CN114683281B - Foot robot motion control method and device, electronic equipment and storage medium - Google Patents
Foot robot motion control method and device, electronic equipment and storage medium Download PDFInfo
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- CN114683281B CN114683281B CN202210270374.XA CN202210270374A CN114683281B CN 114683281 B CN114683281 B CN 114683281B CN 202210270374 A CN202210270374 A CN 202210270374A CN 114683281 B CN114683281 B CN 114683281B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The application provides a foot-type robot motion control method, a foot-type robot motion control device, electronic equipment and a storage medium, and relates to the technical field of robots. The method comprises the steps of obtaining the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in a foot robot; calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient; calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot; according to the combined friction contact force corresponding to the target foot, the motion trail control is carried out on the foot type robot, so that the combined friction contact force corresponding to the target foot can be obtained through calculation based on the friction cone model, the accuracy of controlling the motion of the foot type robot can be improved, and the motion control effect of the foot type robot is improved.
Description
Technical Field
The present application relates to the field of robots, and in particular, to a motion control method and apparatus for a foot robot, an electronic device, and a storage medium.
Background
The biped robot is a bionic robot, can realize biped walking and related actions of the robot, and is used as a dynamic system controlled by machinery, and the biped robot contains rich dynamic characteristics. In future production and life, the humanoid biped walking robot can help human beings solve a series of dangerous or heavy works such as carrying objects, rescuing and the like.
Conventionally, for a bipedal robot, sole contact force is generally described by a single contact force vector, and the motion track of the bipedal robot is optimized according to the described sole contact force.
It can be seen that the existing method for describing the plantar contact force of the bipedal robot is simpler, so that the problem of poor control effect exists when the motion trail of the bipedal robot is controlled based on the existing plantar contact force.
Disclosure of Invention
The application aims to overcome the defects in the prior art and provide a motion control method, a motion control device, electronic equipment and a storage medium for a foot robot, which can improve the accuracy of controlling the motion of the foot robot.
In order to achieve the above purpose, the technical scheme adopted by the embodiment of the application is as follows:
in a first aspect, the present invention provides a motion control method for a foot robot, including:
acquiring the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot robot;
Calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient;
Calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot;
and controlling the motion trail of the foot-type robot according to the combined friction contact force corresponding to the target foot.
In an optional embodiment, the calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient includes:
calculating an included angle between two adjacent friction cone base vectors corresponding to each sole contact point according to the number of friction cone fitting surfaces of each sole contact point;
And calculating the friction cone base vectors of all the sole contact points according to the included angle between two adjacent friction cone base vectors and the preset friction coefficient.
In an alternative embodiment, the calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot includes:
acquiring a rotation matrix of a contact point normal vector corresponding to each sole contact point under a robot world coordinate system;
According to each rotation matrix, converting the friction cone base vectors of each sole contact point to obtain the friction cone base vectors of each sole contact point under the robot world coordinate system;
And calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point under the robot world coordinate system.
In an optional embodiment, the obtaining a rotation matrix of the contact point normal vector corresponding to each plantar contact point in the robot world coordinate system includes:
acquiring an included angle between a contact point normal vector corresponding to each sole contact point and each coordinate axis in a world coordinate system;
and calculating a rotation matrix of the contact point normal vector corresponding to each sole contact point under the robot world coordinate system according to the included angle corresponding to each sole contact point.
In an optional embodiment, the calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point in the robot world coordinate system includes:
acquiring a contact force amplitude scalar corresponding to each sole contact point;
Calculating the combined friction contact force of each sole contact point according to the contact force amplitude scalar corresponding to each sole contact point and the friction cone base vector of each sole contact point under the robot world coordinate system;
and calculating the corresponding combined friction contact force of the target foot according to the combined friction contact force of each sole contact point.
In an alternative embodiment, the acquiring the number of friction cone fitting surfaces of at least one sole contact point corresponding to the target foot in the foot robot includes:
Acquiring operation resource parameters of a controller in the foot robot and the quantity of sole contact points corresponding to the target foot;
determining the number of friction cone fitting surfaces of at least one plantar contact point corresponding to the target foot in the foot robot according to the operation resource parameters of the controller in the foot robot, the number of plantar contact points corresponding to the target foot and a preset mapping relation, wherein the preset mapping relation comprises: the mapping relation among the operation resource parameters of the controller, the quantity of the sole contact points and the quantity of friction cone fitting surfaces of the sole contact points in the foot-type robot.
