CN112256030B - Footprint generation method and device for robot, robot and medium - Google Patents
Footprint generation method and device for robot, robot and medium Download PDFInfo
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Abstract
The invention provides a footprint generation method and device for a robot, the robot and a medium, and relates to the technical field of data processing. The method comprises the following steps: performing compliance treatment on a preset walking path to obtain a target walking path; processing the target walking path according to the distance between the feet of the biped robot to obtain the biped walking path of the biped robot; and obtaining a footprint sequence of the biped robot according to the preset stepping distance and the biped walking path. And obtaining a target walking path after the smoothing treatment, smoothing the break angle in the target walking path, further obtaining a biped walking path which is more smooth and smoother based on the target walking path, obtaining a footprint sequence which is more smooth and smoother based on the biped walking path, and turning more naturally, and controlling the biped robot to walk based on the footprint sequence to enable the biped robot to walk more smoothly.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a footprint generation method and device for a robot, the robot and a medium.
Background
The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, and can assist human beings to complete some work. With the advent of the intelligent era, various intelligent robots have come on many times, and automatic control of robots has become one of important topics.
In the related technology, direct interpolation planning is carried out according to the current position of the robot and a preset target point based on the defined stride and sole orientation of the robot, and a walking footprint method for the robot to walk to the target point is obtained.
However, in the related art, the footprints of the robot obtained by the interpolation planning mode are not naturally turned, and the problem that the robot is not smooth to walk easily occurs.
Disclosure of Invention
The present invention aims to provide a method, an apparatus, a robot and a medium for generating a footprint of a robot, so as to solve the problem in the related art that the robot footprint obtained by interpolation planning is not naturally steered and the robot is likely to walk smoothly.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a footprint generation method for a biped robot, including:
performing compliance treatment on a preset walking path to obtain a target walking path;
processing the target walking path according to the distance between the feet of the biped robot to obtain the biped walking path of the biped robot;
and obtaining a footprint sequence of the biped robot according to a preset stepping distance and the biped walking path.
Optionally, the performing a compliance process on the preset walking path to obtain a target path includes:
respectively carrying out N continuous coordinate points on the preset walking path by taking the preset coordinate points on the preset walking path as starting pointscCarrying out averaging processing on the coordinate points to obtain a plurality of target coordinate points; n is a radical ofcIs greater than or equal toAn integer at 2;
and generating the target walking path according to the plurality of target coordinate points and the preset walking direction of the preset walking path.
Optionally, the preset coordinate point is a walking starting point or a walking ending point on the preset walking path.
Optionally, the processing the target walking path according to the distance between the two feet of the biped robot to obtain the biped walking path of the biped robot includes:
drawing circular arcs at preset circle center intervals along the target walking path to obtain a plurality of circular arcs with circle centers on the target walking path; wherein the diameter of each arc is the bipedal spacing;
and obtaining the biped walking path according to the envelope lines of the circular arcs at the two sides of the target walking path.
Optionally, the obtaining a footprint sequence of the biped robot according to a preset stepping distance and the biped walking path includes:
drawing an arc by taking a foot trace point on one of the two foot walking paths as a circle center and the preset stepping distance as a radius;
determining the intersection point of the arc with the preset stepping distance as the radius and the other path in the double-foot walking path as the next foot path point on the other path;
and respectively generating two footprint sequences of the biped robot according to the plurality of footprint points on the one path and the plurality of footprint points on the other path.
Optionally, the method further includes:
and controlling the biped robot to walk according to the footprint sequence.
In a second aspect, an embodiment of the present invention further provides a footprint generating apparatus for a biped robot, including:
the processing module is used for performing compliance processing on the preset walking path to obtain a target walking path; processing the target walking path according to the distance between the feet of the biped robot to obtain the biped walking path of the biped robot;
and the acquisition module is used for acquiring a footprint sequence of the biped robot according to a preset stepping distance and the biped walking path.
Optionally, the processing module is further configured to use a preset coordinate point on the preset walking path as a starting point, and respectively perform N consecutive coordinate points on the preset walking pathcCarrying out averaging processing on the coordinate points to obtain a plurality of target coordinate points; n is a radical ofcIs an integer greater than or equal to 2; and generating the target walking path according to the plurality of target coordinate points and the preset walking direction of the preset walking path.
