CN112650222A - Jumping gait planning method of multi-legged robot - Google Patents
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Abstract
The invention discloses a jumping gait planning method of a multi-legged robot, which comprises the following steps: observing and decomposing standing long jump movement of human, and determining the position of the center of gravity and the position change condition of the foot end relative to the center of mass; and establishing a mathematical model of the position change of the foot end, modeling the kinematics of the multi-legged robot, solving the rotation angle of each joint based on the kinematics, filtering and smoothing the rotation angle, and controlling the robot to move. The invention discloses a jumping gait planning method of a multi-legged robot aiming at the problem that the multi-legged robot with a rigid structure can not realize jumping motion by virtue of an elastic device, and is different from the prior method only concerning the design of the elastic structure of the robot and the optimization of the elastic device.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to a jumping gait planning method of a multi-legged robot.
Background
By virtue of the advantages of flexible structure, good stability, large loading capacity, strong environment adaptability and the like, the bionic multi-legged robot can more and more replace manpower to complete various complex and dangerous works, thereby greatly reducing the cost and simultaneously greatly improving the efficiency of large-scale operation. However, the limited motion patterns and gait patterns limit the superior performance of the multi-legged robot. Although most of the bionic robots are closer to natural creatures in the design and optimization of the outline structure, the abundant movement gait of the bionic robots is not developed.
The jumping movement is the most basic movement mode of the natural creature, can help the self to cross larger obstacles or deal with sudden crisis, and effectively improves the environmental adaptability of the foot type creature. As an important form of the bionic robot, the jumping ability of the multi-legged robot is also receiving more and more attention. Chinese patents cn201410763291.x, CN201710683447.7 and CN201811524466.6 developed motion devices that facilitate robot jumping from the structural design perspective. Chinese patents cn201710218510.x and CN201811087537.0 explore the jumping ability of the multi-legged robot from the control system design level. But there has not been a direct result of considering the jumping gait of the multi-legged robot from the viewpoint of motion decomposition and planning.
Disclosure of Invention
Aiming at the problem of how to execute complex jumping motion of a rigid body robot without a bouncing structure, the invention provides a method for guiding and realizing the jumping gait of a multi-legged robot by decomposing and simulating the standing long jump motion of human beings.
The invention provides and designs a method suitable for realizing jumping motion of a multi-legged robot on the basis of observing and decomposing the standing long jump motion process of human beings, in particular to the design and planning of jumping gait of the multi-legged robot.
The invention is realized by at least one of the following technical schemes.
A jumping gait planning method of a multi-legged robot comprises the following steps:
according to the method, the position of the center of gravity and the position change condition of the foot end relative to the center of mass are determined by decomposing the standing long jump motion of human beings;
establishing a mathematical model of the position change of the foot end and modeling the kinematics of the multi-foot robot;
and solving the rotation angle of each joint based on kinematics, filtering and smoothing the rotation angle of each joint, and controlling the robot to move.
Preferably, the human standing long jump movement is decomposed into six key states.
Preferably, the six key states include:
state one is an initial configuration;
the second state is a preparation stage, and the gravity center is lowered to accumulate potential;
the third state is that the leg is pedaled to exert force, the leg is pedaled out with force in a short time, and the gravity center is promoted by means of the posture;
the state four is an emptying stage, and the foot end is recovered and swung forwards;
the fifth state is landing buffering, and when the foot is landed, the knee is bent to lower the gravity center so as to buffer the impulsive force of the supporting surface;
and the state six is a recovery posture, and the gravity center is lifted in situ to recover to the initial posture.
Preferably, the method for determining the position of the center of gravity and the position change of the foot end relative to the center of gravity is to firstly establish a reference coordinate system { O ] at the center of gravity0x0y0z0In which x0Directly in front of the axis-directed movement, z0Axis vertically upwards, y0The axes being determined by the right-hand rule, i.e. y0＝z0×x0(ii) a Then unifying the position change of the gravity center and the foot end in the jumping process into the change of the coordinates of the foot end; and finally, obtaining the interpolation variation trend of each sub-motion process according to the coordinate variation condition.
