CN113283082A - Centroid trajectory generation method and device, computer readable storage medium and robot - Google Patents

Centroid trajectory generation method and device, computer readable storage medium and robot Download PDF

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CN113283082A
CN113283082A CN202110577210.7A CN202110577210A CN113283082A CN 113283082 A CN113283082 A CN 113283082A CN 202110577210 A CN202110577210 A CN 202110577210A CN 113283082 A CN113283082 A CN 113283082A
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centroid
robot
planning
moment
center
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CN113283082B (en
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白杰
陈春玉
葛利刚
刘益彰
熊友军
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Shenzhen Ubtech Technology Co ltd
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Abstract

The present application relates to the field of robotics, and in particular, to a method and an apparatus for generating a centroid trajectory, a computer-readable storage medium, and a robot. The method comprises the following steps: determining a centroid position, a centroid speed and a centroid acceleration of the robot at a first planning moment; calculating the centroid track increment of the robot according to the centroid speed and the centroid acceleration of the robot at the first planning moment; and calculating the centroid position of the robot at the second planning moment according to the centroid position of the robot at the first planning moment and the centroid track increment. Through the method and the device, an incremental centroid track generation mode is introduced, namely, the centroid track increment is calculated based on the previous centroid speed and acceleration, the new centroid position can be obtained by adding the centroid track increment on the basis of the previous centroid position, the required operation amount in the centroid track generation process is greatly simplified, the calculation efficiency is improved, and the real-time performance is better.

Description

Centroid trajectory generation method and device, computer readable storage medium and robot
Technical Field
The present application relates to the field of robotics, and in particular, to a method and an apparatus for generating a centroid trajectory, a computer-readable storage medium, and a robot.
Background
The generation of the centroid trajectory is an important content in the robot control technology, and although the centroid trajectory of the robot can be generated in various ways in the prior art, a large amount of complex operations are often involved, so that the efficiency is low, and the real-time performance is poor.
Disclosure of Invention
In view of this, embodiments of the present application provide a centroid trajectory generation method, an apparatus, a computer-readable storage medium, and a robot, so as to solve the problems of low efficiency and poor real-time performance of the existing centroid trajectory generation method.
A first aspect of an embodiment of the present application provides a method for generating a centroid trajectory, which may include:
determining a centroid position, a centroid speed and a centroid acceleration of the robot at a first planning moment;
calculating the centroid track increment of the robot according to the centroid speed and the centroid acceleration of the robot at the first planning moment;
and calculating the centroid position of the robot at a second planning time according to the centroid position of the robot at the first planning time and the centroid track increment, wherein the second planning time is the next planning time of the first planning time.
In a specific implementation of the first aspect, the calculating a centroid trajectory increment of the robot according to the centroid velocity and the centroid acceleration of the robot at the first planning time may include:
calculating the centroid trace increment according to:
Figure BDA0003084764520000021
wherein h is the height of the center of mass of the robot, g is the acceleration of gravity, and ω is the circular frequency, and
Figure BDA0003084764520000022
t is the first planning moment, t +1 is the second planning moment, sinh is a hyperbolic sine function, cosh is a hyperbolic cosine function,
Figure BDA0003084764520000023
for the center of mass velocity of the robot at the first planning moment,
Figure BDA0003084764520000024
and δ x (t +1) is the centroid trajectory increment for the centroid acceleration of the robot at the first planning moment.
In a specific implementation of the first aspect, the calculating a centroid position of the robot at a second planning time according to the centroid position of the robot at the first planning time and the centroid trajectory increment may include:
calculating the centroid position of the robot at the second planning moment according to the following formula:
x(t+1)＝x(t)+δx(t+1)
wherein x (t) is the centroid position of the robot at the first planning moment, and x (t +1) is the centroid position of the robot at the second planning moment.
