WO2022105020A1

WO2022105020A1 - Robot control method and apparatus, computer readable storage medium, and robot

Info

Publication number: WO2022105020A1
Application number: PCT/CN2020/139870
Authority: WO
Inventors: 陈春玉; 刘益彰; 葛利刚; 王鸿舸; 麻星星; 白杰; 熊友军
Original assignee: 深圳市优必选科技股份有限公司
Priority date: 2020-11-23
Filing date: 2020-12-28
Publication date: 2022-05-27
Also published as: CN112536796A; CN112536796B

Abstract

A robot control method, comprising: obtaining left foot stress information and right foot stress information of a robot; calculating a zero moment point of the center of mass of the robot according to the left foot stress information and the right foot stress information; calculating an expected transport output amount of the robot according to the zero moment point of the center of mass; on the basis of a preset linear inverted pendulum model, updating a motion path of the robot according to the expected transport output amount, so as to obtain an updated position of the center of mass; performing inverse kinematics analysis on the updated position of the center of mass to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles. By adopting the method, it can be ensured that the center of mass of a robot is within a support range when the robot picks up an object, so that the stability of the robot is greatly improved. Also provided are a robot control apparatus, a computer readable storage medium, and a robot.

Description

机器人控制方法、装置、计算机可读存储介质及机器人Robot control method, device, computer-readable storage medium, and robot

本申请要求于2020年11月23日在中国专利局提交的、申请号为202011320807.5的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese Patent Application No. 202011320807.5 filed with the Chinese Patent Office on November 23, 2020, the entire contents of which are incorporated herein by reference.

技术领域technical field

本申请属于机器人技术领域，尤其涉及一种机器人控制方法、装置、计算机可读存储介质及机器人。The present application belongs to the field of robot technology, and in particular, relates to a robot control method, a device, a computer-readable storage medium, and a robot.

背景技术Background technique

在现有技术中，双足机器人在没有外界干扰时，能够保持自身稳定。但当机器人在站立搬起物体时，会造成机器人质心的变化，尤其当物体质量较大时，机器人质心可能会超出支撑区域，稳定性较差。In the prior art, the biped robot can maintain its own stability when there is no external interference. However, when the robot is standing and lifting the object, the center of mass of the robot will change, especially when the mass of the object is large, the center of mass of the robot may exceed the support area, and the stability is poor.

技术问题technical problem

有鉴于此，本申请实施例提供了一种机器人控制方法、装置、计算机可读存储介质及机器人，以解决现有的双足机器人在站立搬起物体时稳定性较差的问题。In view of this, the embodiments of the present application provide a robot control method, device, computer-readable storage medium, and robot, so as to solve the problem of poor stability of existing biped robots when standing and lifting objects.

技术解决方案technical solutions

本申请实施例的第一方面提供了一种机器人控制方法，可以包括：A first aspect of the embodiments of the present application provides a method for controlling a robot, which may include:

获取机器人的左脚受力信息和右脚受力信息；Obtain the force information of the left foot and the right foot of the robot;

根据所述左脚受力信息和所述右脚受力信息计算所述机器人的本体质心的零力矩点；Calculate the zero moment point of the body center of the robot according to the force information of the left foot and the force information of the right foot;

根据所述本体质心的零力矩点计算所述机器人的搬运期望输出量；Calculate the expected handling output of the robot according to the zero moment point of the center of mass of the body;

基于预设的线性倒立摆模型，根据所述搬运期望输出量对所述机器人的运动轨迹进行更新，得到更新后的本体质心位置；Based on the preset linear inverted pendulum model, the movement trajectory of the robot is updated according to the expected handling output to obtain the updated position of the center of mass of the body;

对所述更新后的本体质心位置进行逆运动学分析，得到所述机器人的左腿和右腿的各个关节角；Perform inverse kinematics analysis on the updated body centroid position to obtain the joint angles of the left and right legs of the robot;

按照所述各个关节角控制所述机器人进行运动。The robot is controlled to move according to the respective joint angles.

进一步地，所述根据所述本体质心的零力矩点计算所述机器人的搬运期望输出量，包括：Further, calculating the expected handling output of the robot according to the zero-moment point of the center of mass of the body includes:

根据所述本体质心的零力矩点和预设的起始速度计算所述机器人的搬运期望加速度；Calculate the expected acceleration of the robot's handling according to the zero moment point of the center of mass of the body and a preset initial speed;

根据所述搬运期望加速度和所述起始速度计算所述搬运期望输出量。The expected transportation output is calculated from the expected transportation acceleration and the starting speed.

进一步地，所述根据所述本体质心的零力矩点和预设的起始速度计算所述机器人的搬运期望加速度，包括：Further, calculating the expected acceleration of handling of the robot according to the zero moment point of the center of mass of the body and the preset initial speed, including:

根据下式计算所述搬运期望加速度：Calculate the desired handling acceleration according to the following formula:

v _ax＝v _ax0+0.5a _at v _ax = v _ax0 +0.5a _a t

a _a＝k _ap(0-p _ax)+k _av(0-v _ax) a _a =k _ap (0-p _ax )+k _av (0-v _ax )

其中，k _ap为预设的比例项系数，k _av为预设的阻尼项系数，v _ax0为所述起始速度，p _ax为所述零力矩点，t为时间变量，v _ax为搬运期望速度，a _a为所述搬运期望加速度。 Wherein, k _ap is the preset proportional term coefficient, k _av is the preset damping term coefficient, v _ax0 is the starting speed, p _ax is the zero moment point, t is the time variable, and v _ax is the handling expectation Speed, a _a is the expected acceleration of the transport.

进一步地，所述根据所述搬运期望加速度和所述起始速度计算所述搬运期望输出量，包括：Further, the calculation of the expected handling output according to the desired handling acceleration and the starting speed includes:

根据下式计算所述搬运期望输出量：Calculate the expected output of the handling according to the following formula:

其中，p _bxd为所述搬运期望输出量。 Wherein, p _bxd is the expected output of the handling.

进一步地，所述根据所述搬运期望输出量对所述机器人的运动轨迹进行更新，得到更新后的本体质心位置，包括：Further, the movement trajectory of the robot is updated according to the expected handling output to obtain the updated position of the center of mass of the body, including:

获取所述本体质心的实际位置和期望位置；obtain the actual position and the desired position of the body centroid;

根据所述本体质心的实际位置、期望位置、零力矩点和所述搬运期望输出量计算所述机器人的柔顺控制加速度；Calculate the compliance control acceleration of the robot according to the actual position, the desired position, the zero-moment point, and the expected handling output of the body center of mass;

根据所述柔顺控制加速度对所述机器人的运动轨迹进行更新，得到所述更新后的本体质心位置。The motion trajectory of the robot is updated according to the compliance control acceleration to obtain the updated position of the center of mass of the body.