Preferably, the jumping gait of the robot is divided into five main sub-movement processes, namely, the process from initial configuration to preparation phase, the process from preparation phase to leg-pedaling force, the process from leg-pedaling force to emptying phase, the process from emptying phase to landing buffering, and the process from landing buffering to recovery configuration.
Preferably, the interpolation trend of each sub-motion process is as follows: from the initial configuration to the preparation state, the negative value of the vertical coordinate of the foot end is gradually increased, namely the foot end is gradually close to the mass center in the vertical direction; from the preparation stage to the leg kicking, the vertical coordinate of the foot end is gradually reduced, namely the foot end is far away from the mass center; from the stage of pedaling to exert force to the stage of emptying, the vertical coordinate of the foot end is firstly increased and then reduced, namely the foot end is firstly recovered and then stretched; from the soaring stage to the landing buffer, the vertical coordinate of the foot end is gradually increased again; and buffering from landing to restoring the configuration, gradually reducing the vertical coordinate of the foot end again, and finally restoring to the initial configuration.
Preferably, the mathematical model for establishing the variation of the foot end position refers to the total variation V in each given sub-movement processTOn the basis, the interpolation mode of the middle path point is designed as follows:
Vi＝(V0+VT·Γ(t,tk-1,tk))·Φ(t,tk-1,tk)
wherein V0Representing the current sub-motion phase, i.e. t e tk-1,tk]Initial incremental values at start; Γ (t, t)k-1,tk) Is a smooth function, i.e., a continuously derivable function, with respect to time t, and when t e [ t ∈k-1,tk]When there is a gamma (t, t)k-1,tk)∈[0,1]；Φ(t,tk-1,tk) Is an activation function with respect to time t, the effect of which is to activate only the time period tk-1,tk]Interpolation of the inner.
Preferably, the change of the position of the foot end of the robot in the whole jumping motion process is represented as follows:
wherein p isv、
Respectively representing the variation of the coordinates of the foot end with respect to a reference coordinate system and its corresponding initial value, pvIs an abscissa value p of the foot end at the current momentx、pyOr the vertical coordinate value p of the foot end at the current momentz(ii) a N is the number of sub-motion phases of the jerky motion decomposition.
Preferably, the kinematic modeling of the multi-legged robot comprises establishing a body coordinate system, a foot end coordinate system, determining the size of a mechanism, identifying the motion of a joint connecting rod, and solving a forward/inverse kinematic problem of a foot end relative to the body coordinate system.
Preferably, the solving of each joint corner and the filtering smoothing of each joint corner are specifically to smooth the joint angle obtained based on inverse kinematics by adopting a mean filtering method so as to avoid accidental sudden change of the angular velocity, and then send the filtered joint angle to the robot so as to control the motion of the robot;
the mean filter function used was:
wherein the content of the first and second substances,
represents the joint angle filtered value at the ith interpolation point at the time k,
and
respectively representing expected values of the joint angle at the ith interpolation point at the k moment and the m moment; kgFor a given filter factor.
Preferably, the kinematic modeling of the multi-legged robot comprises establishing a body coordinate system, a foot end coordinate system, determining the size of a mechanism, identifying the motion of a joint connecting rod, and solving a forward/inverse kinematic problem of a foot end relative to the body coordinate system.
Preferably, the solving of each joint corner and the filtering smoothing of each joint corner are specifically to smooth the joint angle obtained based on inverse kinematics by adopting a mean filtering method so as to avoid accidental sudden change of the angular velocity, and then send the filtered joint angle to the robot so as to control the motion of the robot;
the mean filter function used was:
wherein the content of the first and second substances,
represents the joint angle filtered value at the ith interpolation point at the time k,
and
respectively representing expected values of the joint angle at the ith interpolation point at the k moment and the m moment; kgFor a given filter factor.