Optionally, the preset coordinate point is a walking starting point or a walking ending point on the preset walking path.
Optionally, the processing module is further configured to draw arcs along the target walking path at preset circle center intervals to obtain a plurality of arcs with circle centers on the target walking path; wherein the diameter of each arc is the bipedal spacing; and obtaining the biped walking path according to the envelope lines of the circular arcs at the two sides of the target walking path.
Optionally, the obtaining module is configured to draw an arc with a foot trace point on one of the two foot walking paths as a center of a circle and the preset stepping distance as a radius; determining the intersection point of the arc with the preset stepping distance as the radius and the other path in the double-foot walking path as the next foot path point on the other path; and respectively generating two footprint sequences of the biped robot according to the plurality of footprint points on the one path and the plurality of footprint points on the other path.
Optionally, the apparatus further comprises:
and the control module is used for controlling the biped robot to walk according to the footprint sequence.
In a third aspect, an embodiment of the present invention further provides a robot, including: a memory storing a computer program executable by the processor, and a processor implementing the method of any of the first aspects when executing the computer program.
In a fourth aspect, an embodiment of the present invention further provides a storage medium, where a computer program is stored on the storage medium, and when the computer program is read and executed, the method of any one of the above first aspects is implemented.
The invention has the beneficial effects that: the embodiment of the invention provides a footprint generation method of a biped robot, which comprises the following steps: performing compliance treatment on a preset walking path to obtain a target walking path; processing the target walking path according to the distance between the feet of the biped robot to obtain the biped walking path of the biped robot; and obtaining a footprint sequence of the biped robot according to the preset stepping distance and the biped walking path. And obtaining a target walking path after the smoothing treatment, smoothing the break angle in the target walking path, further obtaining a biped walking path which is more smooth and smoother based on the target walking path, obtaining a footprint sequence which is more smooth and smoother based on the biped walking path, and turning more naturally, and controlling the biped robot to walk based on the footprint sequence to enable the biped robot to walk more smoothly.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a footprint generation method of a biped robot according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a footprint generation method for a biped robot according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a footprint generation method for a biped robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a target walking path and a biped walking path according to an embodiment of the present invention;
FIG. 5 is a schematic flowchart of a footprint generation method for a biped robot according to an embodiment of the present invention;
FIG. 6 is a schematic view of a footprint sequence acquisition process of a biped robot according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a footprint generation device of a biped robot according to an embodiment of the present invention;
fig. 8 is a schematic partial structural diagram of a biped robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it should be noted that if the terms "upper", "lower", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually arranged when the product of the application is used, the description is only for convenience of describing the application and simplifying the description, but the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and operation, and thus, cannot be understood as the limitation of the application.
Furthermore, the terms "first," "second," and the like in the description and in the claims, as well as in the drawings, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
The method aims at solving the problems that in the related technology, the footprints of the robot obtained by adopting an interpolation planning mode are not naturally turned, and the robot is easy to walk unsmoothly. The embodiment of the application provides a footprint generation method of a biped robot, which comprises the following steps: performing compliance treatment on a preset walking path to obtain a target walking path; processing the target walking path according to the distance between the feet of the biped robot to obtain the biped walking path of the biped robot; and obtaining a footprint sequence of the biped robot according to the preset stepping distance and the biped walking path. And obtaining a target walking path after the smoothing treatment, smoothing the break angle in the target walking path, further obtaining a biped walking path which is more smooth and smoother based on the target walking path, obtaining a footprint sequence which is more smooth and smoother based on the biped walking path, and turning more naturally, and controlling the biped robot to walk based on the footprint sequence to enable the biped robot to walk more smoothly.
According to the footprint generation method of the biped robot provided by the embodiment of the application, the execution main body can be any one of the biped robot, the terminal equipment and the server. When the execution subject is a biped robot, the execution subject may be a processor of the biped robot, and the following description will take the processor of the robot as an example.
Fig. 1 is a schematic flow chart of a footprint generation method of a biped robot according to an embodiment of the present invention, and as shown in fig. 1, the footprint generation method of the biped robot may include:
s101, performing compliance processing on the preset walking path to obtain a target walking path.
The preset walking path may be a path obtained by using a path planning rule.
