CN104709374B - A kind of method preventing legged type robot from tilting - Google Patents
A kind of method preventing legged type robot from tilting Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000005021 gait Effects 0.000 claims abstract description 42
- 210000004394 hip joint Anatomy 0.000 claims description 24
- 210000002414 leg Anatomy 0.000 claims description 11
- 238000012937 correction Methods 0.000 claims description 9
- 238000000819 phase cycle Methods 0.000 claims description 8
- 210000003141 lower extremity Anatomy 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 3
- 210000000629 knee joint Anatomy 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 230000035800 maturation Effects 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 5
- 230000002146 bilateral effect Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 abstract description 3
- 210000001624 hip Anatomy 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 206010034701 Peroneal nerve palsy Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000005204 segregation Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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- 238000005728 strengthening Methods 0.000 description 1
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Abstract
The present invention provides a kind of method preventing legged type robot from tilting, and the method comprising the steps of：The angle that tilts under world coordinate system for the described legged type robot is sampled, and is processed；Revise described legged type robot gait track, adjust the angle that tilts under world coordinate system for the described legged type robot.The present invention is modified to sufficient end lopcus function using attitude transducer, you can strengthen the left and right stability of legged type robot, and simple, effect is more obvious.Required attitude transducer is angular transducer, this kind of sensor technology maturation, and measurement is convenient, and traffic filter principle is simple, technology maturation.Angle signal, after low pass filter process, can reflect robot body bilateral tilt condition well.
Description
Technical field
The present invention relates to robot motion's attitude adjusting method is and in particular to a kind of prevent legged type robot from tilting
Method.
Background technology
Irregular and uneven complexity terrain environment makes wheeled robot and the application of caterpillar type robot be restricted,
Reason is that wheeled and caterpillar type robot movement locus are then the continuous ruts of a rule.Rock is often contained in rugged topography
The barrier such as stone, soil, sand or even cliff and abrupt slope, can stably support the continuous path of robot extremely limited.Compare
Wheeled or caterpillar type robot, only needs to discrete point contact ground, the adaptation energy to complicated landform during legged type robot motion
Power is higher.In addition, the leg of legged type robot has multiple degree of freedom, the motility of motion is made to greatly enhance, it can pass through
Adjust the length of supporting leg and foot drop point keeps one's balance, be difficult to tumble, stability is higher.Therefore legged type robot has
Wide application prospect.
At present, legged type robot motor control is based primarily upon segregation reasons foot end motion track, inverse kinematics joint
The strategy at angle.Without adding active attitude control strategy, then cannot tackle rough ground, bursty interference, lateral impact etc.
Cause the situation that robot tilts.Moving equilibrium control algolithm makes legged type robot compare wheeled, caterpillar type robot tool
There is more preferable environmental suitability, be the technical field of legged type robot core.
Content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of side preventing legged type robot from tilting
Method, is modified to sufficient end lopcus function using attitude transducer, you can strengthen the left and right stability of legged type robot, simply easily
Row, effect are more obvious.Required sensor is angular transducer, this kind of sensor technology maturation, and measurement is convenient, traffic filter
Principle is simple, technology maturation.Angle signal, after low pass filter process, can reflect that robot body bilateral inclines well
Ramp-like condition.
In order to realize foregoing invention purpose, the present invention adopts the following technical scheme that：
The present invention provides a kind of method preventing legged type robot from tilting, and the method comprising the steps of：
The angle that tilts under world coordinate system for the described legged type robot is sampled, and is processed；
Revise described legged type robot gait track, adjust described legged type robot tilting under world coordinate system
Angle.
Under world coordinate system, described legged type robot direction of advance is x direction, and its left direction is y direction, vertically
Face upward direction is z direction.
During described legged type robot walking, if certain moment, angle of inclination was θ around, its unit is radian；Sufficient formula machine
When people is to direction of travel left side, θ is negative；When it tilts on the right side of direction of travel, θ is just；During horizontality, θ is 0.