进一步地，所述根据所述本体质心的实际位置、期望位置、零力矩点和所述搬运期望输出量计算所述机器人的柔顺控制加速度，包括：Further, the calculation of the compliance control acceleration of the robot according to the actual position, the desired position, the zero moment point, and the expected handling output of the body's center of mass includes:

根据下式计算所述柔顺控制加速度：The compliant control acceleration is calculated according to:

a _b＝k _bpx(x _d-x _m)+k _bzmpx(p _bxd-p _ax) a _b =k _bpx (x _d -x _m )+k _bzmpx (p _bxd -p _ax )

其中，x _d为所述期望位置，x _m为所述实际位置，p _bxd为所述期望零力矩点，p _ax为所述零力矩点，k _bpx为预设的比例项系数，k _bzmpx为预设的零力矩点系数，a _b为所述柔顺控制加速度。 where x _d is the desired position, x _m is the actual position, p _bxd is the desired zero-moment point, p _ax is the zero-moment point, k _bpx is a preset proportional term coefficient, and k _bzmpx is The preset zero moment point coefficients, a and _b are the compliant control accelerations.

进一步地，所述根据所述柔顺控制加速度对所述机器人的运动轨迹进行更新，得到所述更新后的本体质心位置，包括：Further, the updating of the motion trajectory of the robot according to the compliant control acceleration to obtain the updated position of the center of mass of the body includes:

根据下式对所述机器人的运动轨迹进行更新：The motion trajectory of the robot is updated according to the following formula:

x(0)＝a _b x(0)=a _b

其中，a _b为所述柔顺控制加速度，k为迭代次数，x(k)为第k次迭代的本体质心位置，

为第k次迭代的本体质心速度，t为时间变量，T为所述机器人的步态周期。 Among them, a _b is the compliant control acceleration, k is the number of iterations, x(k) is the position of the body centroid of the k-th iteration,

is the body centroid velocity of the k-th iteration, t is the time variable, and T is the gait cycle of the robot.

本申请实施例的第二方面提供了一种机器人控制装置，可以包括：A second aspect of the embodiments of the present application provides a robot control device, which may include:

受力信息获取模块，用于获取机器人的左脚受力信息和右脚受力信息；The force information acquisition module is used to obtain the force information of the left foot and the right foot of the robot;

零力矩点计算模块，用于根据所述左脚受力信息和所述右脚受力信息计算所述机器人的本体质心的零力矩点；a zero-moment point calculation module, configured to calculate the zero-moment point of the body center of mass of the robot according to the force information of the left foot and the force information of the right foot;

搬运期望输出量计算模块，用于根据所述本体质心的零力矩点计算所述机器人的搬运期望输出量；a handling expected output calculation module, configured to calculate the handling expected output of the robot according to the zero moment point of the center of mass of the body;

运动轨迹更新模块，用于基于预设的线性倒立摆模型，根据所述搬运期望输出量对所述机器人的运动轨迹进行更新，得到更新后的本体质心位置；A motion trajectory update module, configured to update the motion trajectory of the robot according to the expected handling output based on a preset linear inverted pendulum model to obtain the updated position of the center of mass of the body;

逆运动学分析模块，用于对所述更新后的本体质心位置进行逆运动学分析，得到所述机器人的左腿和右腿的各个关节角；an inverse kinematics analysis module for performing inverse kinematics analysis on the updated position of the center of mass of the body to obtain the joint angles of the left and right legs of the robot;

运动控制模块，用于按照所述各个关节角控制所述机器人进行运动。The motion control module is used for controlling the robot to move according to the respective joint angles.

进一步地，所述搬运期望输出量计算模块可以包括：Further, the handling expected output calculation module may include:

搬运期望加速度计算单元，用于根据所述本体质心的零力矩点和预设的起始速度计算所述机器人的搬运期望加速度；a handling expected acceleration calculation unit, configured to calculate the expected handling acceleration of the robot according to the zero moment point of the center of mass of the body and a preset initial speed;

搬运期望输出量计算单元，用于根据所述搬运期望加速度和所述起始速度计算所述搬运期望输出量。A conveyance expected output calculation unit, configured to calculate the conveyance expected output according to the conveyance desired acceleration and the initial speed.

进一步地，所述搬运期望加速度计算单元具体用于根据下式计算所述搬运期望加速度：Further, the expected carrying acceleration calculation unit is specifically configured to calculate the expected carrying acceleration according to the following formula:

v _ax＝v _ax0+0.5a _at v _ax = v _ax0 +0.5a _a t

a _a＝k _ap(0-p _ax)+k _av(0-v _ax) a _a =k _ap (0-p _ax )+k _av (0-v _ax )

其中，k _ap为预设的比例项系数，k _av为预设的阻尼项系数，v _ax0为所述起始速度，p _ax为所述零力矩点，t为时间变量，v _a□为搬运期望速度，a _a为所述搬运期望加速度。 Wherein, k _ap is the preset proportional term coefficient, k _av is the preset damping term coefficient, v _ax0 is the starting speed, p _ax is the zero moment point, t is the time variable, and v _a□ is the handling Desired speed, a _a is the expected acceleration of the transport.

进一步地，所述搬运期望输出量计算单元具体用于根据下式计算所述搬运期望输出量：Further, the handling expected output calculation unit is specifically configured to calculate the handling expected output according to the following formula:

进一步地，所述运动轨迹更新模块可以包括：Further, the motion trajectory update module may include:

参数获取单元，用于获取所述本体质心的实际位置和期望位置；a parameter obtaining unit, used to obtain the actual position and the desired position of the body centroid;

柔顺控制加速度计算单元，用于根据所述本体质心的实际位置、期望位置、零力矩点和所述搬运期望输出量计算所述机器人的柔顺控制加速度；a compliance control acceleration calculation unit, configured to calculate the compliance control acceleration of the robot according to the actual position, the desired position, the zero moment point, and the expected handling output of the body;

本体质心位置计算单元，用于根据所述柔顺控制加速度对所述机器人的运动轨迹进行更新，得到所述更新后的本体质心位置。A body centroid position calculation unit, configured to update the motion trajectory of the robot according to the compliance control acceleration to obtain the updated body centroid position.

