity criterion is crossed to solve control law parameter；
Step 5：Remote control system constructed by step 2 determines the control framework of pose layer remote operating subsystem, establishes position
The model at appearance layer remote operating subsystem principal and subordinate end designs the control algolithm of pose layer remote operating subsystem, and profit on this basis
Control law parameter is solved with the method for passivity analysis.
The present invention has following advantageous effect：
A kind of bilateral tactile remote control system of novel multi-foot robot and control method under the outdoor environment, on the one hand,
By designing the remote operating scheme of body speed and pose coordinated regulation, it is non-outdoors to improve multi-foot robot remote control system
Semi-autonomous control strategy is dissolved into the bottom control of multi-foot robot remote control system by the controllability under ecotopia and adaptability
Unit processed alleviates the control pressure brought from the multiple degrees of freedom of end robot and the unknown disturbance at environment end to remote control system
Power；On the other hand tracking and matching will be carried out from the body speed of end robot and the position command of velocity layer main side robot, together
When the position command of body pose and pose layer main side robot is mapped into line trace, then respectively by body caused by environment end
Acceleration difference power and body pose undulate quantity feed back to operator in the form of haptic force, and auxiliary operation person completes more steady
Fixed, more efficient multi-foot robot remote operating task.
Description of the drawings
Fig. 1 is multi-foot robot remote control system composition schematic diagram under outdoor environment；
Fig. 2 is the whole control configuration diagram of remote control system；
Fig. 3 is the structural schematic diagram of velocity layer main side robot；
Fig. 4 is the body construction schematic diagram from end robot；
Fig. 5 is the structural schematic diagram of pose layer main side robot；
Fig. 6 is the virtual Suspension Model schematic diagram from terminal device human organism；
Fig. 7 is the control configuration diagram of velocity layer remote operating subsystem；
Fig. 8 is the control configuration diagram of pose layer remote operating subsystem；
Fig. 9 is multi-foot robot remote operating configuration diagram under outdoor environment.
Specific implementation mode
Specific implementation mode 1：A kind of bilateral tactile of novel multi-foot robot under outdoor environment described in present embodiment
Remote control system, it is necessary first to determine the remote operating scheme of system, the remote operating scheme of multi-foot robot includes under outdoor environment：
Design the whole control framework of remote control system and the remote operating pattern of system, the whole control cage of the remote control system
Structure is designed based on semi-autonomous control strategy；The remote operating pattern of the system using how main list from control mode, can be real
The coordinated regulation of existing body speed and pose.
Specific implementation mode 2：A kind of bilateral tactile of novel multi-foot robot under outdoor environment described in present embodiment
The remote control system of multi-foot robot is divided into two parts by remote control system：Velocity layer remote operating subsystem and the distant behaviour of pose layer
Make subsystem；The composition of multi-foot robot remote control system, specifically includes operating side 1 and environment end 2 with reference to shown in attached drawing 1, speed
Spend layer main side system 3, velocity layer is from end system 4, pose layer main side system 5, and pose layer is from end system 6, communication port 7；It is described
Velocity layer main side system 3 be made of velocity layer main side robot and velocity layer main side controller；The velocity layer from end be
System 4 from the body speed and velocity layer of holding robot from side controller by constituting；The pose layer main side system 5 is by pose layer
Main side robot and pose layer main side controller are constituted；The pose layer is from end system 6 by the body pose from end robot
It is constituted from side controller with pose layer.
Specific implementation mode 3：Present embodiment is for a kind of novel under the outdoor environment described in specific implementation mode 1
The whole control framework of the bilateral tactile remote control system of multi-foot robot is described further, in the present embodiment, with reference to attached drawing 2
The whole control framework of shown multi-foot robot remote control system, wherein operator send desired speed instructionv dAnd expected pose
Instructionθ dBody target traction force is cooked up via topside control unit 8W dAnd utilize parallel robot inverse kinematics model 11
Calculate the target location at each support leg foot endP d, optimizing allocation algorithm 9 based on sufficient power willW dResolve into the mesh at each support leg foot end
The sufficient power of markf d, using the submissive regulatory mechanism 10 of virtual impedance model foundation foot power in the dimension of three, sufficient end, then it is inverse by single leg
Target foot power is converted into the target rotation angle in leg joint by kinematics model 12q d, sufficient end position is turned via joint control 13
It is changed to the angle turned over needed for driving joint.Generally speaking, during multi-foot robot remote operating, operator need to only pay close attention to machine
The tracking mode of body speed and pose, from end, robot 14 passes through the control algolithm and articulamentum controller in bottom control unit
Contexture by self goes out the joint angular speed exported needed for each joint in each leg, and corresponding movement instruction is completed with this.