Preferably, the human does not care about the swing state of the upper limbs in the critical state of standing long jump as the object of the multi-legged robot simulation. Therefore, the swing of the upper limbs of the human body mainly plays a balance role, and the multi-legged robot can ensure the balance and the stability of the self movement by means of multi-leg coordination.
Compared with the prior art, the invention has the beneficial effects that:
the jumping gait planning method of the multi-legged robot enriches the motion mode and gait mode of the legged robot; different from the prior art that only the design of the elastic structure and the optimization of the elastic device of the robot are concerned, the invention inspects and realizes the jumping motion of the rigid body robot from the angle of motion planning; the method for observing, decomposing and simulating the human motion process provides a new reference direction for the multi-legged robot to enhance the complex motion skills through self-learning.
Drawings
Fig. 1 is a technical route diagram of a jumping gait planning method of a multi-legged robot;
FIG. 2 is a schematic diagram of the human standing long jump movement exploded and six key movement states;
FIG. 3 is a schematic modeling diagram of a radially symmetric climbing hexapod robot;
FIG. 4 is a position coordinate change track of each foot relative to a machine body coordinate system in the overall process of executing a jumping gait of the radial symmetric climbing hexapod robot;
FIG. 5 is a filter angle curve of each joint in the overall process of executing a jumping gait of the radial symmetric climbing hexapod robot;
FIG. 6a is a simulation experiment diagram of a radially symmetric climbing hexapod robot for realizing an initial configuration of jumping gait;
FIG. 6b is a simulation experiment diagram of the radially symmetric climbing hexapod robot for realizing the preparation phase of jumping gait;
FIG. 6c is a simulation experiment diagram of a radially symmetric climbing hexapod robot for realizing a jumping gait leg-kicking force;
FIG. 6d is a simulation experiment diagram of the climbing hexapod robot in radial symmetry for realizing the jumping gait flight phase;
FIG. 6e is a simulation experiment diagram of a radially symmetric climbing hexapod robot for achieving jumping gait landing buffering;
FIG. 6f is a simulation experiment diagram of the radially symmetric climbing hexapod robot for realizing jumping gait shape recovery;
in the figure: s1 — initial configuration; s2 — preparatory phase; s 3-kick leg to exert force; s4 — flight phase; s 5-floor buffer; s6 — recovering the bit shape.
Detailed Description
The technical solution proposed by the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, a jumping gait planning method of a multi-legged robot includes: observing and decomposing standing long jump movement of human, determining the position of the center of gravity and the position change condition of the foot end relative to the center of mass, establishing a mathematical model of the position change of the foot end, modeling the kinematics of the multi-legged robot, solving the rotation angle of each joint based on the kinematics, filtering and smoothing the rotation angle of each joint, and controlling the movement of the robot.
The human standing long jump motion can be decomposed into 6 key states, as shown in fig. 2, state one is the initial configuration (s 1); state two is a preparatory stage (s2) in which the center of gravity is lowered to accumulate potential; the third state is that the leg is pedaled to exert force (s3), the leg is pedaled out with force in a short time, and the gravity center is lifted by the aid of the posture; the state four is an emptying stage (s4), and the foot end is recovered and swung forwards; the fifth state is a landing buffer (s5), and when the knee is landed, the knee is bent to lower the gravity center so as to buffer the impulsive force of the supporting surface; state six is a recovered pose (s6), lifting the center of gravity in place to restore the original pose.
The example is illustrated by a radially symmetrical climbing hexapod robot, as shown in fig. 3. The robot body is of a regular hexagon structure, and six legs (Leg 1-Leg 6) are sequentially and radially unfolded along six vertexes of the hexagon. Each single-leg branched chain comprises 4 driving revolute pairs, and the tail end of each single-leg branched chain is connected with a vacuum chuck for climbing on a smooth supporting surface.