进一步地，所述柔顺控制加速度计算单元具体用于根据下式计算所述柔顺控制加速度：Further, the compliance control acceleration calculation unit is specifically configured to calculate the compliance control acceleration according to the following formula:

进一步地，所述本体质心位置计算单元具体用于根据下式对所述机器人的运动轨迹进行更新：Further, the body centroid position calculation unit is specifically used to update the motion trajectory of the robot according to the following formula:

x(0)＝a _b x(0)=a _b

本申请实施例的第三方面提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现上述任一种机器人控制方法的步骤。A third aspect of the embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the steps of any of the foregoing robot control methods.

本申请实施例的第四方面提供了一种机器人，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现上述任一种机器人控制方法的步骤。A fourth aspect of the 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, which is implemented when the processor executes the computer program The steps of any one of the above robot control methods.

本申请实施例的第五方面提供了一种计算机程序产品，当计算机程序产品在机器人上运行时，使得机器人执行上述任一种机器人控制方法的步骤。A fifth aspect of the embodiments of the present application provides a computer program product, which, when the computer program product runs on a robot, causes the robot to execute the steps of any one of the above-mentioned robot control methods.

有益效果beneficial effect

本申请实施例与现有技术相比存在的有益效果是：本申请实施例获取机器人的左脚受力信息和右脚受力信息；根据所述左脚受力信息和所述右脚受力信息计算所述机器人的本体质心的零力矩点；根据所述本体质心的零力矩点计算所述机器人的搬运期望输出量；基于预设的线性倒立摆模型，根据所述搬运期望输出量对所述机器人的运动轨迹进行更新，得到更新后的本体质心位置；对所述更新后的本体质心位置进行逆运动学分析，得到所述机器人的左腿和右腿的各个关节角；按照所述各个关节角控制所述机器人进行运动。通过本申请实施例，可以在站立搬起物体时，基于线性倒立摆模型，根据机器人的受力信息实时调节运动的关节角，从而保证机器人在搬起物体时质心在支撑范围内，极大提高了机器人的稳定性。Compared with the prior art, the embodiments of the present application have the following beneficial effects: the embodiments of the present application acquire the force information on the left foot and the right foot of the robot; according to the force information on the left foot and the force on the right foot Calculate the zero moment point of the body center of mass of the robot; calculate the expected output of handling of the robot according to the zero moment point of the body center of mass; based on the preset linear inverted pendulum model, according to the expected output of handling Update the motion trajectory of the robot to obtain the updated position of the center of mass of the body; perform inverse kinematics analysis on the updated position of the center of mass of the body to obtain the joint angles of the left and right legs of the robot; The joint angles control the movement of the robot. Through the embodiment of the present application, when standing and lifting an object, based on the linear inverted pendulum model, the joint angle of the movement can be adjusted in real time according to the force information of the robot, so as to ensure that the center of mass of the robot is within the support range when lifting the object, which greatly improves the the stability of the robot.

附图说明Description of drawings

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

图1为本申请实施例中一种机器人平衡控制方法的一个实施例流程图；1 is a flowchart of an embodiment of a robot balance control method in an embodiment of the application;

图2为传感器的设置示意图；Figure 2 is a schematic diagram of the arrangement of the sensor;

图3为左脚受力信息和右脚受力信息的示意图；Figure 3 is a schematic diagram of left foot force information and right foot force information;

图4为六维力传感器具体受力情况的示意图；FIG. 4 is a schematic diagram of the specific force condition of the six-dimensional force sensor;

图5为根据左脚受力信息和右脚受力信息计算机器人的本体质心的零力矩点的示意流程图；Fig. 5 is the schematic flow chart of calculating the zero moment point of the body center of mass of the robot according to the force information of the left foot and the force information of the right foot;

图6为线性倒立摆模型的示意图；6 is a schematic diagram of a linear inverted pendulum model;

图7为根据本体质心的零力矩点对机器人的运动轨迹进行更新的示意流程图；7 is a schematic flow chart of updating the motion trajectory of the robot according to the zero moment point of the body center of mass;

图8为本申请实施例中一种机器人控制装置的一个实施例结构图；FIG. 8 is a structural diagram of an embodiment of a robot control device in an embodiment of the application;

图9为本申请实施例中一种机器人的示意框图。FIG. 9 is a schematic block diagram of a robot in an embodiment of the present application.

本发明的实施方式Embodiments of the present invention

为使得本申请的发明目的、特征、优点能够更加的明显和易懂，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，下面所描述的实施例仅仅是本申请一部分实施例，而非全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本申请保护的范围。In order to make the purpose, features and advantages of the invention of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some, but not all, embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

应当理解，当在本说明书和所附权利要求书中使用时，术语“包括”指示所描述特征、整体、步骤、操作、元素和/或组件的存在，但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and/or component, but does not exclude one or more other features , whole, step, operation, element, component and/or the presence or addition of a collection thereof.

还应当理解，在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。It should also be understood that the terminology used in the specification of the application herein is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise.

还应当进一步理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。It should also be further understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items .

如在本说明书和所附权利要求书中所使用的那样，术语“如果”可以依据上下文被解释为“当...时”或“一旦”或“响应于确定”或“响应于检测到”。类似地，短语“如果确定”或“如果检测到[所描述条件或事件]”可以依据上下文被解释为意指“一旦确定”或“响应于确定”或“一旦检测到[所描述条件或事件]”或“响应于检测到[所描述条件或事件]”。As used in this specification and the appended claims, the term "if" may be contextually interpreted as "when" or "once" or "in response to determining" or "in response to detecting" . Similarly, the phrases "if it is determined" or "if the [described condition or event] is detected" may be interpreted, depending on the context, to mean "once it is determined" or "in response to the determination" or "once the [described condition or event] is detected. ]" or "in response to detection of the [described condition or event]".

另外，在本申请的描述中，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。In addition, in the description of the present application, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

在本申请实施例中提供了一种机器人站立状态下搬起物体的平衡控制器，所述平衡控制器主要包括搬运期望控制器和柔顺控制器。在搬起物体时，上层调度***下发机器人搬起物体的指令，机器人开始执行该指令并搬起物体，在搬起的过程中机器人施加的力是逐渐增加的，可依据预设的传感器采集机器人本体所受到的作用力，同时计算相对于质心的零力矩点(Zero Moment Point，ZMP)，通过零力矩点的变化，所述搬运期望控制器将输出柔顺控制器的期望信号，并将该控制信号输入到所述柔顺控制器，保证机器人在具备柔性的同时具备自平衡的能力。In an embodiment of the present application, a balance controller for lifting an object in a standing state of a robot is provided, and the balance controller mainly includes a lift desired controller and a compliance controller. When lifting the object, the upper-level scheduling system issues an instruction for the robot to lift the object, and the robot starts to execute the instruction and lift the object. During the lifting process, the force exerted by the robot increases gradually, which can be collected according to the preset sensor The force on the robot body, while calculating the zero moment point (Zero Moment Point, ZMP) relative to the center of mass, through the change of the zero moment point, the expected handling controller will output the expected signal of the compliance controller, and the The control signal is input to the compliance controller to ensure that the robot has the ability of self-balancing while being flexible.

