CN111880544B - Humanoid robot gait planning method and device and humanoid robot - Google Patents
Humanoid robot gait planning method and device and humanoid robot Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The embodiment of the application discloses a humanoid robot gait planning method and device and a humanoid robot, wherein the method comprises the following steps: the method comprises the steps of obtaining stress information of a swing leg of the humanoid robot in a single-foot supporting period at present; judging whether the swing legs fall to the ground or not according to the stress information, and acquiring bipedal stress information and waist pose of the humanoid robot after the bipedal robot enters a bipedal support period when judging that the swing legs fall to the ground; controlling original support legs according to the waist pose and the waist expected track in the bipedal support period, and controlling original swing legs according to the swing leg expected track; judging whether a preset task switching condition is reached or not according to the bipedal stress information and the bipedal support period transition time length, and switching the track tracking tasks of the original support leg and the original swing leg when the preset task switching condition is reached. According to the technical scheme, the smooth alternate switching of the supporting legs and the swinging legs can be realized in the fast walking process of the humanoid robot, and the dynamic stability of the gesture and the speed of the humanoid robot is ensured.
Description
Technical Field
The application relates to the technical field of humanoid robots, in particular to a humanoid robot gait planning method and device and a humanoid robot.
Background
In the case of fast walking of a humanoid robot, the duration of the bipedal support period is short, how to complete the switching of the support leg and the swing leg in the short time, and ensuring the dynamic stability of the robot posture and the speed is a key problem restricting the development of the humanoid robot. The traditional method generally prescribes the duration of the bipedal support period, the expected motion track of the bipedal relative to the waist coordinate system is planned in advance in the appointed time, and the switching between the support leg and the swing leg is realized by tracking the expected track.
However, the above conventional method has the following disadvantages: firstly, the control method does not consider the stress condition of feet, the state mutation of the robot is easy to cause, and instability can also occur when serious; secondly, the ability of the joint actuator is limited, when the duration of the specified bipedal support period is short, the track tracking precision cannot be ensured, so that the switching condition cannot be achieved on time, and the walking speed of the humanoid robot is limited; thirdly, the method is not suitable for being directly applied to walking scenes and the like with certain gradient or undulating uneven pavement.
Disclosure of Invention
In view of this, the present application aims to overcome the defects in the prior art, and provide a humanoid robot gait planning method, a humanoid robot gait planning device and a humanoid robot.
An embodiment of the present application provides a humanoid robot gait planning method, including:
the method comprises the steps of obtaining stress information of a swing leg of the humanoid robot in a single-foot supporting period at present;
judging whether the swing leg falls to the ground according to the stress information, and acquiring bipedal stress information and waist pose of the humanoid robot after the bipedal robot enters a bipedal support period when judging the landing, wherein when entering the bipedal support period, the support leg in the last monopedal support period is marked as an original support leg, and the swing leg is marked as an original swing leg;
controlling the original support legs according to the acquired waist pose and the waist expected track in the preplanned bipedal support period, and controlling the original swing legs according to the swing leg expected track in the bipedal support period;
judging whether a preset task switching condition is reached or not according to the biped stress information and the preset biped support period transition time length, and switching the track tracking tasks of the original support leg and the original swing leg when the preset task switching condition is reached until the original support leg enters the next monopod support period after being lifted off the ground.
In some embodiments, the humanoid robot gait planning method further comprises:
when the humanoid robot is in the single-foot supporting period, carrying out gravity compensation on the supporting legs;
and when the humanoid robot enters the biped support period, carrying out gravity compensation transition between the original support leg and the original swing leg.
In some embodiments, the gravity compensation transition comprises:
and determining the gravity compensation amounts respectively applied to the original support leg and the original swing leg at each moment according to a preset polynomial curve or trigonometric function curve, wherein the sum of the gravity compensation amounts of the original support leg and the original swing leg at each moment is equal to the gravity born by the humanoid robot.
In some embodiments, the humanoid robot gait planning method further comprises:
when the humanoid robot is in the single-foot supporting period, calculating a control scaling factor according to the stress information of the current supporting leg and the gravity of the humanoid robot;
adjusting the output control moment in the monopod support period according to the calculated control scaling coefficient, wherein the output control moment is calculated according to a preplanned waist expected track in the monopod support period and an actually acquired waist pose;
And controlling each joint of the current supporting leg according to the adjusted control moment.
In some embodiments, the stress information of the current supporting leg includes a component of a ground support reaction force applied to the current supporting leg in a vertical direction, and calculating the control scaling factor according to the stress information of the current supporting leg and the gravity applied to the humanoid robot includes:
when the component is smaller than or equal to a preset first stress threshold, the control scaling factor takes a value as a first preset value, wherein the first stress threshold is calculated according to the first preset factor and the gravity;
when the component is larger than the first stress threshold and smaller than a preset second stress threshold, the control scaling factor takes a value which is a ratio of a first difference value between the component and the first stress threshold to a second difference value between the first stress threshold and the second stress threshold, wherein the second stress threshold is calculated according to a second preset coefficient and the gravity;
and when the component is greater than or equal to the second stress threshold value, the control scaling factor takes a value as a second preset value.
In some embodiments, the first preset value is 0; the second preset value is 1.
In some embodiments, the first predetermined coefficient has a value range of (0, 0.3), and the second predetermined coefficient has a value range of [0.7,1 ].