Using attitude transducer, to described legged type robot, the angle that tilts under world coordinate system is sampled, and
After angle that legged type robot is tilted carries out low-pass filtering treatment, it is transferred to the kinetic control system of legged type robot.
Described attitude transducer is angular transducer.
The gait correction amount of described legged type robot is expressed as：
Δ=k θ
Wherein, k is penalty coefficient, and k>0；
Described legged type robot is carried out after gait correction, have：
F (t)=h (t)+Δ
Wherein, h (t) be described legged type robot foot end with respect to hip joint gait location track letter in vertical direction
Number, f (t) is described legged type robot gait location track function after gait correction；For right side leg, Δ=- k θ；For left side
Lower limb, Δ=k θ；Can get hip joint and kneed joint angles by solving inverse kinematics, carry out joint position closed loop control
System.
With respect to hip joint, the gait location track function under world coordinate system is fixed at described legged type robot each sufficient end
Justice is：
Y (t)=0
Wherein, H is described legged type robot lift lower limb height；S is stride；When L stands for legged type robot, sufficient end and hip close
The vertical dimension of section；T is the sampling time of gait track；T be a complete gait motion cycle, include swing phase cycle with prop up
The support item cycle；TfFor swinging phase cycle, and Tf=0.5T；N is integer, and n >=0；X (t), y (t) and z (t) are to be respectively sufficient end
With respect to gait location track function under world coordinate system for the hip joint；
To each sufficient end of described legged type robot with respect to hip joint the gait location track letter under world coordinate system
Number is modified, due to for compensating the phenomenon that tilts during legged type robot walking movement, so under world coordinate system
With respect to hip joint, the gait location track function on x, y direction is constant at sufficient end, only revises foot on z direction under world coordinate system
End, with respect to the gait location track function of hip joint, has：
Z (t) '=z (t)+Δ
During initial position under world coordinate system for the described legged type robot, θ is 0.
The span of described penalty coefficient k is 0<k<2.5.
Described legged type robot is quadruped robot, and described quadruped robot has and can drive four of its walking movement
Leg, described leg has at least two degree-of-freedom joints to complete movement needs；Described degree-of-freedom joint include hip joint and
Knee joint.
Compared with prior art, the beneficial effects of the present invention is：
A. using attitude transducer, sufficient end lopcus function is modified, you can the left and right strengthening legged type robot is stable
Property, simple, effect is more obvious；
B. required attitude transducer is angular transducer, this kind of sensor technology maturation, and measurement is convenient, and traffic filter is former
Reason is simple, technology maturation；
C. angle signal, after low pass filter process, can reflect robot body bilateral tilt condition well；
D. backoff algorithm is simple, and the numerical value that only need to adjust penalty coefficient k can complete robot and tilts compensation
All processes；
E. can be widely applied to, in posture balancing control about multi-foot robot, not be subject to the particular number of restriction of foot；
F. independent of the sufficient end position lopcus function that legged type robot is specifically used.According to physical condition it is also possible to and its
The coexisting of his posture balancing control method.
Brief description
Fig. 1 is quadruped robot walking schematic diagram in the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings, taking compensate quadruped robot and tilt as a example the present invention is described in further detail.
The present invention provides a kind of method preventing legged type robot from tilting, and is moved through with effective legged type robot that reduces
The phenomenon tilting in journey, increases the stability in its motor process and the adaptability to complicated landform.The method includes
Following steps：
The angle that tilts under world coordinate system for the described legged type robot is sampled, and is processed；
Revise described legged type robot gait track, adjust described legged type robot tilting under world coordinate system
Angle.
Described legged type robot direction of advance is x direction, and its left direction is y direction, and upward direction is z side perpendicular to the ground
To.
During described legged type robot walking, if certain moment, angle of inclination was θ around, its unit is radian；Sufficient formula machine
When people is to direction of travel left side, θ is negative；When it tilts on the right side of direction of travel, θ is just；During horizontality, θ is 0.