请参阅图1，本申请实施例中一种机器人控制方法的一个实施例可以包括：Referring to FIG. 1, an embodiment of a robot control method in the embodiment of the present application may include:

步骤S101、获取机器人的左脚受力信息和右脚受力信息。Step S101 , acquiring the force information of the left foot and the right foot of the robot.

在本申请实施例中，如图2所示，可以在所述机器人的双足和腿部连接的部位分别设置传感器，从而获取所述机器人的左脚受力信息和右脚受力信息。In the embodiment of the present application, as shown in FIG. 2 , sensors may be respectively provided at the parts where the two feet and the legs of the robot are connected, so as to obtain the force information of the left foot and the right foot of the robot.

优选地，所述传感器可以为六维力传感器，能够同时检测图3所示的足底坐标系中三维空间的左脚受力信息和右脚受力信息，其具体受力情况如图4所示。其中，左脚受力信息包括在三个坐标轴(即图3中所示的x轴、y轴和z轴)方向上的力分量以及力矩分量，右脚受力信息也包括在三个坐标轴方向上的力分量以及力矩分量。Preferably, the sensor can be a six-dimensional force sensor, which can simultaneously detect the left foot force information and the right foot force information in the three-dimensional space in the plantar coordinate system shown in FIG. 3 , and the specific force situation is shown in FIG. 4 . Show. Among them, the force information on the left foot includes force components and moment components in the directions of the three coordinate axes (ie, the x-axis, y-axis, and z-axis shown in FIG. 3 ), and the force information on the right foot is also included in the three coordinates. Force and moment components in the axial direction.

此处将所述左脚受力信息记为：Here, the force information of the left foot is recorded as:

F _l＝[f _lxf _lyf _lzτ _lxτ _lyτ _lz] ^T F _l =[f _lx f _ly f _lz τ _lx τ _ly τ _lz ] ^T

其中，f _lx为所述左脚受力信息在x轴上的力的分量，f _ly为所述左脚受力信息在y轴上的力的分量，f _lz为所述左脚受力信息在z轴上的力的分量,τ _lx为所述左脚受力信息在x轴上的力矩分量，τ _ly为所述左脚受力信息在y轴上的力矩分量，τ _lz为所述左脚受力信息在z轴上的力矩分量。 Wherein, f _lx is the force component of the left foot force information on the x-axis, f _ly is the force component of the left foot force information on the y-axis, and f _lz is the left foot force information The force component on the z-axis, τ _lx is the moment component of the left foot force information on the x-axis, τ _ly is the moment component of the left foot force information on the y-axis, τ _lz is the described The moment component of the left foot force information on the z-axis.

将所述右脚受力信息记为：Record the force information of the right foot as:

F _r＝[f _rxf _ryf _rzτ _rxτ _ryτ _rz] ^T F _r =[f _rx _fry _frz τ _rx τ _ry τ _rz ] ^T

其中，f _rx为所述右脚受力信息在x轴上的力的分量，f _ry为所述右脚受力信息在y轴上的力的分量，f _rz为所述右脚受力信息在z轴上的力的分量,τ _rx为所述右脚受力信息在x轴上的力矩分量，τ _ry为所述右脚受力信息在y轴上的力矩分量，τ _rz为所述右脚受力信息在z轴上的力矩分量。 Wherein, _frx is the force component of the right foot force information on the x-axis, _fry is the force component of the right foot force information on the y-axis, and _frz is the right foot force information The force component on the z-axis, τ _rx is the moment component of the right foot force information on the x-axis, τ _ry is the moment component of the right foot force information on the y-axis, τ _rz is the described The moment component of the force information on the right foot on the z-axis.

步骤S102、根据所述左脚受力信息和所述右脚受力信息计算所述机器人的本体质心的零力矩点。Step S102: Calculate the zero moment point of the body center of the robot according to the force information of the left foot and the force information of the right foot.

如图5所示，步骤S102具体可以包括如下步骤：As shown in FIG. 5, step S102 may specifically include the following steps:

步骤S1021、根据所述左脚受力信息计算所述机器人的左脚零力矩点。Step S1021: Calculate the zero moment point of the left foot of the robot according to the force information of the left foot.

具体地，可以根据下式计算所述左脚零力矩点：Specifically, the left foot zero moment point can be calculated according to the following formula:

p _lx＝(-τ _ly-f _lxd)/f _lz p _lx =(-τ _ly -f _lx d)/f _lz

p _ly＝(-τ _lx-f _lyd)/f _lz p _ly =(-τ _lx -f _ly d)/f _lz

p _l＝[p _lxp _ly 0] ^T p _l =[p _lx p _ly 0] ^T

其中，d为所述传感器到脚底的距离，p _lx为所述左脚零力矩点在x轴上的坐标，p _ly为所述左脚零力矩点在y轴上的坐标，p _l为所述左脚零力矩点。 Wherein, d is the distance from the sensor to the sole of the foot, p _lx is the coordinate of the zero-moment point of the left foot on the x-axis, p _ly is the coordinate of the zero-moment point of the left foot on the y-axis, and p _l is the The left foot zero moment point.

步骤S1022、根据所述右脚受力信息计算所述机器人的右脚零力矩点。Step S1022: Calculate the zero moment point of the right foot of the robot according to the force information of the right foot.

具体地，可以根据下式计算所述右脚零力矩点：Specifically, the zero moment point of the right foot can be calculated according to the following formula:

p _rx＝(-τ _ry-f _rxd)/f _r2 p _rx =(-τ _ry -f _rx d)/f _r2

p _ry＝(-τ _rx-f _ryd)/f _rz p _ry =(-τ _rx -f _ry d)/f _rz

p _r＝[p _rxp _ry 0] ^T p _r =[p _rx p _ry 0] ^T

其中，p _rx为所述右脚零力矩点在x轴上的坐标，p _ry为所述右脚零力矩点在y轴上的坐标，p _r为所述右脚零力矩点。 Wherein, p _rx is the coordinate of the zero moment point of the right foot on the x axis, p _ry is the coordinate of the zero moment point of the right foot on the y axis, and p _r is the zero moment point of the right foot.