In an alternative embodiment, if the sole of the target foot is a rectangular sole, the target foot corresponds to four plantar contact points.
In a second aspect, the present invention provides a foot robot motion control device comprising:
the acquisition module is used for acquiring the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot robot;
The first calculation module is used for calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient;
the second calculation module is used for calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot;
and the control module is used for controlling the motion trail of the foot-type robot according to the combined friction contact force corresponding to the target foot.
In an optional embodiment, the first calculating module is specifically configured to calculate, according to the number of friction cone fitting surfaces of each sole contact point, an included angle between two adjacent friction cone base vectors corresponding to each sole contact point;
And calculating the friction cone base vectors of all the sole contact points according to the included angle between two adjacent friction cone base vectors and the preset friction coefficient.
In an optional embodiment, the second calculation module is specifically configured to obtain a rotation matrix of a contact point normal vector corresponding to each sole contact point in a robot world coordinate system;
According to each rotation matrix, converting the friction cone base vectors of each sole contact point to obtain the friction cone base vectors of each sole contact point under the robot world coordinate system;
And calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point under the robot world coordinate system.
In an optional embodiment, the second calculating module is specifically configured to obtain an included angle between a contact point normal vector corresponding to each sole contact point and each coordinate axis in the world coordinate system;
and calculating a rotation matrix of the contact point normal vector corresponding to each sole contact point under the robot world coordinate system according to the included angle corresponding to each sole contact point.
In an optional embodiment, the second calculating module is specifically configured to obtain a contact force magnitude scalar corresponding to each sole contact point;
Calculating the combined friction contact force of each sole contact point according to the contact force amplitude scalar corresponding to each sole contact point and the friction cone base vector of each sole contact point under the robot world coordinate system;
and calculating the corresponding combined friction contact force of the target foot according to the combined friction contact force of each sole contact point.
In an optional embodiment, the acquiring module is specifically configured to acquire an operation resource parameter of a controller in the foot robot and the number of sole contact points corresponding to the target foot;
determining the number of friction cone fitting surfaces of at least one plantar contact point corresponding to the target foot in the foot robot according to the operation resource parameters of the controller in the foot robot, the number of plantar contact points corresponding to the target foot and a preset mapping relation, wherein the preset mapping relation comprises: the mapping relation among the operation resource parameters of the controller, the quantity of the sole contact points and the quantity of friction cone fitting surfaces of the sole contact points in the foot-type robot.
In an alternative embodiment, if the sole of the target foot is a rectangular sole, the target foot corresponds to four plantar contact points.
In a third aspect, the present invention provides an electronic device comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the steps of the foot robot motion control method as in any of the previous embodiments.
In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the foot robot motion control method according to any of the previous embodiments.
The beneficial effects of the application are as follows:
According to the foot-type robot motion control method, the foot-type robot motion control device, the electronic equipment and the storage medium, the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot-type robot is obtained; calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient; calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot; according to the method, motion trail control is performed on the foot-type robot according to the combined friction contact force corresponding to the target foot, so that the combined friction contact force corresponding to the target foot can be obtained through calculation through friction cone base vectors corresponding to a plurality of foot sole contact points based on a friction cone model.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a motion control method of a foot robot according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of another motion control method for a foot robot according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of another method for controlling motion of a foot robot according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of another motion control method for a foot robot according to an embodiment of the present application;
FIG. 5 is a schematic flow chart of another method for controlling motion of a foot robot according to an embodiment of the present application;
FIG. 6 is a schematic flow chart of another method for controlling motion of a foot robot according to an embodiment of the present application;
Fig. 7 is a schematic diagram of a functional module of a motion control device for a foot robot according to an embodiment of the present application;
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the prior art, a biped robot generally adopts a single contact force vector to describe the plantar contact force, and then the motion trail of the biped robot is optimized according to the described plantar contact force. When describing the plantar contact force, it is generally assumed that the contact surface positive pressure is vertical and the friction force is horizontal for friction constraint.