Specific implementation mode 4：Present embodiment is for a kind of novel under the outdoor environment described in specific implementation mode 1
The remote operating pattern of the bilateral tactile remote control system of multi-foot robot is described further, in the present embodiment, with reference to 3 institute of attached drawing
Show that the structure of velocity layer main side robot, velocity layer main side robot have 3 degree of freedom, wherein rotary joint 15 can left-right rotary
Transfer out the position command 16 in No. 1 joint, master rocker can swing up and down the position command 17 in No. 2 joints of output, secondary-rocker can on
Lower swing exports the position command 18 in No. 3 joints；
From the body construction of end robot with reference to shown in attached drawing 4, wherein from the artificial electric drive Hexapod Robot of terminal device, six sufficient machines
Device people is made of body 19 and the identical leg of six configurations 23, and six legs are evenly distributed on each side of body, foot
With leg by the way of fixed-link, velocity layer remote operating subsystem is that body barycenter place is horizontal from the controlled device at end at end 24
The three direction speed in face, specifically include：Along longitudinal linear velocity 20 of body coordinate system X-direction, along body coordinate system Y direction
Lateral linear velocity 21, around body coordinate system Z axis rotation steering angular velocity 22；
The remote operating pattern of designed velocity layer remote operating subsystem is：The position command in No. 1 joint of velocity layer main side robot
Longitudinal linear velocity 20 of 16 mappings from terminal device human organism；No. 2 joints of velocity layer main side robot position command 17 mapping from
The lateral linear velocity 21 of terminal device human organism；The position command 18 in No. 3 joints of velocity layer main side robot is mapped from end robot
The steering angular velocity 22 of body.
Specific implementation mode 5：Present embodiment is for a kind of novel more under the outdoor environment described in specific implementation mode 1
The remote operating pattern of the bilateral tactile remote control system of biped robot is described further, in the present embodiment, with reference to shown in attached drawing 5
The structure of velocity layer main side robot, the wherein handle 25 of velocity layer main side robot have 3 freedom in its working space
Degree, the respectively position command 26 along handle coordinate system X-direction, along the position command 27 of handle coordinate system Y direction, along hand
The position command 28 of handle coordinate system Z-direction；
It, will be by a spring/torsional spring and a damper group from the virtual Suspension Model of terminal device human organism with reference to shown in attached drawing 6
At equivalent virtual component be separately mounted on three directions of body rolling, pitching and lifting, it is equivalent on three directions
The deformation quantity of virtual component characterizes the rolling angle 29 from terminal device human organism respectively, from the pitch angle of terminal device human organism
30, from the body adjustable height 31 of end robot；
The remote operating pattern of designed pose layer remote operating subsystem is：Pose layer main side robot handle is along the position of X-direction
Set rolling angle 29 of 26 mapping of instruction from terminal device human organism；Pose layer main side robot handle refers to along the position of Y direction
Enable 27 mappings from the pitch angle 30 of terminal device human organism；Position command 28 of the pose layer main side robot handle along Z-direction
Map the body adjustable height 31 from end robot.
Specific implementation mode 6：A kind of bilateral tactile of novel multi-foot robot under outdoor environment described in present embodiment
Remote operating control method, the control framework and control method, operator for specifically including desin speed layer remote operating subsystem pass through
Control instruction of the velocity layer main side system quantifies from terminal device human organism's speed；Design the control cage of pose layer remote operating subsystem
Structure and control method, operator is by pose layer main side system quantifies from the control instruction of the man-machine posture of terminal device；Design is more
The bottom control unit of biped robot remote control system realizes the angle that exports and angle needed for the electric drive joint of end robot
Speed independently tracks rate control instruction and the Pose Control instruction of body.