In a specific implementation of the first aspect, the determining the centroid position, the centroid velocity, and the centroid acceleration of the robot at the first planning time may include:
acquiring a center of mass position, a center of mass speed, a zero moment point, a center of mass expected position, a center of mass expected speed and an expected zero moment point of the robot at a first planning moment;
and calculating the center of mass acceleration of the robot at the first planning moment according to the center of mass position, the center of mass speed, the zero moment point, the center of mass expected position, the center of mass expected speed and the expected zero moment point of the robot at the first planning moment based on a preset compliance control algorithm.
In a specific implementation of the first aspect, the compliance control algorithm may be configured according to the following equation:
Figure BDA0003084764520000025
wherein x is the position of the center of mass,
Figure BDA0003084764520000026
is the centroid velocity, pxIs a zero moment point, xdIn order to be the desired position of the center of mass,
Figure BDA0003084764520000027
for desired speed of centroid, pxdTo expect a zero moment point, kp1、kd1And kz1Is a preset compliance control coefficient,
Figure BDA0003084764520000028
is the centroid acceleration.
A second aspect of embodiments of the present application provides a center of mass trajectory generation apparatus, which may include:
the parameter determination module is used for determining the centroid position, the centroid speed and the centroid acceleration of the robot at the first planning moment;
the centroid track increment calculation module is used for calculating the centroid track increment of the robot according to the centroid speed and the centroid acceleration of the robot at the first planning moment;
and the centroid position calculation module is used for calculating the centroid position of the robot at a second planning time according to the centroid position of the robot at a first planning time and the centroid trajectory increment, wherein the second planning time is the next planning time of the first planning time.
In a specific implementation of the second aspect, the centroid trajectory increment calculation module may be specifically configured to calculate the centroid trajectory increment according to the following equation:
Figure BDA0003084764520000031
wherein h is the height of the center of mass of the robot, g is the acceleration of gravity, and ω is the circular frequency, and
Figure BDA0003084764520000032
t is the first planning moment, t +1 is the second planning moment, sinh is a hyperbolic sine function, cosh is a hyperbolic cosine function,
Figure BDA0003084764520000033
for the center of mass velocity of the robot at the first planning moment,
Figure BDA0003084764520000034
and δ x (t +1) is the centroid trajectory increment for the centroid acceleration of the robot at the first planning moment.
In a specific implementation of the second aspect, the centroid position calculation module may be specifically configured to calculate the centroid position of the robot at the second planning time according to the following equation:
x(t+1)＝x(t)+δx(t+1)
wherein x (t) is the centroid position of the robot at the first planning moment, and x (t +1) is the centroid position of the robot at the second planning moment.
In a specific implementation of the second aspect, the parameter determining module may include:
the acquisition unit is used for acquiring a center of mass position, a center of mass speed, a zero moment point, a center of mass expected position, a center of mass expected speed and an expected zero moment point of the robot at a first planning moment;
and the mass center acceleration calculating unit is used for calculating the mass center acceleration of the robot at the first planning moment according to the mass center position, the mass center speed, the zero moment point, the mass center expected position, the mass center expected speed and the expected zero moment point of the robot at the first planning moment based on a preset compliance control algorithm.
In a specific implementation of the second aspect, the parameter determining module may include:
a compliance control algorithm setting unit for setting a compliance control algorithm as shown in the following formula:
Figure BDA0003084764520000041
wherein x is the position of the center of mass,
Figure BDA0003084764520000044
is the centroid velocity, pxIs a zero moment point, xdIn order to be the desired position of the center of mass,
Figure BDA0003084764520000042
for desired speed of centroid, pxdTo expect a zero moment point, kp1、kd1And kz1Is a preset compliance control coefficient,
Figure BDA0003084764520000043
is the centroid acceleration.
A third aspect of embodiments of the present application provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the steps of any one of the above-mentioned centroid trajectory generation methods.
A fourth aspect of embodiments of the present application provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above centroid trajectory generation methods when executing the computer program.