In some embodiments, the stress information of each leg includes a component of a ground support reaction force received by the sole of the corresponding leg in a vertical direction, a force sensor or a moment sensor is arranged on each leg of the humanoid robot, and the acquiring of the component includes:
acquiring ground support reaction force received by the sole of the corresponding leg under the sole coordinate system of the corresponding leg through the force sensor or the moment sensor of the corresponding leg;
and calculating the component of the ground support reaction force in the vertical direction according to the rotation matrix from the world coordinate system to the plantar coordinate system of the corresponding leg and the ground support reaction force received under the plantar coordinate system.
In some embodiments, the force sensor is a six-dimensional force sensor, and one of the six-dimensional force sensors is provided on the sole of each leg of the humanoid robot.
In some embodiments, the moment sensor comprises a plurality of moment sensors, one for each joint of each leg of the humanoid robot.
In some embodiments, the determining whether the swing leg falls to the ground according to the stress information includes:
Judging whether the component of the ground support reaction force received by the sole of the swing leg in the vertical direction is larger than a preset threshold value, if so, judging that the swing leg falls to the ground, otherwise, judging that the swing leg does not fall to the ground.
In some embodiments, the determining whether the preset task switching condition is reached according to the bipedal stress information and the preset bipedal support period transition time length includes:
when the time length of the humanoid robot entering the biped support period is smaller than the transition time length of the biped support period, the component of the ground support reaction force received by the sole of the original swing leg in the vertical direction is larger than the component of the ground support reaction force received by the sole of the original support leg in the vertical direction; or the duration of the humanoid robot entering the biped support period is equal to the transition duration of the biped support period;
if any one of the two conditions is met, judging that the task switching condition is met, otherwise, judging that the task switching condition is not met.
In some embodiments, the controlling the original support leg according to the lumbar pose and a pre-planned lumbar desired trajectory during the bipedal support period comprises:
calculating the waist expected pose of the humanoid robot according to the waist expected track in the pre-planned biped support period;
Calculating a posture control moment according to the deviation between the waist postures and the waist expected postures;
and controlling each joint of the humanoid robot according to the gesture control moment.
An embodiment of the present application further provides a humanoid robot gait planning device, including:
the information acquisition module is used for acquiring stress information of the swing leg of the humanoid robot in the single-foot support period at present;
the landing judging module is used for judging whether the swinging legs land or not according to the stress information, and acquiring bipedal stress information and waist pose of the humanoid robot after entering a bipedal support period when judging landing, wherein when entering the bipedal support period, the supporting leg in the last monopedal support period is marked as an original supporting leg, and the swinging leg is marked as an original swinging leg;
the track tracking control module is used for controlling the original supporting legs according to the acquired waist pose and the waist expected track in the preplanned bipedal supporting period and controlling the original swinging legs according to the swinging leg expected track in the bipedal supporting period;
and the task switching module is used for judging whether a preset task switching condition is reached according to the biped stress information and the preset biped support period transition time length, and switching the track tracking tasks of the original support leg and the original swing leg when the task switching condition is reached until the original support leg enters the next monopod support period after being lifted off the ground.
An embodiment of the present application further provides a humanoid robot, which performs bipedal support period gait planning in a walking process by adopting the above humanoid robot gait planning method.
An embodiment of the present application further provides a readable storage medium storing a computer program which, when executed, implements the humanoid robot gait planning method according to the above.
Embodiments of the present application have the following advantages:
according to the technical scheme, whether the bipedal support period is entered is judged by utilizing the plantar stress information, and the humanoid robot is controlled by combining the plantar stress information, the waist pose information and the like so as to realize accurate tracking of an expected track; the state switching of the robot is determined by using task switching conditions mainly based on plantar stress information, and task switching of two legs is performed when the state switching is achieved, so that smooth alternate switching of supporting legs and swinging legs of the humanoid robot in the walking process is realized. In addition, the preset task switching conditions can be achieved on time, so that the walking speed of the humanoid robot can be ensured, and the dynamic stability of the gesture and the speed of the robot in the fast walking process can be further ensured.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are required for the embodiments will be briefly described, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope of protection of the present application. Like elements are numbered alike in the various figures.
Fig. 1 shows a first flow diagram of a humanoid robot gait planning method according to an embodiment of the present application;
fig. 2 shows an application schematic of a humanoid robot gait planning method according to an embodiment of the present application;
FIG. 3 shows a second flow diagram of a humanoid robot gait planning method of an embodiment of the present application;
FIG. 4 shows a third flow diagram of a humanoid robot gait planning method of an embodiment of the present application;
fig. 5 shows a fourth flow diagram of a humanoid robot gait planning method according to an embodiment of the present application;
fig. 6 shows a schematic structural diagram of a humanoid robot gait planning apparatus according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments.
The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
In the following, the terms "comprises", "comprising", "having" and their cognate terms may be used in various embodiments of the present application are intended only to refer to a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be interpreted as first excluding the existence of or increasing the likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of this application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is identical to the meaning of the context in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments.
Example 1
Referring to fig. 1, the present embodiment provides a gait planning method for a humanoid robot, which can realize smooth and alternate switching between supporting legs and swinging legs, and further realize stable and rapid walking.
Typically, when the humanoid robot is walking, the two legs will alternately make contact with the contact surface. In the walking process, the two periods mainly comprise a single-foot supporting period and a double-foot supporting period, and the two periods sequentially occur. The bipedal support period mainly refers to a transition period when two legs are alternately switched, and can also be called a bipedal transition period. It is understood that the contact surface herein may refer to any grade-independent supporting ground or supporting platform or the like.
The sole of the leg in the supported state will receive a supporting reaction force from the contact surface, also called ground support reaction force, both during the single-foot supporting period and during the bipedal supporting period. The ground support reaction force includes forces in the three directions X, Y and Z, which can be acquired by force sensors or moment sensors provided on the humanoid robot.
