CN114683281A - Motion control method and device for foot type robot, electronic equipment and storage medium - Google Patents
Motion control method and device for foot type robot, electronic equipment and storage medium Download PDFInfo
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Abstract
The application provides a motion control method and device for a foot type robot, electronic equipment and a storage medium, and relates to the technical field of robots. The number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot type robot is obtained; calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient; calculating a combined frictional contact force corresponding to the target foot according to the friction cone base vectors of all sole contact points corresponding to the target foot; the motion trail control is carried out on the foot type robot according to the combined friction contact force corresponding to the target foot, the combined friction contact force corresponding to the target foot can be obtained through calculation based on the friction cone model, the accuracy of controlling the motion of the foot type robot can be improved, and the motion control effect of the foot type robot is improved.
Description
Technical Field
The present disclosure relates to the field of robotics, and in particular, to a method and an apparatus for controlling motion of a foot robot, an electronic device, and a storage medium.
Background
The biped robot is a bionic robot, can realize biped walking and relevant action of the robot, and comprises abundant dynamic characteristics as a dynamic system controlled by machinery. In future production life, the humanoid biped walking robot can help human to solve a series of dangerous or heavy work such as carrying things, emergency rescue and the like.
In the prior art, for a biped robot, a sole contact force vector is generally used for describing sole contact force, and the motion trail of the biped robot is optimized according to the described sole contact force.
It can be seen that the existing method for describing the sole contact force of the biped robot is simpler, so that the problem of poor control effect exists when the motion trail of the biped robot is controlled based on the existing sole contact force.
Disclosure of Invention
An object of the present invention is to provide a method and an apparatus for controlling a motion of a foot robot, an electronic device, and a storage medium, which can improve the accuracy of controlling the motion of the foot robot.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, the present invention provides a method for controlling the motion of a legged robot, including:
acquiring the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot type robot;
calculating a friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient;
calculating a combined frictional contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot;
and controlling the motion trail of the foot type robot according to the combined friction contact force corresponding to the target foot.
In an alternative embodiment, the calculating a friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient includes:
calculating an included angle between two adjacent friction cone base vectors corresponding to each sole contact point according to the number of friction cone fitting surfaces of each sole contact point;
and calculating the friction cone base vector of each sole contact point according to the included angle between two adjacent friction cone base vectors and the preset friction coefficient.
In an alternative embodiment, the calculating the combined frictional contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot includes:
acquiring a rotation matrix of a contact point normal vector corresponding to each sole contact point in a robot world coordinate system;
converting the friction cone base vector of each sole contact point according to each rotation matrix to obtain the friction cone base vector of each sole contact point under the world coordinate system of the robot;
and calculating the combined frictional contact force corresponding to the target foot according to the friction cone base vector of each sole contact point in the world coordinate system of the robot.
In an optional embodiment, the obtaining a rotation matrix of a contact point normal vector corresponding to each sole contact point in a robot world coordinate system includes:
acquiring an included angle between a contact point normal vector corresponding to each sole contact point and each coordinate axis in a world coordinate system;
and calculating a rotation matrix of a contact point normal vector corresponding to each sole contact point under a robot world coordinate system according to the included angle corresponding to each sole contact point.
In an optional embodiment, the calculating a combined frictional contact force corresponding to the target foot according to a friction cone base vector of each sole contact point in the robot world coordinate system includes:
obtaining a contact force amplitude scalar corresponding to each sole contact point;
calculating the combined frictional contact force of each sole contact point according to a contact force amplitude scalar corresponding to each sole contact point and a friction cone base vector of each sole contact point under the world coordinate system of the robot;
and calculating the combined frictional contact force corresponding to the target foot according to the combined frictional contact force of each sole contact point.
In an alternative embodiment, the obtaining the number of friction cone fitting surfaces of at least one sole contact point corresponding to the target foot in the foot-type robot comprises:
acquiring operating resource parameters of a controller in the foot robot and the number of sole contact points corresponding to the target foot;
determining the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot robot according to the operation resource parameters of the controller in the foot robot, the number of sole contact points corresponding to the target foot and a preset mapping relation, wherein the preset mapping relation comprises: and mapping relation among the running resource parameters of the controller, the number of the sole contact points and the number of friction cone fitting surfaces of the sole contact points in the foot robot.