In some embodiments, the processor of the robot may perform direct interpolation planning according to the preset stride, the preset sole orientation, the current position, and the preset target position of the biped robot, so as to obtain the preset walking path. Of course, the processor of the robot may also obtain the preset walking path by using other path planning rules, for example, the processor of the robot may also obtain the preset walking path by using an a-Star (a-Star is a direct search method that is most effective for solving the shortest path in a static road network) algorithm, which is not specifically limited in the embodiment of the present application.
It should be noted that the preset walking path obtained by using the path planning rule is not smooth and has a break angle, and the processor of the robot may perform a smoothing process on the coordinate point in the preset walking path to smooth the break angle in the preset walking path, so as to obtain the target walking path.
And S102, processing the target walking path according to the distance between the feet of the biped robot to obtain the biped walking path of the biped robot.
Wherein the biped robot may comprise: left and right feet, respectively, the bipedal walking path may include: the path corresponding to the left foot and the path corresponding to the right foot.
In one possible embodiment, the distance between the path corresponding to the left foot and the path corresponding to the right foot may be a bipedal distance. The target walking path may be located between the path corresponding to the left foot and the path corresponding to the right foot. The distance between the target walking path and the path corresponding to the left foot may be a first distance, the distance between the target walking path and the path corresponding to the right foot may be a second distance, and the first distance and the second distance are equal.
In addition, the shapes of the target walking path, the path corresponding to the left foot, and the path corresponding to the right foot may be similar, for example, the target walking path, the path corresponding to the left foot, and the path corresponding to the right foot may all be curved lines, or all may be straight lines, which is not specifically limited in this embodiment of the present application. Wherein, when the three are all curves, the three have the same number of flexion.
And S103, obtaining a footprint sequence of the biped robot according to the preset stepping distance and the biped walking path.
Wherein the footprint sequence of the biped robot can include a footprint sequence corresponding to the left foot and a footprint sequence corresponding to the right foot. The footprint sequence corresponding to the left foot and the footprint sequence corresponding to the right foot may each include a plurality of foot locus points. Additionally, the sequence of footprints of the biped robot can be used to indicate the left and right foot landing points of the robot when walking.
In some embodiments, the processor of the robot uses a preset footprint determination rule to calibrate a plurality of footprint points on the biped walking path according to a preset stepping distance, so as to obtain a footprint sequence of the biped robot. In this embodiment of the application, the footprint sequence corresponding to the left foot may be distributed on a path corresponding to the left foot in the biped walking path, and the footprint sequence corresponding to the right foot may be distributed on a path corresponding to the right foot in the biped walking path.
In summary, an embodiment of the present invention provides a footprint generation method for a biped robot, including: performing compliance treatment on a preset walking path to obtain a target walking path; processing the target walking path according to the distance between the feet of the biped robot to obtain the biped walking path of the biped robot; and obtaining a footprint sequence of the biped robot according to the preset stepping distance and the biped walking path. And obtaining a target walking path after the smoothing treatment, smoothing the break angle in the target walking path, further obtaining a biped walking path which is more smooth and smoother based on the target walking path, obtaining a footprint sequence which is more smooth and smoother based on the biped walking path, and turning more naturally, and controlling the biped robot to walk based on the footprint sequence to enable the biped robot to walk more smoothly.
Optionally, the footprint generation method for the biped robot provided in the embodiment of the present application may further include: and controlling the biped robot to walk according to the footprint sequence.
Wherein the footprint sequence corresponding to the left foot is used for controlling the left foot of the biped robot to move; the footprint sequence corresponding to the right foot is used for controlling the right foot movement of the biped robot.
In the embodiment of the application, when the footprint sequence of the biped robot is obtained by taking the processor of the robot as an execution main body, the processor of the robot can directly control the biped robot to walk according to the footprint sequence.
In addition, when the terminal device or the server obtains the footprint sequence of the biped robot for the execution main body, the terminal device or the server can send the footprint sequence of the biped robot to the processor of the robot, and the processor of the robot can receive the footprint sequence of the biped robot and control the biped robot to walk according to the footprint sequence.