Specific implementation mode 7：Present embodiment is for a kind of novel under the outdoor environment described in specific implementation mode 6
Bottom control unit in the bilateral tactile remote operating control method of multi-foot robot is described further, in the present embodiment, bottom
The design of layer control unit includes bottom controller design and single leg controller design；
The embedded sufficient power optimization allocation algorithm of the bottom controller and the submissive regulatory mechanism of sufficient power；With broad sense dynamic balance, body method
It is total constraints to equivalent deformation compensation, it is optimal for target with sufficient end tangential force, it is set towards sufficient power optimization allocation algorithm
Meter；By the submissive regulation mechanism of sufficient power proposed, the mathe-matical map to sufficient end track disturbance quantity by sufficient power regulation and control amount is formed, it is real
The dynamic regulation of existing three dimensions foot power；
It is described foot power optimization allocation algorithm design procedure include：Initially set up from the generalized force from terminal device human organism's barycenter/
Torque equilibrium equation；Secondly by from end robot every leg regard as by 3 dimensions virtual spring and damper combine
Made of equivalent structure, every leg position to stiffness and damping characteristic by control rigidity-damped coefficient and the rigidity of structure-damped coefficient
It is characterized；Complete machine normal stiffness is derived from single leg position to equivalent stiffness, solves each support leg base pitch relative to sufficient hold-carrying
To change in location, thus plan support leg normal direction foot power, compensate the pose deviation of body；Then in order to avoid the machine of system
Tool internal force is fought, and the sum of the tangential force of each support foot should balance out the mass force and inertia force component in organism level direction；In order to
It allows each support leg foot end to all have larger frictional force nargin, proportional sharing principle is taken to provide the tangential of each support leg foot end
Power and normal force ratio are identical and be equal to overall ratio of the body coordinate system in-plane to resultant force and normal direction resultant force；Finally by
Sufficient end three-dimensional force sensor obtains the practical sufficient power at sufficient end, further according to direction and the body coordinate system X of resultant force in organism level face
Axis（Direction of advance）Angle value, can calculate at this time from the tangential target foot power at end each support leg foot of robot end；Pass through structure
Equality constraint equation identical with foot power number undetermined is built, the parsing from end robot target foot power can be solved at each moment
Solution；
It is described foot the submissive regulatory mechanism design procedure of power include：Assume initially that from the sufficient end led leg of end robot be respectively present X,
Y, the virtual spring and damper in tri- directions Z；When practical sufficient power difference occurs with target foot power, sufficient end is by simulating spring
The displacement buffering amount of respective direction is exported with the kinetic characteristics of damper, then by obtained from the target joint for holding robot
Track solves the target location at swing phase foot end by Jacobian matrix in bottom controller；It is sensed based on sufficient end three-dimensional force
Device can obtain the feedback foot power from end robot simultaneously；Sufficient end movement compensation rate can will be anti-by virtual flexible unit as a result,
It is obtained after the sufficient power processing of feedback；The displacement compensation amount is superimposed to form new target position with the target foot end movement amount obtained before
It sets；This method can realize the three-dimension flexible characteristic led leg between sufficient end position and target foot power from end robot；
The kinematics model of the embedded single leg of list leg controller, the target location at sufficient end is solved according to bottom controller, is led to
It crosses against Jacobian matrix operation and obtains the target rotation angle exported needed for each joint, then the closed loop PID for passing through designed articulamentum
Feedback control algorithm, it is practical that the intra-articular motor set in leg is driven to complete specified rotation task.
Specific implementation mode 8：Present embodiment is for a kind of novel under the outdoor environment described in specific implementation mode 6
The control framework of the bilateral tactile remote operating control method medium velocity layer remote operating subsystem of multi-foot robot is described further, this
In embodiment, with reference to shown in Fig. 7, operator controls velocity layer main side robot, and output position instructs in three directions, should
Instruction is converted by the revised impedance Control Model of velocity layer main side robot 33, recombination velocity layer main side control law
34, the position command that velocity layer main side robot is sent at this time has been converted into concurrent from the instruction of the desired speed of terminal device human organism
The body from end robot is given, desired speed passes through the reality being converted into from the kinematics model 35 of end robot from end robot
Border body speed, under the action of velocity layer is from end control law parameter 36 and local damping compensation item 37, by the resistance at environment end
Anti- model 38 converts thereof into the acceleration difference power from end robot, this acceleration difference power is sent directly to velocity layer
Main side controller is simultaneously converted into tactile force information, the arm impedance model 32 of itself after being corrected via operator, by machine after update
The expectation instruction of body speed is iterated in the robot of velocity layer main side.