It can be seen that the description of the existing contact force vector is simpler and has larger difference from the actual situation, so that the existing foot-type robot motion control method has the problem of poor control effect.
In view of the above, the embodiment of the application provides a motion control method for a foot robot, and the accuracy of controlling the motion of the foot robot can be improved by applying the method.
Fig. 1 is a schematic flow chart of a motion control method of a foot robot according to an embodiment of the present application, where an execution body of the method may be the foot robot, and specifically may be a controller in the foot robot. The foot robot may be any multi-foot robot such as a biped robot, a quadruped robot, or a hexapod robot, and the target foot may be any foot of the foot robots, for example, any foot of the biped robot, which is not limited herein. As shown in fig. 1, the method may include:
s101, acquiring the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot robot.
In some embodiments, the target foot may include at least one plantar contact point, depending on the shape of the sole of the target foot. Each sole contact point can correspond to a friction cone, the vertex of the friction cone is positioned at the corresponding sole contact point, the normal line is perpendicular to the ground, and the slope is determined by the preset friction coefficient of the sole in contact with the point. The friction cone corresponding to each sole contact point can be used for describing the contact counterforce of the sole contact point, the contact counterforce can comprise positive pressure and friction force, the resultant force of the positive pressure and the friction force is a vector, the vector is positioned in the friction cone, and the coulomb friction law is satisfied, so that the sole contact point can be ensured not to slide. The friction cones corresponding to the sole contact points may be rectangular pyramids, hexagonal pyramids, etc., and are not limited herein, and the number of friction cone fitting surfaces of the sole contact points, that is, the number of surfaces of the polyhedral convex cones in the friction cones corresponding to the sole contact points. Optionally, the number of friction cone fitting surfaces of at least one sole contact point corresponding to the target foot in the foot robot may be a preset value, or may be customized by a user, which is not limited herein.
S102, calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient.
Alternatively, the preset friction coefficient may be determined according to an application scenario of the foot robot, specifically, may be determined according to each sole contact point. The number of friction cone fitting surfaces of each sole contact point and the number of friction cone base vectors of the sole contact point can be the same, the friction cone base vector of each sole contact point can represent the magnitude of friction force corresponding to the sole contact point, and the friction cone base vector can be calculated according to the number of friction cone fitting surfaces of the sole contact point and a preset friction coefficient.
S103, calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot.
It will be appreciated that after the friction cone base vector of each sole contact point corresponding to the target foot is obtained, the friction cone base vectors of each sole contact point corresponding to the target foot may be summed to obtain the combined friction contact force corresponding to the target foot. The magnitude of the combined friction contact force corresponding to the target foot can represent the magnitude of the contact counter force applied by the contact of the target foot with the outside.
S104, controlling the motion trail of the foot robot according to the combined friction contact force corresponding to the target foot.
Based on the above description, after the combined friction contact force corresponding to the target foot is obtained, the sole force of the foot robot is controlled according to the combined friction contact force, so that the accuracy of controlling the movement of the foot robot can be improved, and the movement control effect of the foot robot can be improved.
Optionally, when the foot-type robot is subjected to plantar force control according to the combined friction contact force, the calculated combined friction contact force can be used as a constraint condition, and the foot-type robot is subjected to secondary planning according to the constraint condition and a whole body dynamics mode corresponding to the foot-type robot, so that the overall gesture of the foot-type robot can track the expected gesture better through the secondary planning, and the accuracy of motion control of the foot-type robot can be improved. Of course, the specific control manner is not limited to this, and may be different according to the actual application scenario.
In summary, an embodiment of the present application provides a motion control method for a foot robot, including: acquiring the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot robot; calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient; calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot; according to the method, motion trail control is performed on the foot-type robot according to the combined friction contact force corresponding to the target foot, so that the combined friction contact force corresponding to the target foot can be obtained through calculation through friction cone base vectors corresponding to a plurality of foot sole contact points based on a friction cone model.