Optionally, fig. 2 is a schematic flow chart of a footprint generating method of a biped robot according to an embodiment of the present invention, and as shown in fig. 2, the step of performing a compliance process on a preset walking path in S101 to obtain a target path may include:
s201, taking a preset coordinate point on a preset walking path as a starting point, and respectively carrying out N continuous coordinate points on the preset walking pathcAnd carrying out averaging processing on the coordinate points to obtain a plurality of target coordinate points.
Wherein N iscMay be an integer of 2 or more, and further, NcAnd the number of the total coordinate points on the preset walking path can be smaller than that of the total coordinate points on the preset walking path.
In a possible embodiment, each coordinate point in the part of coordinate points on the preset walking path may be used as a preset coordinate point, that is, may be used as a starting point. For each starting point on the preset walking path and N continuous to each starting pointcAnd averaging all the coordinate points to obtain a plurality of target coordinate points.
Optionally, the preset coordinate point may be a walking starting point on the preset walking path, or a walking ending point.
The walking starting point refers to a starting point of walking of the biped robot, and the walking terminal point refers to a terminal point of walking of the biped robot. A plurality of coordinate points on the preset walking path may be stored in the form of a coordinate point sequence, and the preset walking path p may be expressed as p ═ { x ═ x0，x1，x2...xNAnd N coordinate points are included on the preset walking path p.
In some embodiments, the preset coordinate point may be a walking starting point on the preset walking path from the 0 th point to the nth pointcObtaining a first target coordinate point by point averaging; from point 1 to point Nc+1 point averaging to obtain a second target coordinate point; by analogy, a plurality of target coordinate points can be obtained. E.g. NcWhen 2, then x0，x1，x2Obtaining a first target coordinate point by averaging; then to x1，x2，x3The second target coordinate point may be obtained by averaging, and so on, which is not described herein.
It should be noted that the above process can be expressed by a calculation formula
Wherein x isjRepresenting a coordinate point, X, in a predetermined path of travel piRepresenting the acquired target coordinate point. In addition, if the coordinate point x0Has the coordinates of (x)a0，ya0) (ii) a If the coordinate point x1Has the coordinates of (x)a1，ya1) (ii) a If the coordinate point x2Has the coordinates of (x)a2，ya2) Then the coordinates of the target coordinate point obtained after averaging can be expressed as
In other embodiments, the preset coordinate point may be a walking end point on the preset walking path, and then the point is from the nth point to the N + NcThe last target coordinate point can be obtained by point averaging; from the N-1 st point to the NcCalculating the average value of +1 points to obtain a second last target coordinate point; in accordance withBy analogy, a plurality of target coordinate points can be obtained. E.g. NcWhen 2, then xN，xN-1，xN-2Obtaining the last target coordinate point by averaging; then to xN-1，xN-2，xN-3The average value may be obtained as the second last target coordinate point, and so on, which is not described herein.
S202, generating a target walking path according to the plurality of target coordinate points and the preset walking direction of the preset walking path.
It should be noted that the target walking path can be expressed as: p ═ X0，X1，X2...XNThe preset walking direction can be from X0To XNIn the direction of (a). The coordinate points in the preset walking path and the target coordinate points in the target walking path can be two-dimensional coordinate points.
In summary, the preset coordinate points on the preset walking path are taken as the starting points, and N consecutive coordinate points on the preset walking path are respectively measuredcCarrying out averaging processing on the coordinate points to obtain a plurality of target coordinate points; according to the multiple target coordinate points and the preset walking direction of the preset walking path, the target walking path is generated, the effect of softening treatment can be better, namely, the obtained target walking path can be smoother.
Optionally, fig. 3 is a schematic flow chart of a footprint generation method of a biped robot according to an embodiment of the present invention, and as shown in fig. 3, the step of processing the target walking path according to the biped distance of the biped robot in S102 to obtain the biped walking path of the biped robot may include:
s301, drawing arcs at preset circle center intervals along the target walking path to obtain a plurality of arcs with circle centers on the target walking path.
Wherein the diameter of each circular arc is the bipedal distance.
In one possible implementation, the processor of the robot may determine a circle center on the target walking path every other preset circle center distance along the target walking path; a plurality of circle centers on the target walking path can be obtained; then, the distance between the two feet is taken as the diameter, and arcs are drawn for each circle center in sequence or simultaneously, so that a plurality of arcs with the circle centers on the target walking path can be obtained.