Specific implementation mode 9：Present embodiment is for a kind of novel under the outdoor environment described in specific implementation mode 6
The control method of the bilateral tactile remote operating control method medium velocity layer remote operating subsystem of multi-foot robot is described further, should
Control method specifically includes following steps：
Step 1：The kinetic model of velocity layer main side robot is modified, the control of velocity layer main side system after design modification
System input, to establish correct after velocity layer main side robot impedance Control Model；
Step 2：Established from the end robot kinetic characteristic under soft environment outdoors from the speed of end robot by analyzing and
Acceleration losses' model, to being planned from the kinematics model of end robot；
Step 3：The control algolithm of velocity layer remote operating subsystem is designed：
Step 3.1：The impedance model that velocity layer remote operating subsystem is established based on two-port network technology in circuitry, by speed
The position command of layer main side robot by designed control law parameter and the body desired speed maps mutually from end robot,
Again by being planned in step 2 from end robot kinematics model, body barycenter institute three directions in the horizontal plane are determined（It is horizontal
To, longitudinal direction, yaw）On kinetic characteristic, body desired speed is converted into expectation tractive force of the body in this movement dimension,
And this expectation tractive force is sent to bottom control unit, the expectation angular speed in each joint in leg is solved, by each intra-articular
Motor support body run in outdoor environment, can be obtained body by by environment terminal impedance model under soft contact conditions
Actual speed；
Step 3.2：It is poor to make the actual acceleration of body and desired acceleration from side controller in velocity layer, then will cause to add
The active force that difference occurs in speed is sent directly to velocity layer main side controller formation tactile force information, velocity layer main side robot
Interior motor is used for simulating this haptic force, operator via velocity layer main side robot perception to this force information, then via itself
Revised impedance operator is converted into new position command and exports again to give velocity layer main side system；
Step 4：By Llewellyn criterion, the control law parameter of velocity layer remote operating subsystem is solved, it is ensured that set
Count the stability of velocity layer remote operating subsystem.
Specific implementation mode 10：Present embodiment is for a kind of novel under the outdoor environment described in specific implementation mode 6
The bilateral tactile remote operating control method of multi-foot robot in the control framework of pose layer remote operating subsystem be described further,
In the present embodiment, with reference to shown in Fig. 8, operator is referred to output position in three directions by controlling pose layer main side robot
It enables, conversion of the instruction Jing Guo pose layer main side robot impedance Control Model 40, in conjunction with pose layer main side control law 41
Effect, the expected pose that the position command that operator sends at this time has been converted into body instruct and are sent to the machine from end robot
Body, expected pose from the virtual Suspension Model 43 of terminal device human organism by converting thereof into from the practical body position of end robot
Appearance, by environment terminal impedance model 44, the virtual generalized force caused by the virtual component in three dimensions of body causes body
Pose fluctuates, this pose undulate quantity is converted into tactile force information under the action of control law 41 of pose layer main side, via
The impedance model 39 of operator itself arm carries out the expectation instruction of body pose after update in the robot of pose layer main side
Iteration.
Specific implementation mode 11：Present embodiment is for a kind of novel under the outdoor environment described in specific implementation mode 6
The bilateral tactile remote operating control method of multi-foot robot in the control method of pose layer remote operating subsystem be described further,
The control method specifically includes following steps：
Step 1：Dynamic Modeling is carried out to pose layer main side robot, to establish the impedance control of pose layer main side robot
Model；
Step 2：By analyzing from the end robot kinetic characteristic under rugged environment outdoors, based on virtual suspension theory establish from
The kinetic model of terminal device human organism；
Step 3：The control algolithm of pose layer remote operating subsystem is designed：
Step 3.1：The impedance model that pose layer remote operating subsystem is established based on two-port network technology in circuitry, by pose
The position command of layer main side robot by designed control law parameter with from the expected pose maps mutually of terminal device human organism,
Again by the kinetic model of the slave terminal device human organism planned in step 2, three directions of body are determined（Pitching, rolling, liter
Drop）Body expected pose is converted into expectation tractive force of the body in this movement dimension by the dynamic characteristic of upper virtual component, and
This expectation tractive force is sent to bottom control unit, the expected angle in each joint in leg is solved, passes through each intra-articular electricity
Machine supports body to run in outdoor environment, by the reality that can be obtained body by the environment terminal impedance model under the conditions of rugged
Pose；
Step 3.2：It is poor to make the attained pose of body and expected pose from side controller in pose layer, then will lead to body position
There is the active force fluctuated and is simulated in the controller of pose layer main side in appearance, and the motor in the robot of pose layer main side is used for defeated
Go out equivalent haptic force, operator via pose layer main side robot perception to this force information, then via the impedance operator of itself,
It is converted into new position command and exports again to give pose layer main side system；
Step 4：By the positive definite matrix analysis method in Passivity Theory, to the control law parameter of pose layer remote operating subsystem
It is solved, it is ensured that the stability of designed pose layer remote operating subsystem.