Step S110, stress information of the swing leg of the humanoid robot in the single-foot supporting period at present is obtained.
In this embodiment, the stress information of the swing leg mainly refers to a stress component of a ground support reaction force applied to the sole of the swing leg in a vertical direction, that is, a component in a Z direction.
For a better description of the coordinate system used in the embodiments of the present application, reference is made to fig. 2, which illustrates a single-foot support period at a certain moment, in which case if the right leg is the support leg and the left leg is the swing leg, as shown in fig. 2, C w Representing the world coordinate system, wherein X w And Z w Respectively representing an X direction and a Z direction; c (C) t Representing the trunk coordinate system of the humanoid robot (also the coordinate system of the waist), C l Represents the left foot sole coordinate system, C r Representing the coordinate system of the sole of the right foot, namely the coordinate system of the supporting leg at the moment, wherein the world coordinate system C w And the coordinate system C of the supporting legs r The origins coincide. Considering that the humanoid robot is mainly subjected to gravity vertically downwards in the running process, the embodiment acquires a world coordinate system C w The lower sole is stressed.
The sole stress can be acquired and calculated through corresponding sensors. In one embodiment, a six-dimensional force sensor is mounted on each sole of each leg of the humanoid robot, and the coordinates of the selectable sensors are the same as those of each sole, so that the six-dimensional force sensor outputs forces and moments applied to the sole of the corresponding leg in the directions X, Y and Z respectively. Further, a component of the ground support reaction force in the vertical direction is calculated from the rotation matrix from the world coordinate system to the sole coordinate system of the corresponding leg and the ground support reaction force received under the sole coordinate system.
For example, as shown in FIG. 2, taking the right leg currently in the support state as an example, if the output of the six-dimensional force sensor is recordedIs F r Wherein F is r Is a six-dimensional vector and comprises forces and moments respectively applied to the sole of the right leg in the directions X, Y and Z, if the world coordinate system C w To the plantar coordinate system C of the right leg r Is R wr At this time, the component F of the ground support reaction force in the vertical direction w The method comprises the following steps:
F w ＝R wr F r 。
in another embodiment, a moment sensor may be disposed on each joint of each leg of the humanoid robot, the external moment received by each joint is acquired by each moment sensor on the corresponding leg, and then the sole stress of the corresponding leg, that is, the above ground support reaction force, may be calculated by using the velocity jacobian matrix of the trunk coordinate system relative to the sole coordinate system of the corresponding leg. Further, the component of the ground support reaction force in the vertical direction is calculated from the ground support reaction force received under the sole coordinate system according to the rotation matrix from the world coordinate system to the trunk coordinate system.
For example, if the number of joint drives of a single leg of the humanoid machine is N, as shown in fig. 2, the moment of each joint of the right leg is denoted as τ, taking the right leg in the currently supported state as an example r ，τ r Is an N-dimensional vector. If the trunk coordinate system C t Relative to the plantar coordinate system C of the right leg r Velocity jacobian matrix of J rt Thus, with respect to the trunk coordinate system C t Force F of the sole of the right leg in X, Y, Z three directions t The method comprises the following steps:
F t ＝(J rt ) -1 τ r 。
further, the component F of the sole force in the vertical direction is calculated by utilizing the coordinate system conversion w Wherein R is as follows wt Is the world coordinate system C w To the trunk coordinate system C t Is a rotation matrix of (a):
F w ＝R wt F t 。
it should be understood that, to obtain the component of the ground support reaction force applied to the sole of the humanoid robot in the vertical direction, the above two embodiments are only examples, and the type and the installation position of the sensor are not limited to these two embodiments, and may be specifically determined according to practical requirements.
And step S120, judging whether the swing legs fall to the ground or not according to the stress information, and acquiring bipedal stress information and waist pose of the humanoid robot after the bipedal robot enters a bipedal support period when judging that the swing legs fall to the ground.
The traditional gait planning method does not consider the stress condition of the sole, the state mutation of the robot is easy to cause during switching, and instability can also occur during severe cases. Therefore, in the whole gait planning process, the plantar stress of the humanoid robot is considered, for example, the landing condition is judged by the plantar stress information of the swing legs in the single-foot supporting period, the humanoid robot is controlled by the information of the bipedal stress information, the waist pose and the like after landing, and the bipedal stress information is also used for judging when the bipedal task switching is performed, so that the smooth transition of the stress condition and the state of the humanoid robot in the bipedal supporting period is ensured.
Exemplarily, when the humanoid robot is in a single-foot supporting period, whether the humanoid robot falls to the ground can be judged according to the plantar stress of the swinging leg in a suspended state. For example, after the component of the ground support reaction force applied to the sole of the swing leg in the vertical direction is obtained, whether the component is larger than a preset threshold value or not can be judged, if so, the swing leg is judged to fall to the ground at the moment, otherwise, the swing leg is judged to not fall to the ground yet. It will be appreciated that the preset threshold may be set according to actual requirements, and is not limited herein.
If the swing leg is judged not to fall to the ground, the fact that the humanoid robot is still in the single-foot supporting period is indicated, at the moment, the swing leg is controlled according to the expected track of the swing leg in the single-foot supporting period which is planned in advance, and the support leg is controlled according to the expected track of the waist in the single-foot supporting period, so that the waist of the humanoid robot tracks the expected track which is planned in advance and changes with time.