A fifth aspect of embodiments of the present application provides a computer program product, which, when run on a robot, causes the robot to perform the steps of any of the above-described centroid trajectory generation methods.
Compared with the prior art, the embodiment of the application has the advantages that: the method comprises the steps of determining a centroid position, a centroid speed and a centroid acceleration of a robot at a first planning moment; calculating the centroid track increment of the robot according to the centroid speed and the centroid acceleration of the robot at the first planning moment; and calculating the centroid position of the robot at the second planning moment according to the centroid position of the robot at the first planning moment and the centroid track increment. Through the embodiment of the application, an incremental centroid track generation mode is introduced, namely, the centroid track increment is calculated based on the previous centroid speed and acceleration, and the new centroid position can be obtained by adding the centroid track increment on the basis of the previous centroid position, so that the required operation amount in the centroid track generation process is greatly simplified, the calculation efficiency is improved, and the real-time performance is better.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of a world coordinate system used in an embodiment of the present application;
FIG. 2 is a flowchart of an embodiment of a method for generating a centroid trajectory according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a linear inverted pendulum model of a robot;
FIG. 4 is a schematic diagram of a compliance control algorithm of the robot;
fig. 5 is a structural diagram of an embodiment of a centroid trajectory generation apparatus according to an embodiment of the present application;
fig. 6 is a schematic block diagram of a robot in an embodiment of the present application.
Detailed Description
In order to make the objects, features and advantages of the present invention more apparent and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the embodiments described below are only a part of the embodiments of the present application, and not all of the embodiments. 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.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when …" or "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
In addition, in the description of the present application, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
For convenience of description, in the embodiment of the present application, a world coordinate system Σ shown in fig. 1 may be establishedwIn the coordinate system, the front direction of the robot is an x axis, the lateral direction is a y axis, and the longitudinal direction is a z axis.
It should be noted that, in the following, the centroid trajectory generation of the robot in the forward direction (i.e. the x-axis direction) is taken as an example for explanation, and the mentioned position, velocity, acceleration and other physical quantities refer to the components of these physical quantities in the x-axis direction, and the robot is in the lateral direction (i.e. the x-axis direction)yAxial direction) and the like, and processing can be performed with reference to the x-axis direction, which is not described herein again.
Referring to fig. 2, an embodiment of a method for generating a centroid trajectory in an embodiment of the present application may include:
step S201, determining a centroid position, a centroid speed and a centroid acceleration of the robot at a first planning moment.
In the embodiment of the application, the robot can be simplified into a Linear Inverted Pendulum Model (LIPM) as shown in fig. 3 for analysis, and the walking stability and the anti-interference capability of the robot are increased through a compliance control algorithm.
In the embodiment of the present application, any one of the compliance control algorithms shown in the following formula may be selected according to actual situations:
Figure BDA0003084764520000061
wherein x is the actual centroid position,
Figure BDA0003084764520000062
For the actual speed of the center of mass,
Figure BDA0003084764520000063
is the actual centroid acceleration, xdIs the expected position of the mass center,
Figure BDA0003084764520000064
The desired velocity for the center of mass,
Figure BDA0003084764520000065
desired acceleration for the center of mass, F actual contact force, FdPeriod of time ofInspection contact force, Md、BdAnd KdIs a preset coefficient.
A second compliance control algorithm is preferably employed here, namely:
Figure BDA0003084764520000071
in the embodiment of the present application, a Zero Moment Point (ZMP) may be used instead of the contact force, and the above formula may be deformed as follows:
Figure BDA0003084764520000072
wherein p isxIs the actual zero moment point, pxdTo expect a zero moment point, kp1、kd1And kz1Fig. 4 is a schematic diagram corresponding to the compliance control algorithm for the preset compliance control coefficient. In the above formulae, x is,
Figure BDA0003084764520000073
xd、
Figure BDA0003084764520000074
And pxdCan be set according to actual conditions, pxCan be measured by force sensors or calculated by whole body dynamics.