Fig. 2 is a schematic flow chart of another motion control method for a foot robot according to an embodiment of the present application. As shown in fig. 2, the calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and the preset friction coefficient includes:
s201, calculating the included angle between two adjacent friction cone base vectors corresponding to each sole contact point according to the number of friction cone fitting surfaces of each sole contact point.
S202, calculating the friction cone base vectors of all the sole contact points according to the included angle between two adjacent friction cone base vectors and a preset friction coefficient.
The number of friction cone fitting surfaces of each sole contact point is the same as the number of friction cone base vectors of the sole contact point, and the friction cone model construction mode is combined to know that the included angle between two adjacent friction cone base vectors corresponding to each sole contact point can be calculated according to the number of friction cone fitting surfaces of each sole contact point, and then the friction cone base vectors of each sole contact point can be calculated according to the included angle and a preset friction coefficient. The friction cone base vector of each sole contact point referred to herein is actually a friction cone base vector of each sole contact point in a friction cone coordinate system.
In some embodiments, assuming that the target foot corresponds to k sole contact points, the number of friction cone fitting surfaces of each sole contact point is n, that is, the number of friction cone base vectors of each sole contact point is n, the ith friction cone base vector of any sole contact point in the friction cone coordinate system may be expressed by the following formula:
Wherein f i represents the ith friction cone base vector of the sole contact point under the friction cone coordinate system, θ represents the included angle between two adjacent friction cone base vectors corresponding to the sole contact point, and u represents the preset friction coefficient corresponding to the sole contact point.
Fig. 3 is a schematic flow chart of another motion control method for a foot robot according to an embodiment of the present application. As shown in fig. 3, the calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot includes:
S301, acquiring a rotation matrix of a contact point normal vector corresponding to each sole contact point under a robot world coordinate system.
S302, according to each rotation matrix, converting the friction cone base vectors of each sole contact point to obtain the friction cone base vectors of each sole contact point under the robot world coordinate system.
S303, calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point under the robot world coordinate system.
For each sole contact point, it should be noted that, a contact point normal vector corresponding to each sole contact point, that is, a normal vector of a plane contacted by each sole contact point, a rotation matrix of each contact point normal vector under a robot world coordinate system may represent a posture of each sole contact point in the robot world coordinate system, and each rotation matrix may be determined according to an included angle of each contact point normal vector in the robot world coordinate system.
Based on each rotation matrix, the obtained friction cone base vector of each sole contact point actually refers to the friction cone base vector of each sole contact point under the friction cone coordinate system, so that it is necessary to convert the friction cone base vector according to each rotation matrix, so that the friction cone base vector of each sole contact point under the robot world coordinate system can be obtained through conversion, and further, the combined friction contact force corresponding to the target foot under the robot world coordinate system can be calculated according to the friction cone base vector of each sole contact point under the robot world coordinate system. By applying the embodiment of the application, the friction cone base vector of each sole contact point under the robot world coordinate system can be obtained, and the control logic can be simplified when the foot robot is controlled according to the friction cone base vector of each sole contact point under the robot world coordinate system.
Fig. 4 is a schematic flow chart of another motion control method for a foot robot according to an embodiment of the present application. As shown in fig. 4, the obtaining a rotation matrix of the contact point normal vector corresponding to each plantar contact point in the robot world coordinate system includes:
s401, acquiring an included angle between a contact point normal vector corresponding to each sole contact point and each coordinate axis in a world coordinate system.
S402, calculating a rotation matrix of a contact point normal vector corresponding to each sole contact point under a robot world coordinate system according to the included angle corresponding to each sole contact point.
The included angle between the contact point normal vector corresponding to each sole contact point and each coordinate axis in the world coordinate system may be acquired through a preset sensor, for example, may be acquired through a sensor such as a laser radar, a gyroscope, etc., which is not limited herein. By acquiring the included angles corresponding to the sole contact points, the rotation matrix of the contact point normal vector corresponding to the sole contact points under the robot world coordinate system can be calculated according to the included angles, so that the gesture of the sole contact points in the robot world coordinate system can be represented through the rotation matrices.