Using attitude transducer, to described legged type robot, the angle that tilts under world coordinate system is sampled, and
After angle that legged type robot is tilted carries out low-pass filtering treatment, it is transferred to the kinetic control system of legged type robot.
Described attitude transducer is angular transducer.
The gait correction amount of described legged type robot is expressed as：
Δ=k θ
Wherein, k is penalty coefficient, and k>0；
Described legged type robot is carried out after gait correction, have：
F (t)=h (t)+Δ
Wherein, h (t) be described legged type robot foot end with respect to hip joint gait location track letter in vertical direction
Number, f (t) is described legged type robot gait location track function after gait correction；For right side leg, Δ=- k θ；For left side
Lower limb, Δ=k θ；Can get hip joint and kneed joint angles by solving inverse kinematics, carry out joint position closed loop control
System.
With respect to hip joint, the gait location track function under world coordinate system is fixed at described legged type robot each sufficient end
Justice is：
Y (t)=0
Wherein, H is described legged type robot lift lower limb height；S is stride；When L stands for legged type robot, sufficient end and hip close
The vertical dimension of section；T is the sampling time of gait track；T be a complete gait motion cycle, include swing phase cycle with prop up
Support phase cycle；TfFor swinging phase cycle, and Tf=0.5T；N is integer, and n >=0；X (t), y (t) and z (t) are to be respectively sufficient end
With respect to gait location track function under world coordinate system for the hip joint；
Each sufficient end position lopcus function of described legged type robot is modified, because described legged type robot is a left side
Right bank, so under world coordinate system with respect to hip joint, the gait location track function on x, y direction is constant at sufficient end, only repaiies
On z direction under positive world coordinate system, sufficient end, with respect to the gait location track function of hip joint, has：
Z (t) '=z (t)+Δ
During initial position under world coordinate system for the described legged type robot, θ is 0.
The span of described penalty coefficient k is 0<k<2.5.
Described legged type robot is quadruped robot, and quadruped robot has four lower limbs that can drive its walking movement
Portion, described leg has at least two degree-of-freedom joints to complete movement needs；Described degree-of-freedom joint includes hip joint and knee joint
Joint.Quadruped robot adopts efficiency higher and velocity adaptive scope larger trotting (trot) gait.Trotting
(Trot) in the gait monocycle, the phase sequence of each lower limb is as shown in table 1, and wherein 0 represents swing phase, and 1 represents support phase.
Table 1
1.2 meters of quadruped robot height, wide 0.5 meter, 130 kilograms of body weight.In order that the walking movement of this quadruped robot
Keep fuselage left and right horizontal in journey, choose k=1.5 by experiment is optimum.
Present invention can apply to the multi-foot robot such as biped, Hexapod Robot.
According to art methods, if not to legged type robot because the phenomenon that tilts that rough ground causes is controlled
System, easily causes robot unstability.Using the inventive method, you can realize the gait balance control in rough ground for the legged type robot
System, makes legged type robot keep stable.
Finally it should be noted that：Above example is only not intended to limit in order to technical scheme to be described, institute
The those of ordinary skill in genus field still the specific embodiment of the present invention can be modified with reference to above-described embodiment or
Equivalent, these are all applying for pending this without departing from any modification of spirit and scope of the invention or equivalent
Within bright claims.
Claims (9)
1. a kind of method preventing legged type robot from tilting it is characterised in that：The method comprising the steps of：
The angle that tilts under world coordinate system for the described legged type robot is sampled, and is processed；
Revise described legged type robot gait track, adjust lateral tilting oblique angle under world coordinate system for the described legged type robot
Degree；
The gait correction amount of described legged type robot is expressed as：
Δ=k θ
Wherein, k is penalty coefficient, and k>0；θ is the angle that tilts of certain moment legged type robot, and its unit is radian；
Described legged type robot is carried out after gait correction, have：
F (t)=h (t)+Δ
Wherein, h (t) be described legged type robot foot end with respect to hip joint gait location track function in vertical direction, f
T () is described legged type robot gait location track function after gait correction；For right side leg, Δ=- k θ；For left side leg,
Δ=k θ；Can get hip joint and kneed joint angles by solving inverse kinematics, carry out joint position closed loop control.