In an alternative embodiment, if the sole of the target foot is a rectangular sole, the target foot corresponds to four plantar contact points.
In a second aspect, the present invention provides a legged robot motion control device, comprising:
the acquisition module is used for acquiring the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot type robot;
the first calculation module is used for calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient;
the second calculation module is used for calculating the combined frictional contact force corresponding to the target foot according to the friction cone base vectors of all sole contact points corresponding to the target foot;
and the control module is used for controlling the motion trail of the foot type robot according to the combined friction contact force corresponding to the target foot.
In an optional embodiment, the first calculating module is specifically configured to calculate an included angle between two adjacent friction cone base vectors corresponding to each sole contact point according to the number of friction cone fitting surfaces of each sole contact point;
and calculating the friction cone base vector of each sole contact point according to the included angle between two adjacent friction cone base vectors and the preset friction coefficient.
In an optional implementation manner, the second calculation module is specifically configured to obtain a rotation matrix of a contact point normal vector corresponding to each sole contact point in a robot world coordinate system;
converting the friction cone base vector of each sole contact point according to each rotation matrix to obtain the friction cone base vector of each sole contact point under the world coordinate system of the robot;
and calculating the combined frictional contact force corresponding to the target foot according to the friction cone base vector of each sole contact point in the world coordinate system of the robot.
In an optional implementation manner, the second calculation module is specifically configured to obtain an included angle between a contact point normal vector corresponding to each sole contact point and each coordinate axis in a world coordinate system;
and calculating a rotation matrix of the contact point normal vector corresponding to each sole contact point under the robot world coordinate system according to the included angle corresponding to each sole contact point.
In an optional embodiment, the second calculation module is specifically configured to obtain a contact force amplitude scalar corresponding to each sole contact point;
calculating the combined frictional contact force of each sole contact point according to a contact force amplitude scalar corresponding to each sole contact point and a friction cone base vector of each sole contact point under the world coordinate system of the robot;
and calculating the combined frictional contact force corresponding to the target foot according to the combined frictional contact force of each sole contact point.
In an optional embodiment, the obtaining module is specifically configured to obtain an operating resource parameter of a controller in the foot robot and a number of sole contact points corresponding to the target foot;
determining the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot robot according to the operation resource parameters of the controller in the foot robot, the number of sole contact points corresponding to the target foot and a preset mapping relation, wherein the preset mapping relation comprises: and mapping relation among the running resource parameters of the controller, the number of the sole contact points and the number of friction cone fitting surfaces of the sole contact points in the foot robot.
In an alternative embodiment, if the sole of the target foot is a rectangular sole, the target foot corresponds to four plantar contact points.
In a third aspect, the present invention provides an electronic device comprising: the motion control method comprises a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, when an electronic device runs, the processor and the storage medium are communicated through the bus, and the processor executes the machine-readable instructions to execute the steps of the motion control method of the legged robot according to any one of the previous embodiments.
In a fourth aspect, the present invention provides a computer readable storage medium, having a computer program stored thereon, where the computer program is executed by a processor to perform the steps of the method for controlling the motion of a legged robot according to any one of the previous embodiments.