In some embodiments, assuming that the target foot corresponds to k sole contact points, and the number of friction cone fitting surfaces of each sole contact point is n, the ith friction cone base vector of any sole contact point in the robot world coordinate system may be represented by the following formula:
fi w＝Rcfi
Rc＝RotZ(θy)*RotY(θp)*RotX(θr)
Wherein f i w represents an ith friction cone base vector of a sole contact point in a robot world coordinate system, R C represents a rotation matrix of a contact point normal vector corresponding to the sole contact point in the robot world coordinate system, f i represents an ith friction cone base vector of the sole contact point in the friction cone coordinate system, θ y represents a yaw angle of the contact point normal vector corresponding to the sole contact point in the robot world coordinate system, θ p represents a pitch angle of the contact point normal vector corresponding to the sole contact point in the robot world coordinate system, and θ r represents a roll angle of the contact point normal vector corresponding to the sole contact point in the robot world coordinate system. RotZ (θ y) represents a rotation matrix corresponding to a yaw angle, rotY (θ p) represents a rotation matrix corresponding to a pitch angle, and RotX (θ r) represents a rotation matrix corresponding to a roll angle.
Fig. 5 is a schematic flow chart of another motion control method for a foot robot according to an embodiment of the present application. As shown in fig. 5, the calculation of the combined frictional contact force corresponding to the target foot based on the frictional cone base vector of each sole contact point in the robot world coordinate system includes:
S501, obtaining a contact force amplitude scalar corresponding to each sole contact point.
S502, calculating the combined friction contact force of each sole contact point according to the contact force amplitude scalar corresponding to each sole contact point and the friction cone base vector of each sole contact point under the robot world coordinate system.
S503, calculating the combined friction contact force corresponding to the target foot according to the combined friction contact force of each sole contact point.
The scalar of the magnitude of the contact force corresponding to each sole contact point can be a positive value, and can be determined by the magnitude and the direction of the contact force corresponding to each sole contact point. Optionally, the magnitude and direction of the contact force corresponding to each plantar contact point may be acquired through plantar sensors, and the specific acquisition mode is not limited to this.
Based on the above description, after the contact force magnitude scalar corresponding to each sole contact point is obtained, the combined frictional contact force corresponding to each sole contact point can be calculated according to the contact force magnitude scalar corresponding to each sole contact point and the contact force magnitude scalar corresponding to each sole contact point, and the combined frictional contact force corresponding to the target foot can be calculated according to the combined frictional contact force corresponding to each sole contact point.
In some embodiments, assuming the number of friction cone base vectors for each plantar contact point in the target foot, the corresponding combined friction contact force for the target foot may be expressed using the following equation:
wherein f represents the combined friction contact force corresponding to the target foot under the robot world coordinate system, The combined friction contact force corresponding to the j-th sole contact point corresponding to the target foot is represented in the robot world coordinate system, ρ i represents the contact force amplitude scalar corresponding to the i-th sole contact point corresponding to the target foot, n represents the number of friction cone base vectors of the i-th sole contact point corresponding to the target foot, and k represents the number of sole contact points corresponding to the target foot. Of course, it should be noted that, depending on the actual application, the number of friction cone base vectors of each plantar contact point in the target foot may also be different.
Fig. 6 is a schematic flow chart of another motion control method for a foot robot according to an embodiment of the present application. As shown in fig. 6, obtaining the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot robot includes:
s601, acquiring operation resource parameters of a controller in the foot robot and the quantity of sole contact points corresponding to the target foot.
Wherein, the operation resource parameters of the controller can include: the number of the CPUs, control structure parameters and the like, wherein the control structure parameters can comprise control structure parameters corresponding to serial structure types and control structure parameters corresponding to parallel structure types. Of course, it should be noted that, depending on the type of the controller, the operating resource parameter may also include other parameters, which are not limited herein.
Alternatively, the number of plantar contact points corresponding to the target foot may be specified by the user, or may be determined according to the shape of the sole of the target foot, which is not limited herein.
S602, determining the number of friction cone fitting surfaces of at least one sole contact point corresponding to the target foot in the foot type robot according to the operation resource parameters of the controller in the foot type robot, the number of sole contact points corresponding to the target foot and a preset mapping relation.