If the swing legs are judged to fall to the ground, the step that the humanoid robot enters the biped support period is described. For example, the stress information of each of the feet can be obtained through a corresponding force sensor or moment sensor. The position information of the feet and the waist in the world coordinate system can be acquired and calculated by, for example, a sensor or a displacement encoder mounted at each joint. The attitude of the waist relative to the ground can be measured, for example, by an Inertial Measurement Unit (IMU) or the like mounted on the waist of the humanoid robot. It should be understood that the lumbar pose is not limited to lumbar positions and postures, and in some embodiments, may include only one of lumbar positions and postures.
And step S130, controlling the original support legs according to the acquired waist pose and the waist expected track in the preplanned bipedal support period, and controlling the original swing legs according to the swing leg expected track in the bipedal support period.
For example, when the humanoid robot enters the biped support period, the support leg in the previous monopod support period may be referred to as the original support leg and the swing leg may be referred to as the original swing leg, for example, the monopod support period shown in fig. 2 is taken as an example, and the left leg at this time will be referred to as the original support leg and the right leg as the original swing leg. Further, at the landing time, the initialization time variable t=0. It will be appreciated that when the state of a humanoid robot changes, the gait of the humanoid robot typically needs to be re-planned and the gait at different times will often be different.
For ease of understanding, the bipedal support period is divided into two phases, a first phase after entering the bipedal support period to before task character switching of both legs, and a second phase after task character switching of both legs to before reentering the next bipedal support period (i.e., new swing leg lift-off), respectively. When the preset task switching conditions are met, the humanoid robot enters a second stage from the first stage.
The step S130 is mainly to control the original support leg and the original swing leg according to the desired trajectory in the pre-planned bipedal support period in the first stage. For example, for the original support leg of the humanoid robot, the control will be in accordance with the desired trajectory of the waist in the bipedal support period, i.e. the original support leg is still responsible for the trajectory tracking and upper body posture control of the robot waist, except for the different time periods. Taking fig. 2 as an example, during the single-foot support period, the left leg is now the support leg, so after entering the bipedal support period, the left leg will be identified as the original support leg and will be used to control lumbar motion. And for the original swing leg, the control will follow the desired trajectory of the swing leg during the bipedal support period.
In one embodiment, as shown in fig. 3, the above-mentioned control of the original support leg according to the lumbar pose and the lumbar desired trajectory during the pre-planned bipedal support period mainly includes:
step S131, calculating the waist expected pose of the humanoid robot according to the waist expected track in the pre-planned bipedal support period.
And S132, calculating the attitude control moment according to the acquired waist pose and the deviation between the expected waist poses.
And step S133, controlling each joint of the humanoid robot according to the gesture control moment.
Exemplary, if the humanoid robot has a waist pose X t Expressed by a six-dimensional vector, i.e. having X t ＝[x t ,y t ,z t ,roll t ,pitch t ,yaw t ]Wherein (x) t ,y t ,z t ) Representing the coordinate position of the waist in the world coordinate system, including coordinate values in the directions of the X-axis, Y-axis and Z-axis; (roll) t ,pitch t ,yaw t ) The attitude of the lumbar region relative to the ground is represented, including roll angle, pitch angle, and yaw angle. At this time, each joint driver of the original support leg will control the movement of the waist to make the waist follow the expected track of the waist in the bipedal support periodTracking the track, wherein t is 0, T dsp ]，T dsp The transition time length of the bipedal support period is preset.
Thus, the desired trajectory can be obtained by the waist portionCalculating to obtain waist periods at different momentsThe observation pose, and the actual waist pose can be measured and calculated by an IMU, a joint encoder and the like. Furthermore, the deviation between the expected value and the actual value fed back is utilized to calculate the control moment for controlling each joint, so that the accurate tracking of the expected waist track can be realized.
Typically, during the monopod support period, the swing leg will be controlled according to the expected track of the swing leg in the preplanned monopod support period, and for example, for a flat foot robot with a foot plate, the state vector of the swing leg can be represented by a six-dimensional vector, taking the left leg as shown in fig. 2 as an example, namely, X is provided l ＝[x l ,y l ,z l ,roll l ,pitch l ,yaw l ]Wherein (x) l ,y l ,z l ) Representing the position of the swing leg in world coordinate system; and (roll) l ,pitch l ,yaw l ) Indicating the attitude of the swing leg relative to the ground. For the robot with the foot, since there is no foot plate, there is no foot plate gesture, which can be represented by a three-dimensional vector, namely X l ＝[x l ,y l ,z l ]。
After entering the bipedal support period, taking the left leg shown in fig. 2 as an example, the expected track of the swing leg in the bipedal support period can be recorded asWherein t is [0, T ] dsp ]. Generally, the desired state of the original swing leg during the bipedal support period +.>It can be understood that: maintaining the landing time in XY direction relative to the world coordinate system C w The Z direction smoothly transitions from the actual value at the landing time to the desired elevation; and for the flat-foot robot with the foot plate, the posture of the foot plate is smoothly transited from an actual value at the landing time to a state parallel to the ground.
In the bipedal support period, along with the execution of respective track tracking by the two legs of the humanoid robot, when a preset task switching condition is reached, the two legs can perform task exchange. At this point, the humanoid robot will go from the first stage to the second stage.
And step S140, judging whether a preset task switching condition is reached according to the biped stress information and the preset biped support period transition time length, and switching the track tracking tasks of the original support leg and the original swing leg when the preset task switching condition is reached until the original support leg enters the next monopod support period after being lifted off the ground.
Considering that different landing situations may exist, the embodiment will determine when to perform task switching based on stress information of the feet and transition time of the supporting periods of the feet, so that state switching of the humanoid robot in the walking process can be better dealt with, especially for uneven ground, the situation that the landing of swing legs occurs in advance of planning and the landing of swing legs occurs behind planning caused by uneven road surfaces can be effectively processed, in other words, the method of the embodiment can enable the humanoid robot to have no requirement on topography and terrain, and has wide adaptability.