The beneficial effect of this application is:
in the method, the device, the electronic equipment and the storage medium for controlling the motion of the foot robot, the number of the fitting surfaces of the friction cones of at least one sole contact point corresponding to a target foot in the foot robot is obtained; calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient; calculating the combined frictional contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot; according to the combined frictional contact force corresponding to the target foot, the motion trail control is carried out on the foot type robot, the combined frictional contact force corresponding to the target foot can be obtained through calculation of friction cone base vectors corresponding to a plurality of sole contact points on the basis of a friction cone model, and compared with a mode of describing sole contact force by adopting a single contact force vector, when the sole contact force is controlled on the foot type robot according to the combined frictional contact force, the accuracy of controlling the motion of the foot type robot can be improved, and the motion control effect of the foot type robot is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required 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 application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic flowchart of a method for controlling the motion of a legged robot according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of another method for controlling the motion of a legged robot according to an embodiment of the present application;
fig. 3 is a schematic flowchart of another method for controlling the motion of a legged robot according to an embodiment of the present application;
fig. 4 is a schematic flowchart of another method for controlling the motion of a legged robot according to an embodiment of the present application;
fig. 5 is a schematic flowchart of another method for controlling the motion of a legged robot according to an embodiment of the present application;
fig. 6 is a schematic flowchart of another method for controlling the motion of a legged robot according to an embodiment of the present application;
fig. 7 is a functional block diagram of a foot robot motion control device according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
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.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the prior art, a biped robot generally adopts a single contact force vector to describe the sole contact force, and then optimizes the motion trail of the biped robot according to the described sole contact force. When the sole contact force is described, the positive pressure of the contact surface is generally assumed to be vertical, and the frictional force is horizontal for friction constraint.
It can be seen that the description of the existing contact force vector is simpler, and the difference from the actual situation is larger, so that the existing motion control method for the foot type robot has the problem of poor control effect.
In view of this, embodiments of the present application provide a method for controlling a motion of a legged robot, which can improve accuracy of controlling the motion of the legged robot.
Fig. 1 is a schematic flowchart of a method for controlling a motion of a legged robot according to an embodiment of the present application, where an execution subject of the method may be the legged robot, and specifically may be a controller in the legged robot. The legged robot may be any multi-legged robot such as a biped robot, a quadruped robot, or a hexapod robot, and the target foot may be any one of the legged robots, for example, any one of the biped robots, but is not limited thereto. As shown in fig. 1, the method may include:
s101, the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot type robot is obtained.
In some embodiments, the target foot may include at least one plantar contact point, depending on the shape of the ball of the target foot. Each sole contact point may correspond to a friction cone, the apex of the friction cone being located at the corresponding sole contact point, the normal being perpendicular to the ground, the slope being determined by a predetermined coefficient of friction of the sole at the point contact. The friction cone corresponding to each sole contact point can be used for describing the contact counter force of the sole contact point, the contact counter force can comprise positive pressure and friction force, the resultant force of the positive pressure and the friction force is a vector, the vector is located in the friction cone and meets the coulomb friction force law, and therefore the sole contact point can not slide. The friction cones corresponding to the sole contact points may be rectangular pyramids, hexagonal pyramids, and the like, which are not limited herein, and the number of the fitting surfaces of the friction cones of the sole contact points, that is, the number of the multi-surface convex cones in the friction cones corresponding to the sole contact points. Optionally, the number of the friction cone fitting surfaces of at least one sole contact point corresponding to the target foot in the legged robot may be a preset value, or may be customized by a user, which is not limited herein.
S102, calculating a friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient.
Alternatively, the preset friction coefficient may be determined according to an application scenario of the legged robot, and specifically, may be determined according to each sole contact point. The number of the friction cone fitting surfaces of each sole contact point and the number of the friction cone base vectors of the sole contact points can be the same, the friction cone base vectors of each sole contact point can represent the magnitude of the friction force corresponding to the sole contact point, and the friction cone fitting surfaces of each sole contact point and the preset friction coefficient can be calculated and obtained according to the number of the friction cone fitting surfaces of the sole contact points and the preset friction coefficient.
S103, calculating the combined frictional contact force corresponding to the target foot according to the friction cone base vectors of the sole contact points corresponding to the target foot.
It can be understood that, after obtaining the friction cone base vectors of the sole contact points corresponding to the target foot, the friction cone base vectors of the sole contact points corresponding to the target foot may be summed, so as to obtain the combined frictional contact force corresponding to the target foot. The combined friction contact force corresponding to the target foot can represent the contact counterforce received by the contact of the target foot and the outside.
And S104, controlling the motion track of the foot type robot according to the combined frictional contact force corresponding to the target foot.