Since the mass of the robot mainly falls on the machine body platform, the center of mass of the robot can be considered to be coincident with the geometric center of the machine body platform. Thus, a machine body coordinate system { O } is established at the geometric center of the machine body0x0y0z0Viewed from the reference frame, its x0The axis points to the bisector of the angle of the first Leg1 and the sixth Leg6 and represents straight ahead of the motion, z0The axis is vertical to the machine body platform and upward, y0The axes are determined by the right-hand rule, obviously, y0The axis points to the point of connection of the second Leg eg2 to the platform.
The change in the relative heights of the foot end and the center of mass is most complex and important during each of the critical states and major sub-movements. The invention summarizes the change situation of the vertical coordinate of the foot end corresponding to the jumping gait of the multi-foot robot as shown in the table 1:
TABLE 1 vertical coordinate variation of foot end relative to a reference coordinate system
In the table, the number of the first and second,
when the robot is in the initial configurationThe vertical coordinate value of the foot end relative to the reference system can be seen
The vertical coordinate increment of the robot in the process from the initial configuration to the preparation state is represented, and the change trend of the vertical coordinate increment is gradually increased, namely the foot end is gradually close to the center of mass in the vertical direction; gHThe maximum height of gravity center descending in the preparation stage is represented, namely the maximum increment of the vertical coordinate change of the foot end;
the change trend of the active position change increment of the foot end in the process of the robot from the preparation stage to the leg pedaling force application is gradually reduced, namely the foot end is far away from the center of mass; gH-SHIs shown at t2The total variation of the vertical coordinates of the foot end at any moment;
the height increment representing the jumping of the robot in the emptying stage has the change trend that the height increment is increased firstly and then reduced, namely the foot end is recovered firstly and then stretched; t is t3To t5Change in time period and t2To t0The variation over the time period is symmetrical; at t5And after the robot restores the shape at the moment, the total increment of the foot end coordinates is 0.
Imitating the process of standing long jump movement of human, the jumping gait of the radial symmetric climbing hexapod robot can be decomposed into 5 subprocesses: the processes of starting to the ready state from the initial configuration, exerting force from the ready stage to the leg pedaling, exerting force from the leg pedaling to the emptying stage, cushioning from the emptying stage to the landing and cushioning from the landing to the recovery configuration.
The interpolation mode of the foot end relative to the vertical coordinate of the center of the machine body in the 5 sub-motion processes is as follows:
wherein the content of the first and second substances,
a rectangular window activation function with a width w and a height 1, with the center at time t'; t is t0～t5Indicating a given specific point in time; gH、SHAnd JHThe meanings of (A) are the same as those in Table 1 and are not described herein again.
Thus, during the whole jumping movement of the robot, the mathematical model of the change of the foot end relative to the vertical coordinate of the robot system is:
wherein the content of the first and second substances,
and pzAnd the vertical coordinate values of the foot ends at the initial time and the current time are respectively represented.
If it is also desired that the robot jump a distance J straight aheadWThen, the following interpolation model can be established for the foot end abscissa:
wherein the content of the first and second substances,
and pxAnd the abscissa values of the foot ends at the initial time and the current time are respectively represented.
Then, the foot end position change track of the radial symmetric climbing hexapod robot in the whole jumping motion is shown in figure 4.
The kinematics modeling process of the radial symmetric climbing hexapod robot is as follows:
axis (ω) of first joint 11) Perpendicular to the machine body platform, and the second joint 2 and the third joint3. The axis of the fourth joint 4 (ω respectively2、ω3、ω4) Are parallel to each other and are all parallel to the machine body platform. Establishing a foot end coordinate system { O ] in the center of the sucking discfjxfjyfjzfjJ ═ 1,2, …,6), and x thereoffjAxis perpendicular to the suction cup face downwards, zfjThe axis being parallel to the axis of the fourth joint 4, and yfj＝zfj×xfj. The rotation angles of the four active joints of the single-leg branched chain are sequentially recorded as theta1、θ3、θ2、θ4。
Thus, the attachment point of each branch to the platform is relative to x0The orientation angle of the shaft is motion invariant and is summarized in table 2:
TABLE 2 Angle values corresponding to Direction Angle
Furthermore, based on the rotation theory and the exponential product formula, the position coordinate of the foot end relative to the machine system is as follows:
wherein, R, L1、L2、L3、L4Respectively showing the radius of the machine body and the lengths of the robot connecting rods 1 to 4;
further, the kinematic inverse solution of the robot is, as derived from the geometrical constraint relationship:
wherein the content of the first and second substances,
beta and
respectively representing the included angles between the suction disc surface and the machine body platform and the horizontal plane; sign (·) is a sign function.