The preset mapping relationship may include: the mapping relation among the operation resource parameters of the controller, the quantity of the sole contact points and the quantity of friction cone fitting surfaces of the sole contact points in the foot-type robot. The preset mapping relation can represent the maximum number of friction cone fitting surfaces of each sole contact point corresponding to the target foot when the foot robot stably works. In some embodiments, the number of friction cone fitting surfaces of each sole contact point determined according to the operation resource parameter of the controller and the preset mapping relationship may be the same or different, which is not limited herein.
From the above preset mapping relationship, it can be seen that, when the operation resource parameter of the controller and the number of sole contact points corresponding to the target foot are obtained, the number of friction cone fitting surfaces of at least one sole contact point corresponding to the target foot can be determined according to the preset mapping relationship.
Based on the above description, it can be further understood that the greater the number of sole contact points corresponding to the target foot and the greater the number of friction cone fitting surfaces of each sole contact point, the higher the requirement on the operation resource parameters of the controller is, so that the delay can be reduced as much as possible, and the real-time performance of the calculation of the combined friction contact force corresponding to the target foot can be ensured.
Of course, it should be noted that, in some embodiments, the number of friction cone fitting surfaces of each sole contact point may also be customized by the user according to the operation resource parameters of the controller and the actual requirements, for example, the number of friction cone fitting surfaces of the first sole contact point corresponding to the target foot may be set to be 4, and the number of friction cone fitting surfaces of the second sole contact point corresponding to the target foot may be set to be 6, which is not limited to this specific setting method.
Alternatively, if the sole of the target foot is a rectangular sole, the target foot corresponds to four plantar contact points.
When the sole of the target foot is a rectangular sole, each vertex of the rectangle may correspond to a contact point. Of course, it should be noted that the sole of the target foot may be in other shapes, for example, when the sole of the target foot is a triangular sole, the target foot may correspond to 3 contact points, where each vertex of the triangle may correspond to one contact point, and of course, the specific division manner of the sole contact points is not limited to this, and may be different according to practical application scenarios.
In summary, by applying the embodiment of the application, the friction cone base vector of each sole contact point corresponding to the target foot can be described based on the friction cone model, and further the friction force of each sole contact point in different contact states can be described through each friction cone base vector, and the combined friction contact force corresponding to the target foot can be calculated according to the friction cone base vector of each sole contact point, so that the method is more accurate compared with the method of describing the sole contact force of the target foot by adopting a single contact force vector. Particularly, for uneven ground, as each sole contact point is positioned on different contact surfaces and corresponds to different normal vectors of the contact point, the contact force and friction constraint of the uneven ground can be accurately described by applying the embodiment of the application, and the accuracy of controlling the motion of the foot-type robot can be effectively improved.
Fig. 7 is a schematic diagram of a functional module of a motion control device for a foot robot according to an embodiment of the present application, where the basic principle and the technical effects of the device are the same as those of the foregoing corresponding method embodiment, and for brevity, reference may be made to corresponding contents in the method embodiment for the parts not mentioned in the present embodiment.
As shown in fig. 7, the motion control apparatus 100 may include:
an obtaining module 110, configured to obtain the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot robot;
The first calculation module 120 is configured to calculate a friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient;
A second calculation module 130, configured to calculate a combined frictional contact force corresponding to the target foot according to a frictional cone base vector of each sole contact point corresponding to the target foot;
And the control module 140 is used for controlling the motion trail of the foot-type robot according to the combined friction contact force corresponding to the target foot.
In an optional embodiment, the first calculating module 120 is specifically configured to calculate, according to the number of friction cone fitting surfaces of each sole contact point, an included angle between two adjacent friction cone base vectors corresponding to each sole contact point;
And calculating the friction cone base vectors of all the sole contact points according to the included angle between two adjacent friction cone base vectors and the preset friction coefficient.
In an optional embodiment, the second calculating module 130 is specifically configured to obtain a rotation matrix of the contact normal vector corresponding to each plantar contact point in the robot world coordinate system;
According to each rotation matrix, converting the friction cone base vectors of each sole contact point to obtain the friction cone base vectors of each sole contact point under the robot world coordinate system;
And calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point under the robot world coordinate system.