In another possible embodiment, the processor of the robot may determine a circle center on the target walking path every other preset circle center distance along the target walking path, and then draw an arc with the distance between the two feet as a diameter for the circle center. Then, determining the next circle center on the target walking path based on the circle center and the preset circle center distance, and drawing an arc by taking the distance between the two feet as the diameter according to the circle center; by analogy, a plurality of circular arcs with the circle centers on the target walking path can be obtained.
Of course, the processor of the robot may also obtain a plurality of arcs with the circle center on the target walking path in other manners, which is not specifically limited in the embodiment of the present application.
Fig. 4 is a schematic diagram illustrating a target walking path and a biped walking path according to an embodiment of the present invention, where as shown in fig. 4, the biped walking path includes two paths, respectively a path corresponding to the left foot and a path corresponding to the right foot, and a distance between the two paths is a diameter of the arc, that is, a distance between the two feet. The biped walking path can be equidistant curves positioned at two sides of the target walking path, and the distance between the equidistant curves and the target walking path is half of the distance between the two ends of the robot when the robot stands on the biped walking path.
Of course, fig. 4 is only an example, and the biped walking path and the target walking path may also be curves with other shapes, and of course, both the biped walking path and the target walking path may also be straight lines, which is not specifically limited in the embodiment of the present application.
And S302, obtaining a biped walking path according to the envelope lines of the circular arcs at the two sides of the target walking path.
In some embodiments, the processor of the robot may draw the envelope curves of the circular arcs on both sides of the target walking path by using a plurality of circular arcs with the centers on the target walking path, so as to obtain the biped walking path. As shown in fig. 4, the bipedal walking path may include two separate equidistant curves.
In summary, drawing arcs along the target walking path at preset circle center intervals to obtain a plurality of arcs with circle centers on the target walking path; and obtaining the biped walking path according to the envelope lines of the circular arcs at the two sides of the target walking path. The obtained biped walking path is more similar to the target walking path in shape, and the biped walking path is more convenient, quicker and more efficient to obtain.
Optionally, fig. 5 is a schematic flow chart of a footprint generation method of a biped robot according to an embodiment of the present invention, and as shown in fig. 5, the step of obtaining a footprint sequence of the biped robot according to a preset stepping distance and a biped walking path in S103 may include:
s501, taking a foot trace point on one of the biped walking paths as a circle center, and taking a preset stepping distance as a radius to draw an arc.
And S502, determining the intersection point of the arc with the preset stepping distance as the radius and the other path in the walking paths of the two feet as the next foot path point on the other path.
Wherein, can include the initial foot of biped robot on the biped walking path and stand the footprint point, and initial foot of standing the footprint point can include left foot initial station foot track point and right foot initial station foot track point.
Fig. 6 is a schematic diagram of a footprint sequence acquiring process of a biped robot according to an embodiment of the present invention, and as shown in fig. 6, a biped walking path includes: the path that the left foot corresponds and the path that the right foot corresponds, foot track point A that is located on the path that the left foot corresponds can be left foot initial standing foot track point, and foot track point B that is located on the path that the right foot corresponds can be right foot initial standing foot track point.
In one possible embodiment, as shown in fig. 6, when the biped robot is to be controlled to walk, the left foot is taken; a foot trace point B is taken as a circle center, a preset stepping distance is taken as a radius to draw an arc, a path corresponding to the left foot of the arc generates a foot trace point C, and the foot trace point C is a foot drop point after the left foot steps; then, drawing an arc by taking the footprint point C as the circle center and taking the preset stepping distance as the radius, and generating a footprint point D by a path corresponding to the arc and the right foot; then, drawing an arc by taking the footprint point D as the circle center and taking the preset stepping distance as the radius, and generating a footprint point E by the path corresponding to the arc and the left foot; and so on, a plurality of track points on the path corresponding to the left foot and a plurality of track points on the path corresponding to the left foot can be obtained.
As shown in fig. 6, the footprint point A, C, E is located on the path corresponding to the left foot and is a foot-tracing point corresponding to the left foot; foot track point B, D is located on the path corresponding to the right foot and is the foot track point corresponding to the right foot.