Fig. 5 shows the filter angle variation curve of each joint obtained by inverse kinematics and the mean filtering method. The mean filter function adopted is
Wherein the content of the first and second substances,
represents the joint angle filtered value at the ith interpolation point at the time k,
and
respectively representing expected values of the joint angle at the ith interpolation point at the k moment and the m moment; kgFor a given filter factor.
Sending the filtered joint angles to a robot model, wherein the experimental effect of the jumping motion of the radial symmetric climbing hexapod robot is shown in fig. 6a, 6b, 6c, 6d, 6e and 6f, and mainly comprises the following steps:
(a) an initial configuration;
(b) a preparation stage;
(c) pedaling to exert force;
(d) an emptying stage;
(e) landing and buffering;
(f) and recovering the bit shape.
The above examples are merely illustrative for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A jumping gait planning method of a multi-legged robot is characterized by comprising the following steps:
according to the method, the position of the center of gravity and the position change condition of the foot end relative to the center of mass are determined by decomposing the standing long jump motion of human beings;
establishing a mathematical model of the position change of the foot end and modeling the kinematics of the multi-foot robot;
and solving the rotation angle of each joint based on kinematics, filtering and smoothing the rotation angle of each joint, and controlling the robot to move.
2. The jumping gait planning method of a multi-legged robot according to claim 1, characterized in that: the human standing long jump motion is decomposed into six key states.
3. The jumping gait planning method of a multi-legged robot according to claim 2, characterized in that: the six critical states include:
state one is an initial configuration;
the second state is a preparation stage, and the gravity center is lowered to accumulate potential;
the third state is that the leg is pedaled to exert force, the leg is pedaled out with force in a short time, and the gravity center is promoted by means of the posture;
the state four is an emptying stage, and the foot end is recovered and swung forwards;
the fifth state is landing buffering, and when the foot is landed, the knee is bent to lower the gravity center so as to buffer the impulsive force of the supporting surface;
and the state six is a recovery posture, and the gravity center is lifted in situ to recover to the initial posture.
4. The jumping gait planning method of the multi-legged robot according to claim 3, characterized in that: the method for determining the position change of the center of gravity and the position change of the foot end relative to the center of mass specifically comprises the steps of firstly establishing a reference coordinate system { O ] at the center of mass0x0y0z0In which x0Directly in front of the axis-directed movement, z0Axis vertically upwards, y0The axes being determined by the right-hand rule, i.e. y0＝z0×x0(ii) a Then unifying the position change of the gravity center and the foot end in the jumping process into the change of the coordinates of the foot end; and finally, obtaining the interpolation variation trend of each sub-motion process according to the coordinate variation condition.
5. The jumping gait planning method of the multi-legged robot according to claim 4, characterized in that: the jumping gait of the robot is divided into five main sub-movement processes, namely, the processes from initial configuration to preparation stage, from preparation stage to leg pedaling, from leg pedaling to emptying, from emptying to landing buffering and from landing buffering to recovery configuration.