Claims (6)
1. a kind of bilateral tactile remote control system of novel multi-foot robot under outdoor environment, it is characterised in that：The polypody
The bilateral tactile remote control system of robot includes：Velocity layer remote operating subsystem and pose layer remote operating subsystem；
The velocity layer remote operating subsystem includes：Velocity layer main side robot, velocity layer main side controller, from end robot
Body speed, velocity layer from side controller, from end robot bottom control unit and communication port；
The pose layer remote operating subsystem include：Pose layer main side robot, pose layer main side controller, from end robot
Body pose, pose layer from side controller, from end robot bottom control unit and communication port.
2. a kind of bilateral tactile remote control system of novel multi-foot robot under outdoor environment according to claim 1,
It is characterized in that：
The artificial 3DOF joint type tactile force feedback equipment of the velocity layer main side machine is used for quantization operation person couple
It is intended in from the operation of terminal device human organism's speed, exports corresponding tactile directed force and feed back to operator, assist grasping with this
Author completes to the operation task from terminal device human organism's speed；
The velocity layer main side controller is on the one hand for converting the position command in three joints of velocity layer main side robot
To be sent to velocity layer from end control through communication port from the speed command of terminal device human organism, and using this as control signal
On the other hand device is responsible for that tactile force information will be converted into from the acceleration tracking information of terminal device human organism, controls velocity layer master
The force feedback motor of robot built-in is held to export corresponding tactile directed force；
The body speed from end robot, expression are from controlled volume of the end robot in velocity layer remote operating subsystem
Body barycenter three directions in the horizontal plane movement velocity, respectively included longitudinal speed along body coordinate system X-direction
Degree, the lateral velocity along body coordinate system Y direction and the turning velocity around body coordinate system Z axis；
The artificial electric drive Hexapod Robot of slave terminal device, every leg configuration is identical and all has three cradle heads, and
Be centrosymmetric distribution and body surrounding, each joint built-in motor, is responsible for driving leg and completes specified action；
The velocity layer from side controller, be on the one hand used for will the body speed command that receive by controller embed from
Robot kinematics model and velocity layer control algolithm are held, the control input quantity from terminal device human organism's acceleration is converted into,
And the control input quantity is sent to the bottom control unit from end robot, on the other hand it is responsible for from terminal device human organism to add
The tracking information of speed is sent to velocity layer main side controller by communication port；
The artificial 3DOF parallel connection type tactile force feedback equipment of the pose layer main side machine is used for quantization operation person couple
It is intended in from the operation of the man-machine posture of terminal device, exports corresponding tactile directed force and feed back to operator, assist grasping with this
Author completes to the operation task from the man-machine posture of terminal device；
On the one hand the pose layer main side controller is used for the position command in pose layer main side three directions of robot handle
It is converted into from the pose of terminal device human organism and instructs, and this is sent to pose layer through communication port as control signal and is controlled from end
On the other hand device processed is responsible for that the environmental forces for pose undulate quantity occur from terminal device human organism will be caused to be converted into tactile force information,
The force feedback motor for controlling pose layer main side robot built-in exports corresponding tactile directed force；
The body pose from end robot, expression are from controlled volume of the end robot in pose layer remote operating subsystem
The position and attitude of body in three directions has respectively included the roll angle rotated around body coordinate system X-axis, around body coordinate system
The pitch angle of Y-axis rotation and the adjustable height along body coordinate system Z-direction；
The pose layer from side controller, on the one hand be used for will receive body pose instruction by controller embed from
Dynamic Models of Robot Manipulators and pose layer control algolithm are held, the control input quantity from the man-machine posture of terminal device is converted into, and
The control input quantity is sent to the bottom control unit from end robot, being on the other hand responsible for will be from the man-machine posture of terminal device
Fluctuation information pose layer main side controller is sent to by communication port；
Described includes bottom controller and single leg controller from the bottom control unit of end robot, and wherein bottom controller is used
In solving target location of each moment from end robot leg foot end, single leg controller is used to control from end robot leg
Electric drive joint independently tracks the target location at each moment leg foot end.
