CN105806312B - Legged type robot terrain parameter measurement method based on three and leg supported above - Google Patents
Legged type robot terrain parameter measurement method based on three and leg supported above Download PDFInfo
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- CN105806312B CN105806312B CN201610139745.5A CN201610139745A CN105806312B CN 105806312 B CN105806312 B CN 105806312B CN 201610139745 A CN201610139745 A CN 201610139745A CN 105806312 B CN105806312 B CN 105806312B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/02—Tracing profiles of land surfaces
- G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced
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Abstract
The legged type robot terrain parameter measurement method based on three and leg supported above that the invention discloses a kind of, the attitude angle of residing landform can be calculated using sensor information necessary to legged type robot motion control, that is roll angle and pitch angle, it can meet the requirement of legged type robot motion control, it is simple and practicable, precision is relatively high；For in motion process, always having leg to be in support phase, (holding state of each leg is determined by the power at sufficient end, measured value is more than threshold value, then think that the leg is in support phase), and for legged type robot gait control of the support leg number more than 2, landform attitude angle and fuselage height can be calculated only with this method, without external laser radar or vision camera, cost is reduced, there is no complicated mathematical operation, precision highers.
Description
Technical Field
The invention belongs to the technical field of topographic parameter measurement, and relates to a method for measuring topographic parameters of a foot type robot based on three or more supporting legs.
Background
The foot type robot is mainly applied to an unstructured environment, walking gaits in the unstructured environment are different from those in a plane environment, the requirement on the stability of the robot is higher, and the robot can overturn easily due to the fact that the up-down gradient of the robot changes continuously. The foot robot is suitable for complex non-structural environment on the premise that the surrounding terrain environment can be sensed, and the existing foot robot usually processes laser radar and video image information to obtain external terrain information, so that the cost is high and the calculation amount is large.
Disclosure of Invention
Objects of the invention
The purpose of the invention is: the terrain parameter measuring method of the foot type robot based on three or more support legs is provided, the information of a foot type robot body sensor is used for calculation, the implementation is simple and easy, and the calculated amount is small.
(II) technical scheme
In order to solve the technical problem, the invention provides a terrain parameter measuring method of a foot type robot based on three or more support legs, which comprises the following steps:
when the foot type robot walks, under the condition that the supporting leg does not slide, the position vector of the foot end of the supporting leg of the foot type robot under the machine body coordinate system is obtained according to the measurement of the sensor, the supporting leg is a grounded leg, and the speed of the supporting leg is zero, which indicates that the supporting leg does not slide;
writing the position vector of the support leg of the legged robot into the form of the following matrix:
in equation (1): p is a radical ofi_xpi_ypi_zThe positions of the foot ends of the ith supporting leg in the x, y and z directions under the world coordinate system are respectively, and n is more than or equal to 3;
note that the normal vector of the plane where the n legs are located is:
then there are:
wherein,is an n-dimensional unit vector;
solving by equation (3)The following can be obtained:
the unit vector of (a) is:
normal vector of the earth with respect to the world coordinate systemRoll and pitch angles of the earth relative to the world coordinate system can be obtained:
in the formula (6), GrollRoll angle of the earth relative to the world coordinate system;is composed ofA component in the y-direction;
in the formula (7), GpitchBeing the elevation angle of the earth with respect to the world coordinate system,is composed ofThe component in the x-direction is,is composed ofA component in the z direction;
in the formula (8), Hr_gIs the fuselage height relative to the geodetic coordinate system;
in formula (9), Hr_wIs the fuselage height relative to the world coordinate system.
The invention also provides a foot type robot motion control method based on the measuring method, and the attitude of the foot type robot is adjusted by using the terrain roll angle, the pitch angle and the machine body height obtained by the measuring method so as to adapt to terrain change and increase the stability of robot motion.
(III) advantageous effects
According to the terrain parameter measuring method of the foot type robot based on the three or more support legs, the attitude angle, namely the roll angle and the pitch angle of the terrain can be calculated only by using the sensor information necessary for the motion control of the foot type robot, the requirements of the motion control of the foot type robot can be met, and the method is simple and easy to implement and high in precision; for the gait control of the legged robot, in the motion process, legs are always in a support phase (the support state of each leg is determined by the force of a foot end, and the measured value is greater than a threshold value, the leg is considered to be in the support phase), and the number of the support legs is greater than 2, the terrain attitude angle and the body height can be calculated only by adopting the method without an external laser radar or a visual camera, so that the cost is reduced, no complex mathematical operation exists, and the precision is higher.
Drawings
Fig. 1 is a calculation schematic diagram of the measurement method of the present invention.
Detailed Description
In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
As shown in fig. 1, the invention provides a terrain parameter measuring method for a foot robot, which is characterized by comprising the following steps:
when the foot type robot walks, under the condition that the supporting leg does not slide, the position vectors of at least three foot ends of the supporting leg of the foot type robot under a machine body coordinate system are obtained according to the measurement of the sensor, the supporting leg is a grounded leg, and the speed of the supporting leg is zero, which indicates that the supporting leg does not slide.