6. The jumping gait planning method of the multi-legged robot according to claim 5, characterized in that: the interpolation trend of each sub-motion process is as follows: from the initial configuration to the preparation state, the negative value of the vertical coordinate of the foot end is gradually increased, namely the foot end is gradually close to the mass center in the vertical direction; from the preparation stage to the leg kicking, the vertical coordinate of the foot end is gradually reduced, namely the foot end is far away from the mass center; from the stage of pedaling to exert force to the stage of emptying, the vertical coordinate of the foot end is firstly increased and then reduced, namely the foot end is firstly recovered and then stretched; from the soaring stage to the landing buffer, the vertical coordinate of the foot end is gradually increased again; and buffering from landing to restoring the configuration, gradually reducing the vertical coordinate of the foot end again, and finally restoring to the initial configuration.
7. The jumping gait planning method of a multi-legged robot according to claim 1, characterized in that: the mathematical model for establishing the change of the foot end position refers to the total change V in the given sub-motion processTOn the basis, the interpolation mode of the middle path point is designed as follows:
Vi＝(V0+VT·Γ(t,tk-1,tk))·Φ(t,tk-1,tk)
wherein V0Representing the current sub-motion phase, i.e. t e tk-1,tk]Initial incremental values at start; Γ (t, t)k-1,tk) Is a smooth function, i.e., a continuously derivable function, with respect to time t, and when t e [ t ∈k-1,tk]When there is a gamma (t, t)k-1,tk)∈[0,1]；Φ(t,tk-1,tk) Is an activation function with respect to time t, the effect of which is to activate only the time period tk-1,tk]Interpolation of the inner.
8. The jumping gait planning method of the multi-legged robot according to claim 7, characterized in that: the change situation of the foot end position in the whole jumping motion process of the robot is expressed as
Wherein p isv、
Respectively representing the variation of the coordinates of the foot end with respect to a reference coordinate system and its corresponding initial value, pvIs an abscissa value p of the foot end at the current momentx、pyOr the vertical coordinate value p of the foot end at the current momentz(ii) a N is the number of sub-motion phases of the jerky motion decomposition.
9. The jumping gait planning method of the multi-legged robot according to claim 8, characterized in that: the kinematic modeling of the multi-legged robot comprises the steps of establishing a body coordinate system and a foot end coordinate system, determining the size of a mechanism, identifying the motion of a joint connecting rod and solving the forward/inverse kinematic problem of a foot end relative to the body coordinate system.
10. The jumping gait planning method of the multi-legged robot according to claim 9, characterized in that: the solving of each joint corner and the filtering smoothing of each joint corner are specifically to adopt a mean value filtering method to smooth the joint angle obtained based on inverse kinematics so as to avoid accidental sudden change of angular velocity, and then send the filtered joint angle to the robot so as to control the motion of the robot;
the mean filter function used was:
wherein the content of the first and second substances,
represents the joint angle filtered value at the ith interpolation point at the time k,
and
respectively representing expected values of the joint angle at the ith interpolation point at the k moment and the m moment; kgFor a given filter factor.
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| CN113792719A (en) * | 2021-11-18 | 2021-12-14 | 成都怡康科技有限公司 | Method and device for analyzing technical characteristics of fixed long jump |
| CN114911164A (en) * | 2022-05-07 | 2022-08-16 | 北京理工大学 | Open-loop control method and system for jumping action of rat-like quadruped robot |
| CN115783082A (en) * | 2022-12-01 | 2023-03-14 | 山东大学 | Control method of land robot |
| CN116869521A (en) * | 2023-09-07 | 2023-10-13 | 贵州航天控制技术有限公司 | Human body movement pattern real-time identification method of lower limb assistance exoskeleton system |
| WO2024021749A1 (en) * | 2022-07-25 | 2024-02-01 | 腾讯科技（深圳）有限公司 | Movement control method and apparatus for legged robot, and legged robot, storage medium and program product |
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| CN116869521A (en) * | 2023-09-07 | 2023-10-13 | 贵州航天控制技术有限公司 | Human body movement pattern real-time identification method of lower limb assistance exoskeleton system |
| CN116869521B (en) * | 2023-09-07 | 2023-11-14 | 贵州航天控制技术有限公司 | Human body movement pattern real-time identification method of lower limb assistance exoskeleton system |
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