3. a kind of bilateral tactile remote operating control method of novel multi-foot robot under outdoor environment, it is characterised in that：It is described more
The bilateral tactile remote operating control method of biped robot particularly may be divided into following steps：
Step 1：The remote operating pattern for proposing multi-foot robot body speed and pose coordinated regulation is established using semi-autonomous strategy
The control framework of remote control system entirety, in the sufficient power optimization allocation algorithm of design and sufficient power out of end robot bottom controller
Submissive regulatory mechanism designs articulamentum control algolithm in single leg controller；
Step 2；Velocity layer main side robot for velocity layer remote operating subsystem and the body speed progress from end robot
Modeling, the control framework and control algolithm of desin speed layer remote operating subsystem, desin speed layer remote operating is sub on this basis
The force feedback pattern of system；
Step 3：Pose layer main side robot for pose layer remote operating subsystem and the body pose progress from end robot
Modeling designs the control framework and control algolithm of pose layer remote operating subsystem, designs pose layer remote operating on this basis
The force feedback pattern of system.
4. a kind of bilateral tactile remote operating controlling party of novel multi-foot robot under outdoor environment according to claim 3
Method, which is characterized in that the remote operating pattern of multi-foot robot body speed and pose coordinated regulation described in step 1, performance
It can work independently in task implementation procedure for velocity layer remote operating subsystem and pose layer remote operating subsystem, can also cooperate with
Regulation and control, designed speed and the matching scheme of pose coordinated regulation are：From 3 sides in the horizontal plane of terminal device human organism barycenter institute
To（Along body coordinate system X-axis, along body coordinate system Y-axis and around body coordinate system Z axis）Speed distinguish tracking velocity layer master
Hold the position command of 3 degree of freedom of robot；Pose from three directions of terminal device human organism（Roll angle, pitch angle and
Adjustable height）Regulation and control amount tracks the position command in 3 directions of pose layer main side robot respectively；
The control framework that remote control system entirety is established using semi-autonomous strategy, is shown as in multi-foot robot remote operating
In the process, operator need to only pay close attention to the tracking mode instructed from terminal device human organism speed command and body pose, from terminal device
People's bottom control unit then optimizes allocation algorithm by embedded sufficient power, respectively according to come since terminal device human organism acceleration with
The control input quantity of body pose calculates the target foot power from end robot leg foot end, then submissive based on embedded sufficient power
Target foot power is converted into the target location at sufficient end and by embedded single leg kinematics model by the target at sufficient end by regulatory mechanism
Position is converted into the target rotation angle in each joint in leg, then single leg by having embedded articulamentum closed loop PID control algorithm controls
Device driving thigh motor turns over target angle；
The sufficient power optimization allocation algorithm is based on multiple target collaboration constraint equation and is designed, including wide at body barycenter
Adopted power/torque equilibrium equation inhibits the support foot normal direction target compensation power equation of body deformation, eliminates each of mechanical internal force confrontation
The equilibrium equation of support foot tangential resultant force and organism level direction resultant force, avoids the normal force that vola slides and tangential force equal proportion
Distribution equations, the number of constructed equality constraint equation is identical as from the sufficient number holding of power undetermined of end robot, then can the moment
Solve the analytic solutions from end robot foot end target foot power；
The location-based impedance Control Model of the submissive regulatory mechanism of sufficient power is designed, for completing practical foot power and mesh
Dynamic tracking between the sufficient power of mark, it is assumed that the sufficient end that robot leads leg from end is respectively present the virtual bullet in tri- directions X, Y, Z
Spring and damper, during swing of leg, when vola is in contact or collides with ground and generates vola power mutation, sufficient end
Motional impedance characteristic by simulating spring and damper exports the situation monitoring amount in respective direction.