At a preset first planning time (denoted as t), after physical quantities such as the center of mass position, the center of mass speed, the zero moment point, the center of mass expected position, the center of mass expected speed and the expected zero moment point of the robot at the time are obtained, the center of mass acceleration of the robot at the first planning time can be calculated according to the physical quantities based on the compliance control algorithm.
And S202, calculating the centroid track increment of the robot according to the centroid speed and the centroid acceleration of the robot at the first planning moment.
In an embodiment of the present application, the dynamic equation of the LIPM model of the robot may be expressed as follows:
Figure BDA0003084764520000075
wherein h is the height of the center of mass of the robot, and g is the acceleration of gravity.
For time t, the centroid position can be calculated according to the following formula:
Figure BDA0003084764520000076
wherein ω is the circular frequency, and
Figure BDA0003084764520000077
x (0) is the centroid position of the robot at a preset initial moment,
Figure BDA0003084764520000078
the centroid speed of the robot at the initial moment is shown, sinh is a hyperbolic sine function, cosh is a hyperbolic cosine function, and x (t) is the centroid position of the robot at the moment t.
For the next planning time of time t, i.e. the second planning time (denoted as t +1), the centroid position can be calculated according to the following formula:
Figure BDA0003084764520000081
wherein,
Figure BDA0003084764520000082
is the centroid velocity of the robot at time t, and x (t +1) is the centroid position of the robot at time t + 1.
According to the kinetic equation, the method can obtain
Figure BDA0003084764520000083
Wherein,
Figure BDA0003084764520000084
the centroid acceleration of the robot at time t.
Substituting the above equation into the centroid position calculation equation at time t +1 yields:
Figure BDA0003084764520000085
subtracting the centroid position at time t +1 from the centroid position at time t to obtain:
Figure BDA0003084764520000086
the delta x (t +1) is the centroid track increment from the moment t to the moment t +1, and as can be seen from the above formula, the centroid track increment is irrelevant to the zero moment point and is only relevant to the centroid speed and the centroid acceleration at the moment t, so that the centroid track increment can be calculated only according to the centroid speed and the centroid acceleration of the robot at the moment t.
And S203, calculating the centroid position of the robot at the second planning moment according to the centroid position and the centroid trajectory increment of the robot at the first planning moment.
Specifically, the centroid position of the robot at time t +1 can be calculated according to the following equation:
x(t+1)＝x(t)+δx(t+1)
the above process is generalized to the whole process from the initial time to the time t, and then:
Figure BDA0003084764520000087
through the embodiment of the application, an incremental centroid track generation mode is introduced, namely, the centroid track increment is calculated based on the previous centroid speed and acceleration, and the new centroid position can be obtained by adding the centroid track increment on the basis of the previous centroid position, so that the required operation amount in the centroid track generation process is greatly simplified, the calculation efficiency is improved, and the real-time performance is better.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 5 is a structural diagram of an embodiment of a quality center trajectory generation apparatus provided in an embodiment of the present application, corresponding to a quality center trajectory generation method described in the foregoing embodiment.
In this embodiment, a mass center trajectory generation apparatus may include:
the parameter determining module 501 is configured to determine a centroid position, a centroid speed, and a centroid acceleration of the robot at a first planning time;
a centroid trajectory increment calculating module 502, configured to calculate a centroid trajectory increment of the robot according to a centroid speed and a centroid acceleration of the robot at a first planning time;
a centroid position calculating module 503, configured to calculate a centroid position of the robot at a second planning time according to the centroid position of the robot at the first planning time and the centroid trajectory increment, where the second planning time is a next planning time of the first planning time.
In a specific implementation of the embodiment of the present application, the centroid trajectory increment calculation module may be specifically configured to calculate the centroid trajectory increment according to the following formula:
Figure BDA0003084764520000091
wherein h is the height of the center of mass of the robot, g is the acceleration of gravity, and ω is the circular frequency, and
Figure BDA0003084764520000092
t is the first planning time, t +1 is the second planning timeSinh is a hyperbolic sine function, cosh is a hyperbolic cosine function,
Figure BDA0003084764520000093
for the center of mass velocity of the robot at the first planning moment,
Figure BDA0003084764520000094
and δ x (t +1) is the centroid trajectory increment for the centroid acceleration of the robot at the first planning moment.