For the above step S140, the preset task switching conditions mainly include: when the length of time for the humanoid robot to enter the biped support period is smaller than the preset biped support period transition length, the component of the ground support reaction force received by the sole of the original swing leg in the vertical direction is larger than that received by the sole of the original support leg in the vertical direction. Or when the duration of the humanoid robot entering the biped support period is equal to the preset biped support period transition duration, namely the transition duration is reached.
The component of the ground support reaction force in the vertical direction, which is applied to the sole of the original swing leg, is exemplarily described as The component of the ground support reaction force applied to the sole of the original support leg in the vertical direction is marked as +.>The transition time length of the bipedal support period is T dsp The preset task switch condition may be expressed as:
that is, if either of the above two conditions is satisfied, it is determined that the task switching condition is satisfied, or else it is determined that the task switching condition is not satisfied.
The task switching refers to the expected track of the swing leg in the bipedal support period where the original support leg will execute new planning; while the original swing leg will perform the desired lumbar trajectory and upper torso pose control during the newly planned bipedal support period. Then, after the bipedal support period is over, the original support leg becomes the swing leg in the next monopod support period for executing the desired trajectory of the swing leg in the monopod support period; meanwhile, the original swing leg is changed into a supporting leg and is used for executing the waist expected track and the upper trunk gesture control in the single-foot supporting period.
It can be understood that, for the first condition, the first condition is mainly determined by comparing the stress magnitudes of the two legs before reaching the preset transition time, so that the condition of landing in advance can be effectively dealt with. For example, when the robot encounters a raised ground or an ascending slope, the component of the ground support reaction force received by the sole of the original swing leg in the vertical direction is often increased to be greater than the component of the ground support reaction force received by the original support leg in the vertical direction before the transition time is not reached, and at this time, task switching of two legs can be performed in advance without waiting for the transition time. And the second condition is mainly judged according to the time length of entering the bipedal support period, for example, when the robot encounters a pothole ground or a downhill slope, the task switching of the two legs is forced regardless of the plantar stress condition of the bipedal at the moment as long as the preset transition time length is exceeded, so that the situation of lagging landing can be effectively dealt with.
It should be noted that, considering that the transition duration of the bipedal support period is often shorter, especially during fast walking, the duration of the humanoid robot after entering the second phase from the first phase is usually negligible, in other words, the bipedal support period is also substantially ended after the task switching of the humanoid robot. In some embodiments, such as the occasion of controlling fast walking, the support leg and the swing leg after task switching can be controlled respectively according to the waist expected track and the swing leg expected track in the next single-foot support period.
For the step S140, after the task of two legs is switched, the stress information of each of the two feet and the positions of the two feet and the waist in the world coordinate system can be obtained to track the task track of the two legs. And, it will also judge whether the new supporting leg is lifted off, exemplarily, whether the component of the ground support reaction force received by the sole of the new supporting leg is smaller than the above-mentioned preset threshold, if it is smaller than or equal to the above-mentioned preset threshold, then judge that the supporting leg is lifted off, at this time, the supporting period of biped ends, and enter the supporting period of the next biped, up to this point, has completed the whole process of biped alternation.
The gait planning method of the embodiment is based on time planning and plantar stress information, so that the automation degree of the switching process of the swing leg and the supporting leg is higher and more intelligent; the two task switching conditions can effectively cope with the situations of early landing and late landing, namely, the situation of no requirement on the topography and the land has wide adaptability. In addition, the task switching condition can be achieved in time, so that the walking speed of the humanoid robot can be ensured. In addition, the state switching of the robot is mainly determined through stress information, so that the robot has no dependency on the transition time of the bipedal support period, namely is applicable to fast walking and slow walking scenes. By using the method, rapid continuous walking can be realized, and the upper body can be kept to stably track the expected gesture track and the like.
Example 2
Referring to fig. 4, based on the method of the above embodiment 1, the method for planning gait of the humanoid robot according to the present embodiment further includes performing gravity compensation during a single-foot support period and a double-foot support period, and specifically includes:
step S210, when the humanoid robot enters a single-foot supporting period, the supporting legs are subjected to gravity compensation.
Illustratively, for the monopod support period, the total amount of gravity compensation is F g ＝[0,0,mg]Wherein mg is the weight force experienced by the humanoid robot, and the total weight force compensation is applied to the support legs.
It will be appreciated that, for the above step S210, which generally occurs when the monopod support period is entered, the execution sequence of the partial steps in the method of the above embodiment 1 is not particularly limited, and for example, the step S110 may be executed in sequential order, or may be executed simultaneously.
And step S220, when the humanoid robot enters a bipedal support period, carrying out gravity compensation transition between the original support leg and the original swing leg.
The weight compensation amounts respectively applied to the original support leg and the original swing leg at each moment can be determined according to a preset function curve, wherein the sum of the weight compensation amounts of the original support leg and the original swing leg at each moment is equal to the weight force suffered by the humanoid robot. For example, the predetermined function curve may include, but is not limited to, a polynomial curve or a trigonometric curve, etc.
Taking a linear function curve as an example, the gravity compensation quantity of the original supporting leg isThe gravity compensation quantity of the original swing leg isThe following formula is then satisfied:
it will be appreciated that after the bipedal support period, the weight compensation of the original support leg will gradually decrease to 0 and the weight compensation of the original swing leg will gradually increase to F g The sum of the two is always equal to F g Since the weight of the robot is gradually transferred from the original support leg to the original swing leg, the upper trunk of the robot can be better and stably tracked to the waist expected track.