步骤S1023、根据所述左脚零力矩点和所述右脚零力矩点计算所述本体质心的零力矩点。Step S1023: Calculate the zero-moment point of the center of mass of the body according to the left-foot zero-moment point and the right-foot zero-moment point.

具体地，可以根据下式计算所述本体质心的零力矩点：Specifically, the zero moment point of the center of mass of the body can be calculated according to the following formula:

p _a＝[p _axp _ay 0] ^T p _a =[p _ax _pay 0] ^T

其中，l _x为所述本体质心与所述传感器在x轴上的距离，l _y为所述本体质心与所述传感器在x轴上的距离，p _bx为所述本体质心的零力矩点在x轴上的坐标，p _by为在所述本体质心的零力矩点y轴上的坐标，p _b为所述本体质心的零力矩点。 Wherein, l _x is the distance between the body mass center and the sensor on the x-axis, l _y is the distance between the body mass center and the sensor on the x-axis, p _bx is the zero moment point of the body mass center at The coordinates on the x-axis, p _by is the coordinate on the y-axis of the zero-moment point of the body mass center, and p _b is the zero-moment point of the body mass center.

步骤S103、根据所述本体质心的零力矩点计算所述机器人的搬运期望输出量。Step S103 , calculating the expected handling output of the robot according to the zero moment point of the center of mass of the body.

具体地，首先可以根据所述本体质心的零力矩点和预设的起始速度计算所述机器人的搬运期望加速度，如下式所示：Specifically, firstly, the expected acceleration of the robot can be calculated according to the zero moment point of the center of mass of the body and the preset initial speed, as shown in the following formula:

v _ax＝v _ax0+0.5a _at v _ax = v _ax0 +0.5a _a t

a _a＝k _ap(0-p _ax)+k _av(0-v _ax) a _a =k _ap (0-p _ax )+k _av (0-v _ax )

其中，k _ap为预设的比例项系数，k _av为预设的阻尼项系数，v _ax0为所述起始速度，p _ax为所述零力矩点，t为时间变量，v _ax为搬运期望速度，a _a为所述搬运期望加速度。以上计算是一个循环迭代的过程，即每一次迭代计算时需要使用上一次迭代计算得到的v _ax和a _a作为已知量，重新带入公式中计算本次迭代更新后的v _ax和a _a。需要注意的是，由于在x轴上的控制过程与在y轴上的控制过程是类似的，在本申请实施例中，仅以在x轴上的控制过程为例进行说明，因此，上一公式以及后续公式中的物理量均为在x轴上的分量，在y轴上的控制过程可以参照在x轴上的控制过程，仅需将相应的物理量替换为在y轴上的分量即可。 Wherein, k _ap is the preset proportional term coefficient, k _av is the preset damping term coefficient, v _ax0 is the starting speed, p _ax is the zero moment point, t is the time variable, and v _ax is the handling expectation Speed, a _a is the expected acceleration of the transport. The above calculation is a cyclic iterative process, that is, each iteration calculation needs to use the v _ax and a _a calculated by the previous iteration as known quantities, and bring it back into the formula to calculate the v _ax and a _a after this iteration update. . It should be noted that since the control process on the x-axis is similar to the control process on the y-axis, in the embodiments of the present application, only the control process on the x-axis is used as an example for description. The physical quantities in the formula and subsequent formulas are all components on the x-axis, and the control process on the y-axis can refer to the control process on the x-axis, just replace the corresponding physical quantities with the components on the y-axis.

然后，可以根据所述搬运期望加速度和所述起始速度计算所述搬运期望输出量，如下式所示：Then, the expected handling output can be calculated according to the expected handling acceleration and the starting speed, as shown in the following formula:

其中，p _bxd为所述搬运期望输出量，也即所述搬运期望控制器的输出量。 Wherein, p _bxd is the expected transport output, that is, the output of the expected transport controller.

步骤S104、基于预设的线性倒立摆模型，根据所述搬运期望输出量对所述机器人的运动轨迹进行更新，得到更新后的本体质心位置。Step S104 , based on a preset linear inverted pendulum model, update the motion trajectory of the robot according to the expected handling output to obtain the updated position of the center of mass of the body.

为使机器人更好地适应不同的外界干扰，在本申请实施例中采用了一种基于线性倒立摆模型的柔顺控制算法，即基于图6所示的线性倒立摆模型的运动规律，在质量模块部分设计一种弹簧质量块模型，实现对本体的柔顺控制。In order to make the robot better adapt to different external disturbances, a compliant control algorithm based on the linear inverted pendulum model is adopted in the embodiment of the present application, that is, based on the motion law of the linear inverted pendulum model shown in FIG. A spring mass model is partly designed to realize the compliance control of the body.

所述线性倒立摆模型的受力分析为：The force analysis of the linear inverted pendulum model is:

F＝k(0-x)F=k(0-x)

其中，x为弹簧的形变量，k为弹簧的弹性系数，0是指所述线性倒立摆模型在正常运动情况下弹簧的形变量应当为0，F为所述线性倒立摆模型所受作用力。Among them, x is the deformation amount of the spring, k is the elastic coefficient of the spring, 0 means that the deformation amount of the spring should be 0 under the normal motion of the linear inverted pendulum model, and F is the force acting on the linear inverted pendulum model .

为在机器人中更好地实现该方法，该作用力可以采用零力矩点来表示。则步骤S103具体可以包括如图7所示的步骤：To better implement this method in a robot, the force can be represented by a zero moment point. Then step S103 may specifically include the steps shown in FIG. 7 :

步骤S1041、获取所述本体质心的实际位置和期望位置。Step S1041: Acquire the actual position and the desired position of the body centroid.

步骤S1042、根据所述本体质心的实际位置、期望位置、零力矩点和所述搬运期望输出量计算所述机器人的柔顺控制加速度。Step S1042: Calculate the compliance control acceleration of the robot according to the actual position, the desired position, the zero moment point, and the expected output of the transporting body according to the actual position of the center of mass of the body.

所述柔顺控制器是基于倒立摆模型设计的阻抗控制器，该控制器可以根据下式计算所述柔顺控制加速度：The compliance controller is an impedance controller designed based on an inverted pendulum model, and the controller can calculate the compliance control acceleration according to the following formula:

步骤S1043、根据所述柔顺控制加速度对所述机器人的运动轨迹进行更新，得到所述更新后的本体质心位置。Step S1043: Update the motion trajectory of the robot according to the compliance control acceleration to obtain the updated position of the center of mass of the body.