Based on the above description, after the combined frictional contact force corresponding to the target foot is obtained, the sole force control is performed on the foot robot according to the combined frictional contact force, so that the accuracy of controlling the motion of the foot robot can be improved, and the motion control effect on the foot robot can be improved.
Optionally, when the sole force control is performed on the foot robot according to the combined frictional contact force, the calculated combined frictional contact force can be used as a constraint condition, and the foot robot is secondarily planned according to the constraint condition and a whole body dynamics mode corresponding to the foot robot, so that the expected posture of the whole posture of the foot robot can be better tracked through the secondary planning, and the accuracy of the motion control of the foot robot can be further improved. Of course, the specific control method is not limited thereto, and may be different according to the actual application scenario.
In summary, an embodiment of the present application provides a method for controlling motion of a legged robot, where the method includes: acquiring the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot type robot; calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient; calculating the combined frictional contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot; according to the method, the motion trail control is carried out on the foot type robot according to the combined frictional contact force corresponding to the target foot, the combined frictional contact force corresponding to the target foot can be obtained through calculation of the friction cone base vectors corresponding to the plurality of sole contact points on the basis of a friction cone model, and compared with a mode that sole contact force is described by adopting a single contact force vector, when the sole contact force control is carried out on the foot type robot according to the combined frictional contact force, the accuracy of controlling the motion of the foot type robot can be improved, and the motion control effect of the foot type robot is improved.
Fig. 2 is a schematic flowchart of another method for controlling the motion of a legged robot according to an embodiment of the present application. As shown in fig. 2, the calculating of the friction cone base vector of each sole contact point according to the number of the friction cone fitting surfaces of each sole contact point and the preset friction coefficient includes:
s201, calculating an included angle between two adjacent friction cone base vectors corresponding to each sole contact point according to the number of the friction cone fitting surfaces of each sole contact point.
S202, calculating the friction cone base vector of each sole contact point according to the included angle between two adjacent friction cone base vectors and a preset friction coefficient.
The number of the friction cone fitting surfaces of each sole contact point is the same as that of the friction cone base vectors of the sole contact points, and the friction cone model construction mode is combined, so that the included angle between every two adjacent friction cone base vectors corresponding to each sole contact point can be calculated according to the number of the friction cone fitting surfaces of each sole contact point, and then the friction cone base vectors of each sole contact point can be calculated according to the included angle and the preset friction coefficient. The term "base vector of friction cone" of each sole contact point as used herein actually refers to the base vector of friction cone of each sole contact point in the friction cone coordinate system.
In some embodiments, assuming that the target foot corresponds to k sole contact points, the number of friction cone fitting surfaces of each sole contact point is n, that is, the number of friction cone base vectors of each sole contact point is n, then the ith friction cone base vector of any sole contact point in the friction cone coordinate system may be represented by the following formula:
wherein f isiAnd the ith friction cone base vector of the sole contact point is expressed in a friction cone coordinate system, theta represents an included angle between two adjacent friction cone base vectors corresponding to the sole contact point, and u represents a preset friction coefficient corresponding to the sole contact point.
Fig. 3 is a schematic flowchart of another method for controlling the motion of a legged robot according to an embodiment of the present application. As shown in fig. 3, the calculating the combined frictional contact force corresponding to the target foot according to the friction cone base vectors of the sole contact points corresponding to the target foot includes:
s301, obtaining a rotation matrix of a contact point normal vector corresponding to each sole contact point in a robot world coordinate system.
And S302, converting the friction cone base vector of each sole contact point according to each rotation matrix to obtain the friction cone base vector of each sole contact point in the world coordinate system of the robot.
And S303, calculating the combined frictional contact force corresponding to the target foot according to the friction cone base vector of each sole contact point in the world coordinate system of the robot.
For each sole contact point, it should be noted that a contact point normal vector corresponding to each sole contact point is also a normal vector of a plane contacted by each sole contact point, a rotation matrix of each contact point normal vector in a robot world coordinate system can represent the posture of each sole contact point in the robot world coordinate system, and each rotation matrix can be determined according to an included angle of each contact point normal vector in the robot world coordinate system.