It is noted that for the duration of the gravity compensation transition described above, it is generally calculated from the time of entering the bipedal support period and stopped until the end of the bipedal support period. As an embodiment, before the task switch is performed on the two legs, the gravity compensation transition may be performed according to the step S220; when the two legs are subjected to task switching, as the original swing legs are not lifted off, and the gravity compensation transition between the original swing legs and the original support legs is not completed at the moment, the rest gravity compensation transition can be continuously completed until the original support legs are lifted off to enter the next single-foot support period, and finally the total weight of the gravity compensation applied to the original swing legs serving as new support legs is the total weight of the gravity compensation.
In another embodiment, considering that the transition time of the whole bipedal support period is short, when the two legs are subjected to task switching, especially in the fast walking process, bipedal transition is basically completed, and the rest gravity compensation amount which is not completed in the transition process can be applied to the original swing leg at one time, namely, the total gravity compensation amount is applied to the new support leg.
It will be understood that, in the step S220, since the step is performed after the step S120 is performed when the bipedal support period is entered, the execution sequence of the step S120 is not limited to the above, and the step S may be performed simultaneously or in a predetermined order.
Example 3
Referring to fig. 5, based on the above embodiment 1 or 2, the method for planning the gait of the humanoid robot according to the present embodiment further includes performing control moment adjustment during the single-foot support period, so as to effectively avoid the skidding and instability of the sole of the robot. Illustratively, the method further comprises:
step S310, when the humanoid robot is in a single-foot supporting period, a control scaling coefficient is calculated according to stress information of the current supporting legs and the gravity born by the humanoid robot.
The stress information of the supporting leg mainly comprises a component of the ground support reaction force applied by the supporting leg in the vertical direction. The control scaling factor is mainly determined by the sole stress of the supporting leg and the gravity of the robot.
In one embodiment, the calculating the control scaling factor according to the stress information of the current supporting leg and the gravity of the humanoid robot includes:
And when the component is smaller than or equal to a preset first stress threshold, the control scaling factor takes a value as a first preset value, wherein the first stress threshold is calculated according to the first preset factor and the gravity. Illustratively, in one embodiment, the first preset value may be 0.
When the component is larger than the first stress threshold and smaller than a preset second stress threshold, the control scaling factor takes the value of the ratio of a first difference value between the component and the first stress threshold to a second difference value between the first stress threshold and the second stress threshold, wherein the second stress threshold is calculated according to a second preset coefficient and the gravity;
and when the component is greater than or equal to the second stress threshold value, the control scaling factor takes a value as a second preset value. Illustratively, in one embodiment, the second preset value may be 1.
If the expression is used for describing, the component of the ground support reaction force applied to the current support leg in the vertical direction is F z Controlling the scaling coefficient to be eta, wherein eta is [0,1 ]]The first preset value is selected to be 0 and the second preset value is selected to be 1, so that:
in the above formula, f 1 ＝i*mg，f 2 =j×mg, where m is the total mass of the robot, g is the gravitational acceleration; i is a first preset coefficient, and j is a second preset coefficient.
In one embodiment, the first predetermined coefficient has a value in the range of (0, 0.3) and the second predetermined coefficient has a value in the range of [0.7,1 ]. It can be appreciated that in practical application, the first preset coefficient and the second preset coefficient may be used as adjustable parameters according to the actual ground friction situation, so as to be suitable for different ground friction situations.
And step S320, adjusting the output control moment in the single-foot support period according to the calculated control scaling coefficient. The output control moment is calculated according to a waist expected track in a pre-planned monopod supporting period and an actually acquired waist pose.
In order to more clearly describe the control moment adjustment of the present embodiment, the following will exemplify the output control moment of the upper body posture of the robot. It can be understood that the output control moment in the single-foot support period is not limited to the attitude control moment, and can be calculated according to actual requirements.
Taking the gesture control (also waist gesture control) of the upper body of the robot during walking as an example, the measured waist gesture is recorded as Θ t When deviating from the desired postureIn one embodiment, the corresponding attitude control torque, such as a proportional-derivative (PD) controller, can be calculated and output by an attitude feedback controller, so that the attitude control torque + >With the actual posture theta of the waist t Desired posture->The following operational relationship is satisfied:
wherein K is p 、K d A proportional coefficient matrix and a differential coefficient matrix in the PD controller respectively;and->Desired posture of waist respectively->Actual posture theta t Is a derivative of (a). It should be appreciated that attitude control moment->The moment is controlled for the generalized attitude. The above-mentioned gesture feedback controller is not limited to the above-mentioned PD controller, but may be other controllers, such as PID controller, etc., and may be specifically selected according to actual needs, and is not limited herein.
Before being adjusted, each joint of the humanoid robot is usually directly controlled by using the calculated gesture control moment. However, in order to ensure that the supporting foot meets the friction cone constraint with the ground, the present embodiment proposes to perform scaling control on the output control moment, that is, multiplying the calculated unregulated output control moment by the solved control scaling coefficient, so as to achieve the adjustment purpose.
Taking the attitude control moment as an example, if the attitude control moment in the single-foot support period isThe adjusted attitude control moment is +>
And step S330, controlling each joint of the current supporting leg according to the adjusted control moment.