2. the method preventing legged type robot from tilting according to claim 1 it is characterised in that：In world coordinate system
Under, described legged type robot direction of advance is x direction, and its left direction is y direction, and upward direction is z direction perpendicular to the ground.
3. the method preventing legged type robot from tilting according to claim 2 it is characterised in that：Described sufficient formula machine
During people's walking, if certain moment, angle of inclination was θ around, its unit is radian；Legged type robot is to direction of travel left side
When, θ is negative；When it tilts on the right side of direction of travel, θ is just；During horizontality, θ is 0.
4. the method preventing legged type robot from tilting according to claim 1 it is characterised in that：Using attitude sensing
Device to described legged type robot, sample by the angle that tilts under world coordinate system, and legged type robot is tilted
After angle carries out low-pass filtering treatment, it is transferred to the kinetic control system of legged type robot.
5. the method preventing legged type robot from tilting according to claim 4 it is characterised in that：Described attitude sensing
Device is angular transducer.
6. the method preventing legged type robot from tilting according to claim 1 it is characterised in that：Described sufficient formula machine
With respect to hip joint, the gait location track function under world coordinate system is defined as at people each sufficient end：
Y (t)=0
Wherein, H is described legged type robot lift lower limb height；S is stride；Sufficient end and hip joint when L stands for legged type robot
Vertical dimension；T is the sampling time of gait track；T is a complete gait motion cycle, including swing phase cycle and support item
Cycle；TfFor swinging phase cycle, and Tf=0.5T；N is integer, and n >=0；X (t), y (t) are that respectively sufficient end is relative with z (t)
In gait location track function under world coordinate system for the hip joint；
To each sufficient end of described legged type robot, with respect to hip joint, the gait location track function under world coordinate system enters
Row is revised, due to for compensating the phenomenon that tilts during legged type robot walking movement, so sufficient end under world coordinate system
Constant with respect to gait location track function on x, y direction for the hip joint, only revise sufficient end phase on z direction under world coordinate system
For the gait location track function of hip joint, have：
Z (t) '=z (t)+Δ.
7. the method preventing legged type robot from tilting according to claim 1 it is characterised in that：Described sufficient formula machine
During initial position under world coordinate system for the people, θ is 0.
8. the method preventing legged type robot from tilting according to claim 1 it is characterised in that：Described penalty coefficient
The span of k is 0<k<2.5.
9. the method preventing legged type robot from tilting according to claim 1 it is characterised in that：Described sufficient formula machine
Artificial quadruped robot, described quadruped robot has four legs that can drive its walking movement, described leg have to
Few two degree-of-freedom joints are to complete movement needs；Described degree-of-freedom joint includes hip joint and knee joint.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107807655A (en) * | 2017-10-27 | 2018-03-16 | 山东大学 | Quadruped robot balance and stability control method based on gait adjustment in three dimensions |
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| CN104986241B (en) * | 2015-06-29 | 2018-04-24 | 山东大学（威海） | The gait planning method of quadruped robot |
| CN105945972B (en) * | 2016-05-05 | 2018-07-20 | 北京快乐智慧科技有限责任公司 | Adjust the method and intelligent interaction robot of intelligent interaction robot pose |
| CN106737747B (en) * | 2017-01-10 | 2020-04-28 | 广东工业大学 | A method for self-balancing of robot arms and robot |
| CN107891920B (en) * | 2017-11-08 | 2020-04-28 | 北京理工大学 | An automatic acquisition method of leg joint compensation angle for biped robot |
| CN110202584B (en) * | 2019-07-11 | 2020-10-23 | 燕山大学 | Leg kinematics correction method and system for foot type robot with semi-cylindrical foot end |
| CN114879711B (en) * | 2022-05-23 | 2024-05-28 | 中国北方车辆研究所 | Modularized motion control system of leg-foot type bionic robot |
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