Based on each rotation matrix, the obtained friction cone base vector of each sole contact point actually refers to the friction cone base vector of each sole contact point in the friction cone coordinate system, so that it is necessary to convert the friction cone base vectors according to each rotation matrix, so that the friction cone base vectors of each sole contact point in the robot world coordinate system can be obtained through conversion, and further, the combined friction contact force corresponding to the target foot in the robot world coordinate system can be calculated according to the friction cone base vectors of each sole contact point in the robot world coordinate system. By applying the embodiment of the application, the friction cone base vector of each sole contact point under the world coordinate system of the robot can be obtained, and the control logic can be simplified when the motion track of the foot type robot is controlled according to the friction cone base vector of each sole contact point under the world coordinate system of the robot.
Fig. 4 is a schematic flowchart of another method for controlling a motion of a legged robot according to an embodiment of the present application. As shown in fig. 4, the obtaining of the rotation matrix of the contact point normal vector corresponding to each sole contact point in the robot world coordinate system includes:
s401, obtaining an included angle between a contact point normal vector corresponding to each sole contact point and each coordinate axis in a world coordinate system.
S402, calculating a rotation matrix of a contact point normal vector corresponding to each sole contact point under a robot world coordinate system according to the included angle corresponding to each sole contact point.
The included angle between the contact point normal vector corresponding to each sole contact point and each coordinate axis in the world coordinate system can be acquired through a preset sensor, for example, through sensors such as a laser radar and a gyroscope, which is not limited herein. By acquiring the included angle corresponding to each sole contact point, a rotation matrix of a contact point normal vector corresponding to each sole contact point in the world coordinate system of the robot can be calculated according to the included angle, so that the posture of each sole contact point in the world coordinate system of the robot can be represented through each rotation matrix.
In some embodiments, assuming that the target foot corresponds to k sole contact points, and the number of friction cone fitting surfaces of each sole contact point is n, the ith friction cone base vector of any sole contact point in the robot world coordinate system may be represented by the following formula:
fi w＝Rcfi
Rc＝RotZ(θy)*RotY(θp)*RotX(θr)
wherein f isi wThe ith friction cone base vector R of the sole contact point in the world coordinate system of the robotCA rotation matrix of a contact point normal vector corresponding to the sole contact point under a robot world coordinate system, fiRepresents the ith friction cone base vector theta of the sole contact point under the friction cone coordinate systemyRepresenting the yaw angle theta of a contact point normal vector corresponding to the sole contact point in a robot world coordinate systempRepresenting the pitch angle theta of the normal vector of the contact point corresponding to the sole contact point in the world coordinate system of the robotrAnd (4) representing the roll angle of a contact point normal vector corresponding to the sole contact point in the robot world coordinate system. RotZ (theta)y) The rotation matrix, RotY (θ), representing the correspondence of yaw anglesp) Rotation matrix representing the pitch angle dependence, RotX (θ)r) And representing a rotation matrix corresponding to the roll angle.
Fig. 5 is a schematic flowchart of another motion control method for a foot robot according to an embodiment of the present disclosure. As shown in fig. 5, the calculating of the combined frictional contact force corresponding to the target foot according to the friction cone base vector of each sole contact point in the world coordinate system of the robot includes:
s501, obtaining a contact force amplitude scalar corresponding to each sole contact point.
S502, calculating the combined frictional contact force of each sole contact point according to a contact force amplitude scalar corresponding to each sole contact point and a friction cone base vector of each sole contact point under a robot world coordinate system.
And S503, calculating the combined frictional contact force corresponding to the target foot according to the combined frictional contact force of the sole contact points.
The scalar quantity of the contact force amplitude corresponding to each sole contact point can be a positive value, and can be determined by the size and the direction of the contact force corresponding to each sole contact point. Optionally, the magnitude and direction of the contact force corresponding to each sole contact point may be acquired through a sole sensor, and currently, the specific acquisition mode is not limited thereto.