In a specific implementation of the embodiment of the present application, the centroid position calculation module may be specifically configured to calculate the centroid position of the robot at the second planning time according to the following formula:
x(t+1)＝x(t)+δx(t+1)
wherein x (t) is the centroid position of the robot at the first planning moment, and x (t +1) is the centroid position of the robot at the second planning moment.
In a specific implementation of the embodiment of the present application, the parameter determining module may include:
the acquisition unit is used for acquiring a center of mass position, a center of mass speed, a zero moment point, a center of mass expected position, a center of mass expected speed and an expected zero moment point of the robot at a first planning moment;
and the mass center acceleration calculating unit is used for calculating the mass center acceleration of the robot at the first planning moment according to the mass center position, the mass center speed, the zero moment point, the mass center expected position, the mass center expected speed and the expected zero moment point of the robot at the first planning moment based on a preset compliance control algorithm.
In a specific implementation of the embodiment of the present application, the parameter determining module may include:
a compliance control algorithm setting unit for setting a compliance control algorithm as shown in the following formula:
Figure BDA0003084764520000101
wherein x is primeThe position of the heart is determined by the position of the heart,
Figure BDA0003084764520000102
is the centroid velocity, pxIs a zero moment point, xdIn order to be the desired position of the center of mass,
Figure BDA0003084764520000103
for desired speed of centroid, pxdTo expect a zero moment point, kp1、kd1And kz1Is a preset compliance control coefficient,
Figure BDA0003084764520000104
is the centroid acceleration.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses, modules and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Fig. 6 shows a schematic block diagram of a robot provided in an embodiment of the present application, and only a part related to the embodiment of the present application is shown for convenience of explanation.
As shown in fig. 6, the robot 6 of this embodiment includes: a processor 60, a memory 61 and a computer program 62 stored in said memory 61 and executable on said processor 60. The processor 60, when executing the computer program 62, implements the steps in the above-described respective embodiments of the centroid trajectory generation method, such as the steps S201 to S203 shown in fig. 2. Alternatively, the processor 60, when executing the computer program 62, implements the functions of each module/unit in the above-mentioned device embodiments, for example, the functions of the modules 501 to 503 shown in fig. 5.
Illustratively, the computer program 62 may be partitioned into one or more modules/units that are stored in the memory 61 and executed by the processor 60 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 62 in the robot 6.
Those skilled in the art will appreciate that fig. 6 is merely an example of a robot 6, and does not constitute a limitation of the robot 6, and may include more or fewer components than shown, or some components in combination, or different components, e.g., the robot 6 may also include input and output devices, network access devices, buses, etc.
The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the robot 6, such as a hard disk or a memory of the robot 6. The memory 61 may also be an external storage device of the robot 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the robot 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the robot 6. The memory 61 is used for storing the computer program and other programs and data required by the robot 6. The memory 61 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/robot and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/robot are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, 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 application 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, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable storage medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable storage media that does not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (10)

1. A method for generating a centroid trajectory, comprising:
determining a centroid position, a centroid speed and a centroid acceleration of the robot at a first planning moment;
calculating the centroid track increment of the robot according to the centroid speed and the centroid acceleration of the robot at the first planning moment;
and calculating the centroid position of the robot at a second planning time according to the centroid position of the robot at the first planning time and the centroid track increment, wherein the second planning time is the next planning time of the first planning time.