In an optional embodiment, the second calculating module 130 is specifically configured to obtain an included angle between a contact normal vector corresponding to each sole contact point and each coordinate axis in the world coordinate system;
and calculating a rotation matrix of the contact point normal vector corresponding to each sole contact point under the robot world coordinate system according to the included angle corresponding to each sole contact point.
In an alternative embodiment, the second calculating module 130 is specifically configured to obtain a contact force magnitude scalar corresponding to each of the plantar contact points;
Calculating the combined friction contact force of each sole contact point according to the contact force amplitude scalar corresponding to each sole contact point and the friction cone base vector of each sole contact point under the robot world coordinate system;
and calculating the corresponding combined friction contact force of the target foot according to the combined friction contact force of each sole contact point.
In an optional embodiment, the obtaining module 110 is specifically configured to obtain an operation resource parameter of a controller in the foot robot and a number of sole contact points corresponding to the target foot;
determining the number of friction cone fitting surfaces of at least one plantar contact point corresponding to the target foot in the foot robot according to the operation resource parameters of the controller in the foot robot, the number of plantar contact points corresponding to the target foot and a preset mapping relation, wherein the preset mapping relation comprises: the mapping relation among the operation resource parameters of the controller, the quantity of the sole contact points and the quantity of friction cone fitting surfaces of the sole contact points in the foot-type robot.
In an alternative embodiment, if the sole of the target foot is a rectangular sole, the target foot corresponds to four plantar contact points.
The foregoing apparatus is used for executing the method provided in the foregoing embodiment, and its implementation principle and technical effects are similar, and are not described herein again.
The above modules may be one or more integrated circuits configured to implement the above methods, for example: one or more Application SPECIFIC INTEGRATED Circuits (ASIC), or one or more microprocessors, or one or more field programmable gate arrays (Field Programmable GATE ARRAY FPGA), etc. For another example, when a module above is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the electronic device may be integrated into a foot robot. As shown in fig. 8, the electronic device may include: processor 210, storage medium 220, and bus 230, storage medium 220 storing machine-readable instructions executable by processor 210, processor 210 executing machine-readable instructions to perform steps of the method embodiments described above when the electronic device is operating, processor 210 communicating with storage medium 220 via bus 230. The specific implementation manner and the technical effect are similar, and are not repeated here.
Optionally, the present application further provides a storage medium, on which a computer program is stored, which when being executed by a processor performs the steps of the above-described method embodiments. The specific implementation manner and the technical effect are similar, and are not repeated here.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: processor) to perform part of the steps of the methods of the embodiments of the application. And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (8)
1. A method for controlling motion of a foot robot, comprising:
Acquiring the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in a foot robot, wherein each sole contact point corresponds to one friction cone; calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient; calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot; controlling the motion trail of the foot robot according to the combined friction contact force corresponding to the target foot;
The calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot comprises the following steps: acquiring a rotation matrix of a contact point normal vector corresponding to each sole contact point under a robot world coordinate system; according to each rotation matrix, converting the friction cone base vectors of each sole contact point to obtain the friction cone base vectors of each sole contact point under the robot world coordinate system; calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point under the robot world coordinate system;
calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient, wherein the friction cone base vector comprises:
Calculating an included angle between two adjacent friction cone base vectors corresponding to each sole contact point according to the number of friction cone fitting surfaces of each sole contact point; calculating the friction cone base vectors of all the sole contact points according to the included angle between two adjacent friction cone base vectors and the preset friction coefficient;
According to the friction cone base vector of each sole contact point under the robot world coordinate system, calculating the combined friction contact force corresponding to the target foot, wherein the combined friction contact force comprises the following components:
calculating the combined friction contact force of each sole contact point according to the contact force amplitude scalar corresponding to each sole contact point and the friction cone base vector of each sole contact point under the robot world coordinate system; and calculating the corresponding combined friction contact force of the target foot according to the combined friction contact force of each sole contact point.
2. The method according to claim 1, wherein the obtaining a rotation matrix of the contact point normal vector corresponding to each plantar contact point in the robot world coordinate system includes:
acquiring an included angle between a contact point normal vector corresponding to each sole contact point and each coordinate axis in a world coordinate system;
and calculating a rotation matrix of the contact point normal vector corresponding to each sole contact point under the robot world coordinate system according to the included angle corresponding to each sole contact point.