Based on the above description, after obtaining the contact force amplitude scalar corresponding to each sole contact point, the combined frictional contact force corresponding to each sole contact point may be calculated according to each contact force amplitude scalar and the contact force amplitude scalar corresponding to each sole contact point, and the combined frictional contact force corresponding to the target foot may be calculated according to the combined frictional contact force corresponding to each sole contact point.
In some embodiments, assuming the number of friction pyramid basis vectors for each plantar contact point in the target foot, the combined frictional contact force for the target foot may be represented using the following equation:
wherein f represents the combined friction contact force corresponding to the target foot in the world coordinate system of the robot,
the expression represents the combined frictional contact force rho corresponding to the jth sole contact point corresponding to the target foot in the world coordinate system of the robotiA contact force amplitude scalar quantity corresponding to the ith sole contact point corresponding to the target foot is represented, n represents the number of friction cone base vectors of the ith sole contact point corresponding to the target foot, and k represents the sole corresponding to the target footThe number of contact points. Of course, it should be noted that the number of friction cone base vectors of each plantar contact point in the target foot may also be different according to the actual application scenario.
Fig. 6 is a schematic flowchart of another method for controlling the motion of a legged robot according to an embodiment of the present application. As shown in fig. 6, acquiring the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the legged robot includes:
s601, obtaining the operating resource parameters of the controller in the foot type robot and the number of sole contact points corresponding to the target foot.
Wherein the operating resource parameters of the controller may include: the number of CPUs, the control structure parameters, and the like, wherein the control structure parameters may include control structure parameters corresponding to a serial structure type and control structure parameters corresponding to a parallel structure type. Of course, it should be noted that the operating resource parameter may also include other parameters according to different types of controllers, and is not limited herein.
Alternatively, the number of plantar contact points corresponding to the target foot may be specified by the user, or alternatively, may be determined according to the shape of the sole of the target foot, which is not limited herein.
S602, determining the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot robot according to the operation resource parameters of the controller in the foot robot, the number of sole contact points corresponding to the target foot and a preset mapping relation.
The preset mapping relationship may include: and mapping relation among the running resource parameters of the controller, the number of the sole contact points and the number of friction cone fitting surfaces of the sole contact points in the foot robot. The preset mapping relation can represent the maximum number of friction cone fitting surfaces of each sole contact point corresponding to the target foot when the foot type robot works stably. In some embodiments, the number of the friction cone fitting surfaces of each plantar contact point determined may be the same or different according to the operating resource parameters of the controller and the preset mapping relationship, and is not limited herein.
As can be seen from the preset mapping relationship, when the operating resource parameter of the controller and the number of the sole contact points corresponding to the target foot are obtained, the number of the friction cone fitting surfaces of at least one sole contact point corresponding to the target foot can be determined according to the preset mapping relationship.
Based on the above description, it can be understood that, the greater the number of sole contact points corresponding to the target foot and the greater the number of friction cone fitting surfaces of each sole contact point, the higher the requirement on the operation resource parameters of the controller is, so that the delay can be reduced as much as possible, and the real-time performance of the calculation of the combined frictional contact force corresponding to the target foot can be ensured.
It should be noted that, in some embodiments, the number of the friction cone fitting surfaces of each sole contact point may also be customized by the user according to the operation resource parameters and the actual requirements of the controller, for example, the number of the friction cone fitting surfaces of the first sole contact point corresponding to the target foot may be set to 4, and the number of the friction cone fitting surfaces of the second sole contact point corresponding to the target foot may be set to 6, but the specific setting manner is not limited thereto.
Alternatively, if the ball of the target foot is a rectangular ball, the target foot corresponds to four plantar contact points.
When the sole of the target foot is a rectangular sole, each vertex of the rectangle may correspond to one contact point. It should be noted that, of course, the sole of the target foot may have other shapes, for example, when the sole of the target foot is a triangular sole, the target foot may correspond to 3 contact points, where each vertex of the triangle may correspond to one contact point, and of course, the specific division manner of the sole contact points is not limited thereto, and may be different according to the actual application scenario.