In another possible embodiment, when the biped robot is to be controlled to walk, the right foot is taken; the foot path point of the initial standing left foot is taken as the center of a circle, a preset stepping distance is taken as a radius to draw an arc, a path corresponding to the arc and the right foot generates a first foot path point, and the first foot path point is a foot drop point after the right foot steps for the first step; then, drawing an arc by taking the first foot track point as a circle center and a preset stepping distance as a radius, and generating a second foot track point by a path corresponding to the left foot by the arc; then, drawing an arc by taking the second foot track point as the center of a circle and taking the preset stepping distance as the radius, and generating a third foot track point by the path corresponding to the arc and the right foot; and so on, a plurality of track points on the path corresponding to the left foot and a plurality of track points on the path corresponding to the left foot can be obtained.
Wherein, the footprint point located on the path corresponding to the left foot may include: the left foot initially stands on the foot locus point and the second foot locus point; the footprint point located on the path corresponding to the right foot may include: the right foot initially stands on the foot track point, the first foot track point and the third foot track point.
And S503, respectively generating two footprint sequences of the biped robot according to the plurality of foot track points on one path and the plurality of foot track points on the other path.
The plurality of foot locus points in each foot locus sequence are in sequence, and the corresponding foot motion of the biped robot is controlled according to the sequence data of the foot locus points on each path, so that the biped robot can walk under control.
In summary, a foot trace point on one of the biped walking paths is taken as a circle center, and a preset stepping distance is taken as a radius to draw an arc; determining the intersection point of an arc with a preset stepping distance as a radius and the other path in the bipedal walking path as a next foot path point on the other path; and respectively generating two footprint sequences of the biped robot according to the plurality of foot track points on one path and the plurality of foot track points on the other path. The process of generating the footprint sequence is more convenient and efficient, and the generated footprint sequence is smoother and more flexible, so that the walking posture of the biped robot is more natural when the biped robot is controlled to walk based on the footprint sequence.
The embodiment of the invention provides a footprint generation method of a biped robot, which comprises the following steps: performing compliance treatment on a preset walking path to obtain a target walking path; processing the target walking path according to the distance between the feet of the biped robot to obtain the biped walking path of the biped robot; and obtaining a footprint sequence of the biped robot according to the preset stepping distance and the biped walking path. And obtaining a target walking path after the smoothing treatment, smoothing the break angle in the target walking path, further obtaining a biped walking path which is more smooth and smoother based on the target walking path, obtaining a footprint sequence which is more smooth and smoother based on the biped walking path, and turning more naturally, and controlling the biped robot to walk based on the footprint sequence to enable the biped robot to walk more smoothly. Moreover, when the biped robot walks according to the footprint sequence generated in the method, the motion trail of the mass center of the biped robot is always kept between the two equidistant curves, and the robot has better tracking precision on the path when walking.
In addition, the dual-foot walking path is acquired based on the mode of fig. 3, so that the dual-foot walking path can be acquired more conveniently, quickly, efficiently and accurately; the footprint sequence of the biped robot is acquired based on the mode of FIG. 5, so that the generated footprint sequence is smoother and more flexible. The robot is controlled to move along the path without stopping based on the footprint sequence, so that the walking smoothness of the biped robot is better.
Fig. 7 is a schematic structural diagram of a footprint generation apparatus for a biped robot according to an embodiment of the present invention, as shown in fig. 7, the apparatus includes:
the processing module 701 is configured to perform compliance processing on a preset walking path to obtain a target walking path; processing the target walking path according to the distance between the feet of the biped robot to obtain the biped walking path of the biped robot;
an obtaining module 702, configured to obtain a footprint sequence of the biped robot according to a preset stepping distance and a biped walking path.
Optionally, the processing module 701 is further configured to use a preset coordinate point on the preset walking path as a starting point, and respectively perform N consecutive coordinate points on the preset walking pathcCarrying out averaging processing on the coordinate points to obtain a plurality of target coordinate points; n is a radical ofcIs an integer greater than or equal to 2; and generating a target walking path according to the plurality of target coordinate points and the preset walking direction of the preset walking path.
Optionally, the preset coordinate point is a walking starting point or a walking ending point on the preset walking path.
Optionally, the processing module 701 is further configured to draw arcs along the target walking path at preset circle center intervals to obtain multiple arcs with circle centers on the target walking path; wherein the diameter of each circular arc is the distance between two feet; and obtaining the biped walking path according to the envelope lines of the circular arcs at the two sides of the target walking path.