具体地，可以根据下式对所述机器人的运动轨迹进行更新：Specifically, the motion trajectory of the robot can be updated according to the following formula:

x(0)＝a _b x(0)=a _b

其中，k为迭代次数，x(k)为第k次迭代的本体质心位置，

为第k次迭代的本体质心速度，T为所述机器人的步态周期。 Among them, k is the number of iterations, x(k) is the position of the body centroid of the k-th iteration,

is the mass center velocity of the k-th iteration, and T is the gait cycle of the robot.

步骤S105、对所述更新后的本体质心位置进行逆运动学分析，得到所述机器人的左腿和右腿的各个关节角。Step S105: Perform inverse kinematics analysis on the updated position of the center of mass of the body to obtain the joint angles of the left and right legs of the robot.

逆运动学分析为现有的机器人技术领域中普遍使用的分析方法，具体可以参见现有技术中的任意一种逆运动学分析过程，本申请实施例对此不再赘述。The inverse kinematics analysis is an analysis method commonly used in the existing robotics field. For details, reference may be made to any inverse kinematics analysis process in the prior art, which will not be repeated in this embodiment of the present application.

所述左腿的各个关节角包括左腿髋关节俯仰角、左腿髋关节偏航角、左腿髋关节翻滚角、左腿膝关节俯仰角、左腿踝关节俯仰角和左腿踝关节翻滚角这六个关节角，将其记为：θ _l＝[θ _l1θ _l2θ _l3θ _l4θ _l5θ _l6] ^T。 Each joint angle of the left leg includes the left leg hip joint pitch angle, the left leg hip joint yaw angle, the left leg hip joint roll angle, the left leg knee joint pitch angle, the left leg ankle joint pitch angle and the left leg ankle joint rollover angle. The six joint angles are recorded as: θ _l = [θ _l1 θ _l2 θ _l3 θ _l4 θ _l5 θ _l6 ] ^T .

所述右腿的各个关节角包括右腿髋关节俯仰角、右腿髋关节偏航角、右腿髋关节翻滚角、右腿膝关节俯仰角、右腿踝关节俯仰角和右腿踝关节翻滚角这六个关节角，将其记为：θ _r＝[θ _r1θ _r2θ _r3θ _r4θ _r5θ _r6] ^T。 Each joint angle of the right leg includes the right leg hip joint pitch angle, the right leg hip joint yaw angle, the right leg hip joint roll angle, the right leg knee joint pitch angle, the right leg ankle joint pitch angle and the right leg ankle joint rollover angle. The six joint angles are recorded as: θ _r = [θ _r1 θ _r2 θ _r3 θ _r4 θ _r5 θ _r6 ] ^T .

步骤S106、按照所述各个关节角控制所述机器人进行运动。Step S106 , controlling the robot to move according to the respective joint angles.

在计算得到所述机器人的左腿和右腿的各个关节角之后，即可按照所述各个关节角控制所述机器人进行运动，从而实现机器人本体的柔顺控制。After the respective joint angles of the left and right legs of the robot are calculated, the robot can be controlled to move according to the respective joint angles, thereby realizing the compliance control of the robot body.

综上所述，本申请实施例获取机器人的左脚受力信息和右脚受力信息；根据所述左脚受力信息和所述右脚受力信息计算所述机器人的本体质心的零力矩点；根据所述本体质心的零力矩点计算所述机器人的搬运期望输出量；基于预设的线性倒立摆模型，根据所述搬运期望输出量对所述机器人的运动轨迹进行更新，得到更新后的本体质心位置；对所述更新后的本体质心位置进行逆运动学分析，得到所述机器人的左腿和右腿的各个关节角；按照所述各个关节角控制所述机器人进行运动。通过本申请实施例，可以在站立搬起物体时，基于线性倒立摆模型，根据机器人的受力信息实时调节运动的关节角，从而保证机器人在搬起物体时质心在支撑范围内，极大提高了机器人的稳定性。To sum up, in this embodiment of the present application, the force information on the left foot and the force on the right foot of the robot are obtained; the zero moment of the center of mass of the robot is calculated according to the force information on the left foot and the force on the right foot. Calculate the expected output of handling of the robot according to the zero moment point of the center of mass of the body; based on the preset linear inverted pendulum model, update the motion trajectory of the robot according to the expected output of handling, and obtain the updated The position of the center of mass of the body is obtained; the inverse kinematics analysis is performed on the updated position of the center of mass of the body to obtain the joint angles of the left and right legs of the robot; and the robot is controlled to move according to the respective joint angles. Through the embodiment of the present application, when standing and lifting an object, based on the linear inverted pendulum model, the joint angle of the movement can be adjusted in real time according to the force information of the robot, so as to ensure that the center of mass of the robot is within the support range when lifting the object, which greatly improves the the stability of the robot.

应理解，上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

对应于上文实施例所述的一种机器人控制方法，图8示出了本申请实施例提供的一种机器人控制装置的一个实施例结构图。Corresponding to the robot control method described in the above embodiment, FIG. 8 shows an embodiment structure diagram of a robot control device provided by an embodiment of the present application.

本实施例中，一种机器人控制装置可以包括：In this embodiment, a robot control device may include:

受力信息获取模块801，用于获取机器人的左脚受力信息和右脚受力信息；The force information acquisition module 801 is used to acquire the force information of the left foot and the right foot of the robot;

零力矩点计算模块802，用于根据所述左脚受力信息和所述右脚受力信息计算所述机器人的本体质心的零力矩点；a zero-moment point calculation module 802, configured to calculate the zero-moment point of the body center of mass of the robot according to the force information of the left foot and the force information of the right foot;

搬运期望输出量计算模块803，用于根据所述本体质心的零力矩点计算所述机器人的搬运期望输出量；a handling expected output calculation module 803, configured to calculate the handling expected output of the robot according to the zero moment point of the center of mass of the body;

运动轨迹更新模块804，用于基于预设的线性倒立摆模型，根据所述搬运期望输出量对所述机器人的运动轨迹进行更新，得到更新后的本体质心位置；A motion trajectory updating module 804, configured to update the motion trajectory of the robot according to the expected handling output based on a preset linear inverted pendulum model to obtain an updated position of the center of mass of the body;

逆运动学分析模块805，用于对所述更新后的本体质心位置进行逆运动学分析，得到所述机器人的左腿和右腿的各个关节角；an inverse kinematics analysis module 805, configured to perform inverse kinematics analysis on the updated position of the center of mass of the body to obtain the joint angles of the left and right legs of the robot;

运动控制模块806，用于按照所述各个关节角控制所述机器人进行运动。The motion control module 806 is configured to control the robot to move according to the respective joint angles.

v _ax＝v _ax0+0.5a _at v _ax = v _ax0 +0.5a _a t

a _a＝k _ap(0-p _ax)+k _av(0-v _ax) a _a =k _ap (0-p _ax )+k _av (0-v _ax )

柔顺控制加速度计算单元，用于根据所述本体质心的实际位置、期望位置、零力矩点和所述搬运期望输出量计算所述机器人的柔顺控制加速度；a compliance control acceleration calculation unit, configured to calculate the compliance control acceleration of the robot according to the actual position, desired position, zero moment point, and the expected handling output of the body center of mass;

x(0)＝a _b x(0)=a _b

所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的装置，模块和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described devices, modules and units can be referred to the corresponding processes in the foregoing method embodiments, and details are not repeated here.