In summary, by applying the embodiment of the application, the purpose that the friction cone base vectors of all sole contact points corresponding to the target foot can be described based on the friction cone model is achieved, then the friction force of all sole contact points in different contact states can be described through all the friction cone base vectors, the combined friction contact force corresponding to the target foot can be calculated according to the friction cone base vectors of all the sole contact points, and the method is more accurate compared with the method that a single contact force vector is adopted to describe the sole contact force of the target foot. Particularly, for uneven ground, because each sole contact point is positioned on different contact surfaces and corresponds to different contact point normal vectors, the contact force and friction constraint of the uneven ground can be accurately described by applying the embodiment of the application, and the accuracy of controlling the motion of the foot type robot can be effectively improved.
Fig. 7 is a functional block diagram of a foot robot motion control device according to an embodiment of the present application, the basic principle and the technical effect of the device are the same as those of the corresponding method embodiments, and for the sake of brief description, the corresponding contents in the method embodiments may be referred to for the parts not mentioned in this embodiment.
As shown in fig. 7, the motion control apparatus 100 may include:
the acquiring module 110 is configured to acquire the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot-type robot;
the first calculating module 120 is configured to calculate a friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient;
the second calculating module 130 is configured to calculate a combined frictional contact force corresponding to the target foot according to a friction cone base vector of each sole contact point corresponding to the target foot;
and the control module 140 is configured to perform motion trajectory control on the legged robot according to the combined frictional contact force corresponding to the target foot.
In an alternative embodiment, the first calculating module 120 is specifically configured to calculate, according to the number of the friction cone fitting surfaces of each sole contact point, an included angle between two adjacent friction cone base vectors corresponding to each sole contact point;
and calculating the friction cone base vector of each sole contact point according to the included angle between two adjacent friction cone base vectors and the preset friction coefficient.
In an alternative embodiment, the second calculating module 130 is specifically configured to obtain a rotation matrix of a contact point normal vector corresponding to each sole contact point in a robot world coordinate system;
converting the friction cone base vector of each sole contact point according to each rotation matrix to obtain the friction cone base vector of each sole contact point under the world coordinate system of the robot;
and calculating the combined frictional contact force corresponding to the target foot according to the friction cone base vector of each sole contact point in the world coordinate system of the robot.
In an optional embodiment, the second calculating module 130 is specifically configured to obtain an included angle between a contact point normal vector corresponding to each sole contact point and each coordinate axis in a world coordinate system;
and calculating a rotation matrix of a contact point normal vector corresponding to each sole contact point under a robot world coordinate system according to the included angle corresponding to each sole contact point.
In an alternative embodiment, the second calculating module 130 is specifically configured to obtain a contact force magnitude scalar corresponding to each sole contact point;
calculating the combined frictional contact force of each sole contact point according to a contact force amplitude scalar corresponding to each sole contact point and a friction cone base vector of each sole contact point under the world coordinate system of the robot;
and calculating the combined frictional contact force corresponding to the target foot according to the combined frictional contact force of each sole contact point.
In an optional embodiment, the obtaining module 110 is specifically configured to obtain an operating resource parameter of a controller in the foot robot and a number of sole contact points corresponding to the target foot;
determining the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot robot according to the operation resource parameters of the controller in the foot robot, the number of sole contact points corresponding to the target foot and a preset mapping relation, wherein the preset mapping relation comprises: and mapping relation among the running resource parameters of the controller, the number of the sole contact points and the number of friction cone fitting surfaces of the sole contact points in the foot robot.
In an alternative embodiment, if the sole of the target foot is a rectangular sole, the target foot corresponds to four plantar contact points.
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, or one or more Field Programmable Gate Arrays (FPGAs), etc. 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. As 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 structural diagram of an electronic device according to an embodiment of the present disclosure, where the electronic device may be integrated in a legged robot. As shown in fig. 8, the electronic device may include: a processor 210, a storage medium 220, and a bus 230, wherein the storage medium 220 stores machine-readable instructions executable by the processor 210, and when the electronic device is operated, the processor 210 communicates with the storage medium 220 via the bus 230, and the processor 210 executes the machine-readable instructions to perform the steps of the above-mentioned method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present application further provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program performs the steps of the above method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
In the several embodiments provided in the present application, 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, a division of a unit is merely a logical division, and an actual implementation may have another division, 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.