3. The method according to claim 1, wherein the method further comprises:
and obtaining a contact force amplitude scalar corresponding to each sole contact point.
4. The method of claim 1, wherein the obtaining the number of friction cone fitting surfaces of at least one plantar contact point corresponding to a target foot in the foot robot comprises:
Acquiring operation resource parameters of a controller in the foot robot and the quantity of sole contact points corresponding to the target foot;
determining the number of friction cone fitting surfaces of at least one plantar contact point corresponding to the target foot in the foot robot according to the operation resource parameters of the controller in the foot robot, the number of plantar contact points corresponding to the target foot and a preset mapping relation, wherein the preset mapping relation comprises: the mapping relation among the operation resource parameters of the controller, the quantity of the sole contact points and the quantity of friction cone fitting surfaces of the sole contact points in the foot-type robot.
5. The method of any one of claims 1-4, wherein if the sole of the target foot is a rectangular sole, the target foot corresponds to four plantar contact points.
6. A foot robot motion control device, comprising:
The acquisition module is used for acquiring the number of friction cone fitting surfaces of at least one sole contact point corresponding to a target foot in the foot robot, and each sole contact point corresponds to one friction cone;
The first calculation module is used for calculating the friction cone base vector of each sole contact point according to the number of friction cone fitting surfaces of each sole contact point and a preset friction coefficient;
the second calculation module is used for calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point corresponding to the target foot;
the control module is used for controlling the motion trail of the foot-type robot according to the combined friction contact force corresponding to the target foot;
The second calculation module is specifically configured to obtain a rotation matrix of a contact point normal vector corresponding to each sole contact point in a robot world coordinate system; according to each rotation matrix, converting the friction cone base vectors of each sole contact point to obtain the friction cone base vectors of each sole contact point under the robot world coordinate system; calculating the combined friction contact force corresponding to the target foot according to the friction cone base vector of each sole contact point under the robot world coordinate system;
The first calculation module is specifically configured to calculate, according to the number of friction cone fitting surfaces of each sole contact point, an included angle between two adjacent friction cone base vectors corresponding to each sole contact point; calculating the friction cone base vectors of all the sole contact points according to the included angle between two adjacent friction cone base vectors and the preset friction coefficient;
The second calculation module is specifically configured to calculate a combined friction contact force of each sole contact point according to a contact force magnitude scalar corresponding to each sole contact point and a friction cone base vector of each sole contact point in the robot world coordinate system; and calculating the corresponding combined friction contact force of the target foot according to the combined friction contact force of each sole contact point.
7. An electronic device, comprising: a processor, a storage medium and a bus, said storage medium storing machine-readable instructions executable by said processor, said processor and said storage medium communicating over the bus when the electronic device is running, said processor executing said machine-readable instructions to perform the steps of the foot robot motion control method according to any one of claims 1-5.
8. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the foot robot motion control method according to any of claims 1-5.
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| CN111716361A (en) * | 2020-07-03 | 2020-09-29 | 深圳市优必选科技股份有限公司 | Robot control method, device and surface-surface contact model construction method |
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| WO2011106543A1 (en) * | 2010-02-25 | 2011-09-01 | Honda Motor Co., Ltd. | A momentum-based balance controller for humanoid robots on non-level and non-stationary ground |
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| CN109500821B (en) * | 2019-01-07 | 2020-11-24 | 深圳航天科技创新研究院 | Method, device, terminal and computer-readable storage medium for allocating foot force of quadruped robot on the ground |
| CN110421547B (en) * | 2019-07-12 | 2022-10-28 | 中南大学 | Double-arm robot cooperative impedance control method based on estimation dynamics model |
| CN111604902B (en) * | 2020-05-18 | 2022-06-03 | 哈尔滨工业大学 | Target sliding detection method suitable for manual operation of manipulator |
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| CN112114589B (en) * | 2020-09-07 | 2024-02-09 | 腾讯科技（深圳）有限公司 | Foot robot motion control method, device, equipment and medium |
| CN112123340B (en) * | 2020-10-21 | 2021-08-24 | 乐聚(深圳)机器人技术有限公司 | Robot motion control method, device, robot and storage medium |
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