In the present embodiment, a four-legged robot is described as an example. As shown in FIG. 1, the support legs are 1 leg, 2 legs and 3 legs, and the position vector of each leg can be obtained by kinematic settlement of sensor data installed on the leg. Therefore, the specific steps of measuring the terrain parameters are as follows:
writing the position vector of the support leg of the legged robot into the form of the following matrix:
in equation (1):
pi_xpi_ypi_zthe positions of the foot ends of the ith supporting leg in the x, y and z directions under the world coordinate system are respectively;
note that the normal vector of the plane where the n legs are located is:
then there are:
whereinIs an n-dimensional unit vector;
solving by equation (3)The following can be obtained:
the unit vector of (a) is:
normal vector of the earth with respect to the world coordinate systemRoll and pitch angles of the earth relative to the world coordinate system can be obtained:
in the formula (6), GrollFor ground to earth with respect to the world coordinate systemRolling an angle;is composed ofA component in the y-direction;
in the formula (7), GpitchBeing the elevation angle of the earth with respect to the world coordinate system,is composed ofThe component in the x-direction is,is composed ofA component in the z direction;
in the formula (8), Hr_gIs the fuselage height relative to the geodetic coordinate system;
in formula (9), Hr_wIs the fuselage height relative to the world coordinate system.
Based on the measuring method, the application comprises the following steps: the attitude of the foot type robot is adjusted by using the terrain roll angle, the pitch angle and the machine body height obtained by the measuring method to adapt to the change of the terrain, so that the motion stability of the robot is improved.
The invention can be applied to the number of the robot supporting legs not less than 3, such as three feet, which are all used as the supporting legs; or a multi-legged robot such as a four-legged, five-legged, six-legged robot.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (2)
1. A terrain parameter measuring method of a foot type robot based on three or more supporting legs is characterized by comprising the following steps:
when the foot type robot walks, under the condition that the supporting leg does not slide, the position vector of the foot end of the supporting leg of the foot type robot under the machine body coordinate system is obtained according to the measurement of the sensor, the supporting leg is a grounded leg, and the speed of the supporting leg is zero, which indicates that the supporting leg does not slide;
writing the position vector of the support leg of the legged robot into the form of the following matrix:
in equation (1): p is a radical ofi_xpi_ypi_zThe positions of the foot ends of the ith supporting leg in the x, y and z directions under the world coordinate system are respectively, and n is more than or equal to 3;
note that the normal vector of the plane where the n legs are located is:
then there are:
wherein,is an n-dimensional unit vector;
solving by equation (3)The following can be obtained:
the unit vector of (a) is:
normal vector of the earth with respect to the world coordinate systemRoll and pitch angles of the earth relative to the world coordinate system can be obtained:
in the formula (6), GrollRoll angle of the earth relative to the world coordinate system;is composed ofA component in direction;
in the formula (7), GpitchBeing the elevation angle of the earth with respect to the world coordinate system,is composed ofThe component in the direction of the light beam,is composed ofA component in direction;
in the formula (8), Hr_gIs the fuselage height relative to the geodetic coordinate system;
in formula (9), Hr_wIs the fuselage height relative to the world coordinate system.
2. The method for controlling the motion of the foot robot based on the measuring method of claim 1 is characterized in that the attitude of the foot robot is adjusted by using the terrain roll angle, the pitch angle and the fuselage height obtained by the measuring method so as to adapt to terrain changes and increase the stability of the motion of the robot.
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| CN107121128B (en) * | 2017-05-27 | 2022-04-05 | 中国北方车辆研究所 | Method and system for measuring terrain parameters of foot type robot |
| CN110815211B (en) * | 2019-09-29 | 2021-04-23 | 中国北方车辆研究所 | Method for quadruped robot to dynamically cross convex obstacle |
| CN113359729A (en) * | 2021-06-10 | 2021-09-07 | 中国北方车辆研究所 | Electric drive foot type robot slippage inhibition method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102692201A (en) * | 2012-06-19 | 2012-09-26 | 重庆大学 | Device for measuring spatial motion with six degrees of freedom and dynamic measuring method |
| CN103085070A (en) * | 2013-01-15 | 2013-05-08 | 上海交通大学 | Quadruped robot motion planning method for facing complex terrain |
| CN103884351A (en) * | 2014-01-24 | 2014-06-25 | 中国北方车辆研究所 | Leg robot motion parameter measurement method and application thereof |
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| KR101503397B1 (en) * | 2012-05-04 | 2015-03-17 | 삼성테크윈 주식회사 | Movable robot |
| JP2015175664A (en) * | 2014-03-13 | 2015-10-05 | 三菱重工業株式会社 | Landform determination device, and leg type mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102692201A (en) * | 2012-06-19 | 2012-09-26 | 重庆大学 | Device for measuring spatial motion with six degrees of freedom and dynamic measuring method |
| CN103085070A (en) * | 2013-01-15 | 2013-05-08 | 上海交通大学 | Quadruped robot motion planning method for facing complex terrain |
| CN103884351A (en) * | 2014-01-24 | 2014-06-25 | 中国北方车辆研究所 | Leg robot motion parameter measurement method and application thereof |
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