在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

图9示出了本申请实施例提供的一种机器人的示意框图，为了便于说明，仅示出了与本申请实施例相关的部分。Fig. 9 shows a schematic block diagram of a robot provided by an embodiment of the present application. For convenience of description, only the part related to the embodiment of the present application is shown.

如图9所示，该实施例的机器人9包括：处理器90、存储器91以及存储在所述存储器91中并可在所述处理器90上运行的计算机程序92。所述处理器90执行所述计算机程序92时实现上述各个机器人控制方法实施例中的步骤，例如图1所示的步骤S101至步骤S106。或者，所述处理器90执行所述计算机程序92时实现上述各装置实施例中各模块/单元的功能，例如图8所示模块801至模块806的功能。As shown in FIG. 9 , the robot 9 of this embodiment includes a processor 90 , a memory 91 , and a computer program 92 stored in the memory 91 and executable on the processor 90 . When the processor 90 executes the computer program 92 , the steps in each of the robot control method embodiments described above are implemented, for example, steps S101 to S106 shown in FIG. 1 . Alternatively, when the processor 90 executes the computer program 92, the functions of the modules/units in the foregoing device embodiments, for example, the functions of the modules 801 to 806 shown in FIG. 8 are implemented.

示例性的，所述计算机程序92可以被分割成一个或多个模块/单元，所述一个或者多个模块/单元被存储在所述存储器91中，并由所述处理器90执行，以完成本申请。所述一个或多个模块/单元可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述所述计算机程序92在所述机器人9中的执行过程。Exemplarily, the computer program 92 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 91 and executed by the processor 90 to complete the this application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 92 in the robot 9 .

本领域技术人员可以理解，图9仅仅是机器人9的示例，并不构成对机器人9的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如所述机器人9还可以包括输入输出设备、网络接入设备、总线等。Those skilled in the art can understand that FIG. 9 is only an example of the robot 9, and does not constitute a limitation to the robot 9. It may include more or less components than the one shown in the figure, or combine some components, or different components, such as The robot 9 may also include input and output devices, network access devices, buses, and the like.

所述处理器90可以是中央处理单元(Central Processing Unit，CPU)，还可以是其它通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其它可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。The processor 90 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

所述存储器91可以是所述机器人9的内部存储单元，例如机器人9的硬盘或内存。所述存储器91也可以是所述机器人9的外部存储设备，例如所述机器人9上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。进一步地，所述存储器91还可以既包括所述机器人9的内部存储单元也包括外部存储设备。所述存储器91用于存储所述计算机程序以及所述机器人9所需的其它程序和数据。所述存储器91还可以用于暂时地存储已经输出或者将要输出的数据。The memory 91 may be an internal storage unit of the robot 9 , such as a hard disk or a memory of the robot 9 . The memory 91 can also be an external storage device of the robot 9, such as a plug-in hard disk equipped on the robot 9, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, Flash card (Flash Card) and so on. Further, the memory 91 may also include both an internal storage unit of the robot 9 and an external storage device. The memory 91 is used to store the computer program and other programs and data required by the robot 9 . The memory 91 can also be used to temporarily store data that has been output or will be output.

所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将所述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述***中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated to different functional units, Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above-mentioned system, reference may be made to the corresponding process in the foregoing method embodiments, which will not be repeated here.

本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

在本申请所提供的实施例中，应该理解到，所揭露的装置/机器人和方法，可以通过其它的方式实现。例如，以上所描述的装置/机器人实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口，装置或单元的间接耦合或通讯连接，可以是电性，机械或其它的形式。In the embodiments provided in this application, it should be understood that the disclosed apparatus/robot and method may be implemented in other ways. For example, the device/robot embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or Components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

所述集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读存储介质中。基于这样的理解，本申请实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读存储介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读存储介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读存储介质不包括电载波信号和电信信号。The integrated modules/units, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. Based on this understanding, the present application can implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps of the foregoing method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory) ), random access memory (RAM, Random Access Memory), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable storage medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, computer-readable Storage media exclude electrical carrier signals and telecommunications signals.

以上所述实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: it is still possible to implement the above-mentioned implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be included in the within the scope of protection of this application.

Claims

一种机器人控制方法，其特征在于，包括：A method for controlling a robot, comprising:

获取机器人的左脚受力信息和右脚受力信息；Obtain the force information of the left foot and the right foot of the robot;

根据所述左脚受力信息和所述右脚受力信息计算所述机器人的本体质心的零力矩点；Calculate the zero moment point of the body center of the robot according to the force information of the left foot and the force information of the right foot;

根据所述本体质心的零力矩点计算所述机器人的搬运期望输出量；Calculate the expected handling output of the robot according to the zero moment point of the center of mass of the body;

基于预设的线性倒立摆模型，根据所述搬运期望输出量对所述机器人的运动轨迹进行更新，得到更新后的本体质心位置；Based on the preset linear inverted pendulum model, the movement trajectory of the robot is updated according to the expected handling output to obtain the updated position of the center of mass of the body;

对所述更新后的本体质心位置进行逆运动学分析，得到所述机器人的左腿和右腿的各个关节角；Perform inverse kinematics analysis on the updated body centroid position to obtain the joint angles of the left and right legs of the robot;

按照所述各个关节角控制所述机器人进行运动。The robot is controlled to move according to the respective joint angles.
根据权利要求1所述的机器人控制方法，其特征在于，所述根据所述本体质心的零力矩点计算所述机器人的搬运期望输出量，包括：The robot control method according to claim 1, wherein the calculating the expected handling output of the robot according to the zero moment point of the center of mass of the body comprises:

根据所述本体质心的零力矩点和预设的起始速度计算所述机器人的搬运期望加速度；Calculate the expected acceleration of the robot's handling according to the zero moment point of the center of mass of the body and a preset initial speed;