5. a kind of bilateral tactile remote operating controlling party of novel multi-foot robot under outdoor environment according to claim 3
Method, it is characterised in that：Being built for velocity layer main side robot and from the body speed of end robot described in step 2
Mould, it is first determined velocity layer main side robot and from position-speed tracking control pattern between terminal device human organism's speed,
The secondary speed term that very little is added in the position controlled quentity controlled variable of velocity layer main side robot, to the control to velocity layer main side robot
System rule is modified, and establishes the kinetic model of velocity layer main side robot on this basis, then the outdoor soft environment of analysis
Influence for multi-foot robot motion state is established in the case where considering that vola, which occurs, to be slid from terminal device human organism's
Speed and acceleration losses' model, it is final to determine from the kinematics model under end robot outdoors soft environment；
The control framework of the velocity layer remote operating subsystem, using power-position control mode, i.e. velocity layer main side controller will
Be sent to velocity layer from side controller from the instruction of the desired speed of terminal device human organism through communication port, by environment end export from
Terminal device human organism's acceleration difference power is sent directly to velocity layer main side controller, passes through velocity layer master as tactile directed force
End robot feeds back to operator；
The control algolithm of the velocity layer remote operating subsystem shows as establishing AL Acceleration Level in velocity layer remote operating subsystem
Simultaneously the potential active property at Local Damping item compensation environment end is added to speed in controller, design P+D bilateral controls rule in control law
It is influenced caused by spending layer remote operating subsystem stability, it is mixed based on two-port network model construction velocity layer remote operating subsystem
Matrix is closed, the positive definite matrix theorem in passivity criterion is recycled to solve the Rational choice range of control law parameter；
The force feedback pattern of the velocity layer remote operating subsystem is embodied in caused by acting on environment end on body
Acceleration difference power is sent directly to velocity layer main side controller and is fed back to operator in the form of haptic force, wherein working as expectation
Acceleration value be more than body actual acceleration when, one resistance will be generated in the robot of velocity layer main side so that operator
The acceleration capacity deficiency currently from end robot is perceived, the value of desired acceleration should not be continued growing；On the contrary, if it is desired to
Acceleration value be less than body actual acceleration, one pulling force will be generated in the robot of velocity layer main side so that operator feel
Know and currently get a promotion from the acceleration capacity of end robot, desired acceleration value can be continued growing.
6. a kind of bilateral tactile remote operating controlling party of novel multi-foot robot under outdoor environment according to claim 3
Method, it is characterised in that：Being built for pose layer main side robot and from the body pose of end robot described in step 3
Mould, it is first determined pose layer main side robot and from end robot body pose between position-posture tracking control model,
Next establishes the kinetic model of pose layer main side robot, and then the outdoor rugged environment of analysis moves shape for multi-foot robot
The influence of state is established based on virtual suspension theory from the man-machine posture of terminal device in the case where considering the fluctuation of body pose
Kinetic model；
The control framework of the pose layer remote operating subsystem, using position-Position Tracking Control pattern, i.e. pose layer main side is controlled
Device processed will instruct from the expected pose of terminal device human organism and be sent to pose layer from side controller through communication port, will come from environment
It holds and the body pose from end robot is caused the equivalent action power fluctuated occur and simulated in the controller of pose layer main side；
The control algolithm of the pose layer remote operating subsystem shows as the design in velocity layer remote operating subsystem and meets stabilization
Property and transparent demand bilateral control rule, the Rational choice range of control law parameter is solved based on passivity analysis method；
The force feedback pattern of the pose layer remote operating subsystem is embodied in and environment end is applied to from terminal device human organism
On equivalent action power be converted into tactile directed force in the controller of pose layer main side and feed back to operator, it is assumed that will be by one
The equivalent virtual component of spring/torsional spring and damper composition is separately mounted to three of body rolling, pitching and lifting
On direction, and stipulated that zero deformation point of equivalent spring represents the target that body is obtained by pose layer main side controller in model
Pose will be produced when body object pose difference occurs with body attained pose inside the virtual spring-damp system of body
Raw one group of equivalent virtual generalized force, and this virtual generalized force is simulated in the robot of pose layer main side, then with tactile
The form of directed force feeds back to operator.
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