Before the adjustment, the calculated output control moment is generally used for controlling each joint of the humanoid robot. For a force-controlled robot, the moment is illustratively controlled in a gestureFor example, non-linearities will be considered due to the presence of non-linear terms in the kinetic equationCompensation of the linear term, moment of the respective joint ∈>The solution can be found by the following formula:
wherein J is rt Is the trunk coordinate system C t Relative to the plantar coordinate system C of the right leg r Velocity jacobian matrix of (2); d (q) R ) Is a quality matrix;to compensate for the amount, including coriolis force, centrifugal force, and gravity of the robot dynamics; q R Representing a generalized quantity comprising the robot waist pose and the angles of the various joints, wherein +.>Representing the generalized quantity q R Is to ask for help or be in the form of->Representation pair->Is a derivative of (2).
For a position-controlled robot, in one embodiment, the angles of the various joints may be further calculated by the joint admittance controller, e.g., by solving the aboveAs input to the admittance controller, the angle of the respective joint +.>As an output of the admittance controller.
For the above step S330, it is exemplary that only the attitude control moment before adjustment is requiredInstead of the adjusted attitude control moment +. >Substituting the above formula.
It will be appreciated that, as for the above steps S310 to S330, since they occur in the monopod support period, the execution sequence of the steps with other steps in the method of the above embodiment 1 or 2 is not particularly limited, as long as it can be executed after the corresponding plantar stress information is acquired and within the monopod support period.
The gait planning method of the embodiment can realize smooth alternate switching between the swing legs and the supporting legs based on plantar stress information and the like, effectively cope with the situations of early landing and late landing, and simultaneously consider gravity compensation, and ensure the friction cone constraint of the plantar of the supporting legs and the ground in a single-foot supporting period by combining plantar stress information of the supporting legs and the gravity of the robot, thereby ensuring that the plantar of the robot is effectively prevented from slipping and unstably in the rapid walking process of the robot, improving the dynamic stability of the gesture and the speed of the humanoid robot and the like.
Example 4
Referring to fig. 6, based on the method of the above embodiment 1, 2 or 3, the present embodiment provides a humanoid robot gait planning apparatus 10, which includes:
the information acquisition module 110 is configured to acquire stress information of a swing leg of the humanoid robot currently in a single-foot support period.
The landing judging module 120 is configured to judge whether the swing leg lands according to the stress information, and obtain bipedal stress information and a waist pose of the humanoid robot after entering a bipedal support period when the landing is judged, where when entering the bipedal support period, a support leg in a previous monopedal support period is recorded as an original support leg, and the swing leg is recorded as an original swing leg.
The track tracking control module 130 is configured to control the original support leg according to the acquired lumbar pose and a pre-planned lumbar desired track during the bipedal support period, and control the original swing leg according to a swing leg desired track during the bipedal support period.
And the task switching module 140 is configured to determine whether a preset task switching condition is reached according to the biped stress information and a preset biped support period transition time, and switch the track tracking tasks of the original support leg and the original swing leg when the task switching condition is reached until the original support leg enters a next monopod support period after being lifted off the ground.
In an alternative embodiment, the humanoid robot gait planning apparatus 10 further includes:
the gravity compensation module is used for carrying out gravity compensation on the supporting legs when the humanoid robot is in the single-foot supporting period; and when the humanoid robot enters the biped support period, carrying out gravity compensation transition between the original support leg and the original swing leg.
In an alternative embodiment, the humanoid robot gait planning apparatus 10 further includes:
the control and adjustment module is used for calculating a control scaling factor according to stress information of the current supporting leg and the gravity born by the humanoid robot when the humanoid robot is in the single-foot supporting period; adjusting the output control moment in the monopod support period according to the calculated control scaling coefficient, wherein the output control moment is calculated according to a preplanned waist expected track in the monopod support period and an actually acquired waist pose; and controlling each joint of the current supporting leg according to the adjusted control moment.
It will be appreciated that the apparatus of this embodiment corresponds to the method of embodiment 1 or 2 or 3 described above, and that the options of embodiment 1 or 2 or 3 described above are equally applicable to this embodiment, and therefore will not be described in detail here.
An embodiment of the present application further proposes a humanoid robot, which can perform the functions of each module in the method of the above embodiment 1 or 2 or 3 or the device of embodiment 4 when planning gait in the bipedal support period when walking. The humanoid robot may be a flat-foot robot with a foot plate, a spot-foot robot, or the like, for example.
An embodiment of the present application further provides a readable storage medium storing a computer program, which when executed, performs the above-described humanoid robot gait planning method.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, of the flow diagrams and block diagrams in the figures, which illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules or units in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application.
Claims (12)
1. The gait planning method of the humanoid robot is characterized by comprising the following steps of:
the method comprises the steps of obtaining stress information of a swing leg of the humanoid robot in a single-foot supporting period at present;
judging whether the swing leg falls to the ground according to the stress information, and acquiring bipedal stress information and waist pose of the humanoid robot after the bipedal robot enters a bipedal support period when judging the landing, wherein when entering the bipedal support period, the support leg in the last monopedal support period is marked as an original support leg, and the swing leg is marked as an original swing leg;
controlling the original support legs according to the acquired waist pose and the waist expected track in the preplanned bipedal support period, and controlling the original swing legs according to the swing leg expected track in the bipedal support period;
judging whether a preset task switching condition is met according to the biped stress information and the preset biped support period transition time length, and switching the track tracking tasks of the original support leg and the original swing leg when the preset task switching condition is met until the original support leg enters the next monopod support period after being lifted off the ground;
Wherein, the judging whether the preset task switching condition is reached according to the biped stress information and the preset biped support period transition time length comprises:
when the time length of the humanoid robot entering the biped support period is smaller than the transition time length of the biped support period, the component of the ground support reaction force received by the sole of the original swing leg in the vertical direction is larger than the component of the ground support reaction force received by the sole of the original support leg in the vertical direction; or the duration of the humanoid robot entering the biped support period is equal to the transition duration of the biped support period; if any one of the two conditions is met, judging that the task switching condition is met, otherwise, judging that the task switching condition is not met.