根据所述搬运期望加速度和所述起始速度计算所述搬运期望输出量。The expected transportation output is calculated from the expected transportation acceleration and the starting speed.
根据权利要求2所述的机器人控制方法，其特征在于，所述根据所述本体质心的零力矩点和预设的起始速度计算所述机器人的搬运期望加速度，包括：The robot control method according to claim 2, wherein the calculating the expected acceleration of handling of the robot according to the zero moment point of the center of mass of the body and a preset initial speed, comprising:

根据下式计算所述搬运期望加速度：Calculate the desired handling acceleration according to the following formula:

v _ax＝v _ax0+0.5a _at v _ax = v _ax0 +0.5a _a t

a _a＝k _ap(0-p _ax)+k _av(0-v _ax) a _a =k _ap (0-p _ax )+k _av (0-v _ax )

其中，k _ap为预设的比例项系数，k _av为预设的阻尼项系数，v _ax0为所述起始速度，p _ax为所述零力矩点，t为时间变量，v _ax为搬运期望速度，a _a为所述搬运期望加速度。 Wherein, k _ap is the preset proportional term coefficient, k _av is the preset damping term coefficient, v _ax0 is the starting speed, p _ax is the zero moment point, t is the time variable, and v _ax is the handling expectation Speed, a _a is the expected acceleration of the transport.
根据权利要求3所述的机器人控制方法，其特征在于，所述根据所述搬运期望加速度和所述起始速度计算所述搬运期望输出量，包括：The robot control method according to claim 3, wherein the calculating the expected handling output according to the expected handling acceleration and the starting speed comprises:

根据下式计算所述搬运期望输出量：Calculate the expected output of the handling according to the following formula:

其中，p _bxd为所述搬运期望输出量。 Wherein, p _bxd is the expected output of the handling.
根据权利要求1所述的机器人控制方法，其特征在于，所述根据所述搬运期望输出量对所述机器人的运动轨迹进行更新，得到更新后的本体质心位置，包括：The robot control method according to claim 1, wherein the updating of the motion trajectory of the robot according to the expected handling output to obtain the updated position of the center of mass of the body comprises:

获取所述本体质心的实际位置和期望位置；obtain the actual position and the desired position of the body centroid;

根据所述本体质心的实际位置、期望位置、零力矩点和所述搬运期望输出量计算所述机器人的柔顺控制加速度；Calculate the compliance control acceleration of the robot according to the actual position, the desired position, the zero-moment point, and the expected handling output of the body center of mass;

根据所述柔顺控制加速度对所述机器人的运动轨迹进行更新，得到所述更新后的本体质心位置。The motion trajectory of the robot is updated according to the compliance control acceleration to obtain the updated position of the center of mass of the body.
根据权利要求5所述的机器人控制方法，其特征在于，所述根据所述本体质心的实际位置、期望位置、零力矩点和所述搬运期望输出量计算所述机器人的柔顺控制加速度，包括：The robot control method according to claim 5, wherein the calculating the compliance control acceleration of the robot according to the actual position, the desired position, the zero-moment point, and the expected handling output of the body center comprises:

根据下式计算所述柔顺控制加速度：The compliant control acceleration is calculated according to:

a _b＝k _bpx(x _d-x _m)+k _bzmpx(p _bxd-p _ax) a _b =k _bpx (x _d -x _m )+k _bzmpx (p _bxd -p _ax )

其中，x _d为所述期望位置，x _m为所述实际位置，p _bxd为所述期望零力矩点，p _ax为所述零力矩点，k _bpx为预设的比例项系数，k _bzmpx为预设的零力矩点系数，a _b为所述柔顺控制加速度。 where x _d is the desired position, x _m is the actual position, p _bxd is the desired zero-moment point, p _ax is the zero-moment point, k _bpx is a preset proportional term coefficient, and k _bzmpx is The preset zero moment point coefficients, a and _b are the compliant control accelerations.
根据权利要求5所述的机器人控制方法，其特征在于，所述根据所述柔顺控制加速度对所述机器人的运动轨迹进行更新，得到所述更新后的本体质心位置，包括：The robot control method according to claim 5, wherein the updating of the motion trajectory of the robot according to the compliance control acceleration to obtain the updated position of the center of mass of the body comprises:

根据下式对所述机器人的运动轨迹进行更新：The motion trajectory of the robot is updated according to the following formula:

x(0)＝a _b x(0)=a _b

其中，a _b为所述柔顺控制加速度，k为迭代次数，x(k)为第k次迭代的本体质心位置，
为第k次迭代的本体质心速度，t为时间变量，T为所述机器人的步态周期。 Among them, a _b is the compliant control acceleration, k is the number of iterations, x(k) is the position of the body centroid of the k-th iteration,
is the body centroid velocity of the k-th iteration, t is the time variable, and T is the gait cycle of the robot.
一种机器人控制装置，其特征在于，包括：A robot control device, comprising:

受力信息获取模块，用于获取机器人的左脚受力信息和右脚受力信息；The force information acquisition module is used to obtain the force information of the left foot and the right foot of the robot;

零力矩点计算模块，用于根据所述左脚受力信息和所述右脚受力信息计算所述机器人的本体质心的零力矩点；a zero-moment point calculation module, configured to calculate the zero-moment point of the body center of mass of the robot according to the force information of the left foot and the force information of the right foot;

搬运期望输出量计算模块，用于根据所述本体质心的零力矩点计算所述机器人的搬运期望输出量；a handling expected output calculation module, configured to calculate the handling expected output of the robot according to the zero moment point of the center of mass of the body;

运动轨迹更新模块，用于基于预设的线性倒立摆模型，根据所述搬运期望输出量对所述机器人的运动轨迹进行更新，得到更新后的本体质心位置；A motion trajectory update module, configured to update the motion trajectory of the robot according to the expected handling output based on a preset linear inverted pendulum model to obtain the updated position of the center of mass of the body;

逆运动学分析模块，用于对所述更新后的本体质心位置进行逆运动学分析，得到所述机器人的左腿和右腿的各个关节角；an inverse kinematics analysis module for performing inverse kinematics analysis on the updated position of the center of mass of the body to obtain the joint angles of the left and right legs of the robot;

运动控制模块，用于按照所述各个关节角控制所述机器人进行运动。The motion control module is used for controlling the robot to move according to the respective joint angles.
一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至7中任一项所述的机器人控制方法的步骤。A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the robot control method according to any one of claims 1 to 7 is implemented A step of.
一种机器人，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1至7中任一项所述的机器人控制方法的步骤。A robot, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, when the processor executes the computer program, the implementation of claims 1 to 7 The steps of any one of the robot control methods.