Optionally, the obtaining module 702 is configured to draw an arc with a foot trace point on one of the two-foot walking paths as a center of a circle and a preset stepping distance as a radius; determining the intersection point of an arc with a preset stepping distance as a radius and the other path in the bipedal walking path as a next foot path point on the other path; and respectively generating two footprint sequences of the biped robot according to the plurality of foot track points on one path and the plurality of foot track points on the other path.
Optionally, the apparatus further comprises:
and the control module is used for controlling the biped robot to walk according to the footprint sequence.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 8 is a schematic partial structural diagram of a biped robot according to an embodiment of the present invention, and as shown in fig. 8, the biped robot may include: a processor 801 and a memory 802.
The memory 802 is used for storing programs, and the processor 801 calls the programs stored in the memory 802 to execute the above-mentioned method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the invention also provides a program product, for example a computer-readable storage medium, comprising a program which, when being executed by a processor, is adapted to carry out the above-mentioned method embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A footprint generation method for a biped robot, comprising:
performing compliance treatment on a preset walking path to obtain a target walking path;
processing the target walking path according to the distance between the feet of the biped robot to obtain the biped walking path of the biped robot;
obtaining a footprint sequence of the biped robot according to a preset stepping distance and the biped walking path;
the processing the target walking path according to the distance between the feet of the biped robot to obtain the biped walking path of the biped robot comprises:
drawing circular arcs at preset circle center intervals along the target walking path to obtain a plurality of circular arcs with circle centers on the target walking path; wherein the diameter of each arc is the bipedal spacing;
and obtaining the biped walking path according to the envelope lines of the circular arcs at the two sides of the target walking path.
2. The method according to claim 1, wherein the performing a compliance process on the preset walking path to obtain the target path comprises:
respectively carrying out N continuous coordinate points on the preset walking path by taking the preset coordinate points on the preset walking path as starting pointscCarrying out averaging processing on the coordinate points to obtain a plurality of target coordinate points; n is a radical ofcIs an integer greater than or equal to 2;
and generating the target walking path according to the plurality of target coordinate points and the preset walking direction of the preset walking path.
3. The method according to claim 2, wherein the preset coordinate point is a walking start point or a walking end point on the preset walking path.
4. The method of claim 1, wherein said deriving a sequence of footprints of said biped robot based on a preset stride distance and said biped walking path comprises:
drawing an arc by taking a foot trace point on one of the two foot walking paths as a circle center and the preset stepping distance as a radius;
determining the intersection point of the arc with the preset stepping distance as the radius and the other path in the double-foot walking path as the next foot path point on the other path;
and respectively generating two footprint sequences of the biped robot according to the plurality of footprint points on the one path and the plurality of footprint points on the other path.
5. The method according to any one of claims 1-4, further comprising:
and controlling the biped robot to walk according to the footprint sequence.
6. A footprint generation apparatus of a biped robot, comprising:
the processing module is used for performing compliance processing on the preset walking path to obtain a target walking path; processing the target walking path according to the distance between the feet of the biped robot to obtain the biped walking path of the biped robot;
the acquisition module is used for acquiring a footprint sequence of the biped robot according to a preset stepping distance and the biped walking path;
the processing module is further configured to draw arcs along the target walking path at preset circle center intervals to obtain a plurality of arcs with circle centers on the target walking path; wherein the diameter of each arc is the bipedal spacing; and obtaining the biped walking path according to the envelope lines of the circular arcs at the two sides of the target walking path.
7. The apparatus according to claim 6, wherein the processing module is further configured to take a preset coordinate point on the preset walking path as a starting point, and respectively perform N consecutive coordinate points on the preset walking pathcCarrying out averaging processing on the coordinate points to obtain a plurality of target coordinate points; n is a radical ofcIs an integer greater than or equal to 2Counting; and generating the target walking path according to the plurality of target coordinate points and the preset walking direction of the preset walking path.
8. A biped robot, comprising: a memory storing a computer program executable by the processor, and a processor implementing the footprint generation method of the biped robot according to any one of claims 1 to 5 when the processor executes the computer program.
9. A storage medium having a computer program stored thereon, wherein the computer program is read out and executed to implement the footprint generation method for a biped robot according to any one of claims 1 to 5.
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