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, 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 application. 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.
It is noted that, in this document, relational terms such as "first" and "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method for controlling the motion of a legged robot, comprising:
acquiring the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot type robot;
calculating a friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient;
calculating a combined frictional contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot;
and controlling the motion trail of the foot type robot according to the combined friction contact force corresponding to the target foot.
2. The method according to claim 1, wherein the calculating the friction cone base vector of each plantar contact point according to the number of friction cone fitting surfaces of each plantar contact point and a preset friction coefficient comprises:
calculating an included angle between two adjacent friction cone base vectors corresponding to each sole contact point according to the number of friction cone fitting surfaces of each sole contact point;
and calculating the friction cone base vector of each sole contact point according to the included angle between two adjacent friction cone base vectors and the preset friction coefficient.
3. The method of claim 1, wherein calculating the combined contact frictional force for the target foot based on the friction cone basis vectors for the sole contact points for the target foot comprises:
acquiring a rotation matrix of a contact point normal vector corresponding to each sole contact point in a robot world coordinate system;
converting the friction cone base vector of each sole contact point according to each rotation matrix to obtain the friction cone base vector of each sole contact point in the world coordinate system of the robot;
and calculating the combined frictional contact force corresponding to the target foot according to the friction cone base vector of each sole contact point in the world coordinate system of the robot.
4. The method according to claim 3, wherein the obtaining of the rotation matrix of the contact point normal vector corresponding to each sole contact point under the robot world coordinate system comprises:
acquiring an included angle between a contact point normal vector corresponding to each sole contact point and each coordinate axis in a world coordinate system;
and calculating a rotation matrix of a contact point normal vector corresponding to each sole contact point under a robot world coordinate system according to the included angle corresponding to each sole contact point.
5. The method of claim 3, wherein calculating the combined frictional contact force corresponding to the target foot according to the friction cone basis vectors of the sole contact points in the world coordinate system of the robot comprises:
obtaining a contact force amplitude scalar corresponding to each sole contact point;
calculating the combined frictional contact force of each sole contact point according to a contact force amplitude scalar corresponding to each sole contact point and a friction cone base vector of each sole contact point under the world coordinate system of the robot;
and calculating the combined frictional contact force corresponding to the target foot according to the combined frictional contact force of each sole contact point.
6. The method of claim 1, wherein the obtaining the number of friction cone fitting surfaces of at least one plantar contact point corresponding to a target foot in the legged robot comprises:
acquiring operating resource parameters of a controller in the foot robot and the number of sole contact points corresponding to the target foot;
determining the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot robot according to the operation resource parameters of the controller in the foot robot, the number of sole contact points corresponding to the target foot and a preset mapping relation, wherein the preset mapping relation comprises: and mapping relation among the running resource parameters of the controller, the number of the sole contact points and the number of friction cone fitting surfaces of the sole contact points in the foot robot.
7. The method of any one of claims 1-6, wherein the target foot corresponds to four plantar contact points if the ball of the target foot is a rectangular ball.
8. A legged robot motion control device, comprising:
the acquisition module is used for acquiring the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot type robot;
the first calculation module is used for calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient;
the second calculation module is used for calculating the combined frictional contact force corresponding to the target foot according to the friction cone base vectors of all sole contact points corresponding to the target foot;
and the control module is used for controlling the motion trail of the foot type robot according to the combined friction contact force corresponding to the target foot.
9. An electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the electronic device is running, the processor executing the machine-readable instructions to perform the steps of the legged robot motion control method according to any one of claims 1-7.
10. A computer-readable storage medium, having stored thereon a computer program for performing, when being executed by a processor, the steps of the method for motion control of a legged robot according to any one of claims 1-7.
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