2. The method of generating a centroid trajectory, according to claim 1, wherein said calculating a centroid trajectory increment of said robot from a centroid velocity and a centroid acceleration of said robot at a first planning time comprises:
calculating the centroid trace increment according to:
Figure FDA0003084764510000011
wherein h is the height of the center of mass of the robot, g is the acceleration of gravity, and ω is the circular frequency, and
Figure FDA0003084764510000012
t is the first planning moment, t +1 is the second planning moment, sinh is a hyperbolic sine function, cosh is a hyperbolic cosine function,
Figure FDA0003084764510000013
for the center of mass velocity of the robot at the first planning moment,
Figure FDA0003084764510000014
and δ x (t +1) is the centroid trajectory increment for the centroid acceleration of the robot at the first planning moment.
3. The method of generating a centroid trajectory according to claim 1, wherein said calculating the centroid position of the robot at the second planning time based on the centroid position of the robot at the first planning time and the centroid trajectory increment comprises:
calculating the centroid position of the robot at the second planning moment according to the following formula:
x(t+1)＝x(t)+δx(t+1)
wherein x (t) is the centroid position of the robot at the first planning moment, δ x (t +1) is the centroid trajectory increment, and x (t +1) is the centroid position of the robot at the second planning moment.
4. The centroid trajectory generation method according to any one of claims 1 to 3, wherein said determining a centroid position, a centroid velocity and a centroid acceleration of the robot at a first planning time comprises:
acquiring a center of mass position, a center of mass speed, a zero moment point, a center of mass expected position, a center of mass expected speed and an expected zero moment point of the robot at a first planning moment;
and calculating the center of mass acceleration of the robot at the first planning moment according to the center of mass position, the center of mass speed, the zero moment point, the center of mass expected position, the center of mass expected speed and the expected zero moment point of the robot at the first planning moment based on a preset compliance control algorithm.
5. The centroid trajectory generation method of claim 4, wherein said compliance control algorithm is set according to the following equation:
Figure FDA0003084764510000021
wherein x is the position of the center of mass,
Figure FDA0003084764510000022
is the centroid velocity, pxIs a zero moment point, xdIn order to be the desired position of the center of mass,
Figure FDA0003084764510000023
for desired speed of centroid, pxdTo expect a zero moment point, kp1、kd1And kz1Is a preset compliance control coefficient,
Figure FDA0003084764510000024
is the centroid acceleration.
6. A mass center trajectory generation device, comprising:
the parameter determination module is used for determining the centroid position, the centroid speed and the centroid acceleration of the robot at the first planning moment;
the centroid track increment calculation module is used for calculating the centroid track increment of the robot according to the centroid speed and the centroid acceleration of the robot at the first planning moment;
and the centroid position calculation module is used for calculating the centroid position of the robot at a second planning time according to the centroid position of the robot at a first planning time and the centroid trajectory increment, wherein the second planning time is the next planning time of the first planning time.
7. The centroid trajectory generation apparatus according to claim 6, wherein said centroid trajectory increment calculation module is specifically configured to calculate said centroid trajectory increment according to the following equation:
Figure FDA0003084764510000025
wherein h is the height of the center of mass of the robot, g is the acceleration of gravity, and ω is the circular frequency, and
Figure FDA0003084764510000026
t is the first planning moment, t +1 is the second planning moment, sinh is a hyperbolic sine function, cosh is a hyperbolic cosine function,
Figure FDA0003084764510000031
for the center of mass velocity of the robot at the first planning moment,
Figure FDA0003084764510000032
and δ x (t +1) is the centroid trajectory increment for the centroid acceleration of the robot at the first planning moment.
8. The centroid trajectory generation device according to claim 6 or 7, wherein the centroid position calculation module is specifically configured to calculate the centroid position of the robot at the second planning time according to the following equation:
x(t+1)＝x(t)+δx(t+1)
wherein x (t) is the centroid position of the robot at the first planning moment, δ x (t +1) is the centroid trajectory increment, and x (t +1) is the centroid position of the robot at the second planning moment.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the centroid trajectory generation method as claimed in any one of claims 1 to 5.
10. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the centroid trajectory generation method as claimed in any one of claims 1 to 5.
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