2. The method as recited in claim 1, further comprising:
when the humanoid robot is in the single-foot supporting period, carrying out gravity compensation on the supporting legs;
and when the humanoid robot enters the biped support period, carrying out gravity compensation transition between the original support leg and the original swing leg.
3. The method of claim 2, wherein the gravity compensated transition comprises:
And determining the gravity compensation amounts respectively applied to the original support leg and the original swing leg at each moment according to a preset polynomial curve or trigonometric function curve, wherein the sum of the gravity compensation amounts of the original support leg and the original swing leg at each moment is equal to the gravity born by the humanoid robot.
4. The method according to claim 1 or 2, further comprising:
when the humanoid robot is in the single-foot supporting period, calculating a control scaling factor according to the stress information of the current supporting leg and the gravity of the humanoid robot;
adjusting the output control moment in the monopod support period according to the calculated control scaling coefficient, wherein the output control moment is calculated according to a preplanned waist expected track in the monopod support period and an actually acquired waist pose;
and controlling each joint of the current supporting leg according to the adjusted control moment.
5. The method of claim 4, wherein the force information of the current support leg includes a component of a ground support reaction force applied to the current support leg in a vertical direction, and wherein calculating the control scaling factor based on the force information of the current support leg and the weight applied to the humanoid robot includes:
When the component is smaller than or equal to a preset first stress threshold, the control scaling factor takes a value as a first preset value, wherein the first stress threshold is calculated according to the first preset factor and the gravity;
when the component is larger than the first stress threshold and smaller than a preset second stress threshold, the control scaling factor takes a value which is a ratio of a first difference value between the component and the first stress threshold to a second difference value between the first stress threshold and the second stress threshold, wherein the second stress threshold is calculated according to a second preset coefficient and the gravity;
and when the component is greater than or equal to the second stress threshold value, the control scaling factor takes a value as a second preset value.
6. The method according to claim 1, wherein the stress information of each leg comprises a component of ground support reaction force applied to the sole of the corresponding leg in a vertical direction, and a force sensor or a moment sensor is arranged on each leg of the humanoid robot, and the acquisition of the component comprises:
acquiring ground support reaction force received by the sole of the corresponding leg under the sole coordinate system of the corresponding leg through the force sensor or the moment sensor of the corresponding leg;
And calculating the component of the ground support reaction force in the vertical direction according to the rotation matrix from the world coordinate system to the plantar coordinate system of the corresponding leg and the ground support reaction force received under the plantar coordinate system.
7. The method of claim 6, wherein the force sensor is a six-dimensional force sensor, one of the six-dimensional force sensors being provided on the sole of each leg of the humanoid robot;
or, the moment sensors comprise a plurality of moment sensors, and one moment sensor is arranged on each joint of each leg of the humanoid robot.
8. The method of claim 1 or 6, wherein said determining whether the swing leg is landed based on the force information comprises:
judging whether the component of the ground support reaction force received by the sole of the swing leg in the vertical direction is larger than a preset threshold value, if so, judging that the swing leg falls to the ground, otherwise, judging that the swing leg does not fall to the ground.
9. The method of claim 1, wherein the controlling the original support leg according to the lumbar pose and a pre-planned lumbar desired trajectory during the bipedal support period comprises:
calculating the waist expected pose of the humanoid robot according to the waist expected track in the pre-planned biped support period;
Calculating a posture control moment according to the deviation between the waist postures and the waist expected postures;
and controlling each joint of the humanoid robot according to the gesture control moment.
10. A humanoid robot gait planning device, comprising:
the information acquisition module is used for acquiring stress information of the swing leg of the humanoid robot in the single-foot support period at present;
the landing judging module is used for judging whether the swinging legs land or not according to the stress information, and acquiring bipedal stress information and waist pose of the humanoid robot after entering a bipedal support period when judging landing, wherein when entering the bipedal support period, the supporting leg in the last monopedal support period is marked as an original supporting leg, and the swinging leg is marked as an original swinging leg;
the track tracking control module is used for controlling the original supporting legs according to the acquired waist pose and the waist expected track in the preplanned bipedal supporting period and controlling the original swinging legs according to the swinging leg expected track in the bipedal supporting period;
the task switching module is used for judging whether a preset task switching condition is met according to the biped stress information and the preset biped support period transition time length, and switching the track tracking tasks of the original support leg and the original swing leg when the task switching condition is met until the original support leg enters the next monopod support period after being lifted off the ground;
Wherein, the judging whether the preset task switching condition is reached according to the biped stress information and the preset biped support period transition time length comprises:
when the time length of the humanoid robot entering the biped support period is smaller than the transition time length of the biped support period, the component of the ground support reaction force received by the sole of the original swing leg in the vertical direction is larger than the component of the ground support reaction force received by the sole of the original support leg in the vertical direction; or the duration of the humanoid robot entering the biped support period is equal to the transition duration of the biped support period; if any one of the two conditions is met, judging that the task switching condition is met, otherwise, judging that the task switching condition is not met.
11. A humanoid robot characterized in that bipedal support period gait planning in walking is performed by using the humanoid robot gait planning method of any one of claims 1 to 9.
12. A readable storage medium, characterized in that it stores a computer program which, when executed, implements the humanoid robot gait planning method according to any one of claims 1 to 9.
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| PCT/CN2020/140562 WO2022027914A1 (en) | 2020-08-07 | 2020-12-29 | Gait planning method and device for humanoid robot, and humanoid robot |
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