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Floating base dynamic feedforward controlling method, device and multi-legged robot

A feedforward control and basic dynamics technology, applied in the direction of program control manipulator, program control, general control system, etc., can solve problems such as high computational complexity, large amount of computation, and difficulty in robot motion control.

Active Publication Date: 2020-08-21
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For these two states, different models need to be used to solve the inverse dynamics, especially in the biped support period, the calculation complexity is high and the calculation amount is too large
In addition, when the biped robot performs these two state transitions, the joint torque will also jump, which brings great difficulty to the motion control of the robot during walking.

Method used

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  • Floating base dynamic feedforward controlling method, device and multi-legged robot
  • Floating base dynamic feedforward controlling method, device and multi-legged robot
  • Floating base dynamic feedforward controlling method, device and multi-legged robot

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Experimental program
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Embodiment 1

[0068] Please refer to figure 2 , this embodiment proposes a floating base dynamics feedforward control method, which can be applied to the motion control of multi-legged robots, such as biped humanoid robots and quadruped robots. This method can effectively solve the problems of high computational complexity and large amount of calculation caused by the use of fixed base inverse dynamics algorithm in the existing scheme, and the sudden change of joint torque caused by state switching.

[0069] Such as figure 2 As shown, the dynamics feed-forward control method of the floating base will be described in detail below.

[0070] In step S10, the kinematic parameters of each joint of the robot are obtained at each moment based on inverse kinematics according to the pre-planned robot trajectory, and the body center of the robot is used as a floating base.

[0071] For the above step S10, for the pre-planned motion trajectory of the robot, for example, it can be the motion trajec...

Embodiment 2

[0142] Please refer to Figure 11 , based on the method of the above-mentioned embodiment 1, this embodiment proposes a floating base dynamics feed-forward control device 10, which includes:

[0143] The joint angle acquisition module 110 is used to acquire the kinematic parameters of each joint of the robot at each moment based on inverse kinematics according to the pre-planned robot motion trajectory, and use the body center of the robot as a floating base;

[0144] The inertial system correction module 120 is used to solve the six-dimensional acceleration of the centroid of each joint in the base coordinate system through the forward kinematics algorithm according to the kinematic parameters of each joint, and calculate the six-dimensional acceleration of the centroid of each joint in the base coordinate system. Convert the one-dimensional acceleration to the six-dimensional acceleration in the world coordinate system;

[0145] The feedforward control module 130 is used to...

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Abstract

The embodiment of the invention discloses a floating base dynamic feedforward controlling method, device and a multi-legged robot. The method comprises the steps that: kinematic parameters of all joints at every moment are obtained based on inverse kinematics according to a preplanned motion track of the robot, and the center of a torso of the robot is determined as a floating base; six-dimensional acceleration of centers of mass of the joints in a base coordinate system is solved via forward kinematics according to the kinematic parameters of the joints, and the six-dimensional acceleration of the centers of mass of the joints is switched to six-dimensional acceleration in a world coordinate system; and according to the six-dimensional acceleration of the centers of mass of the joints inthe world coordinate system, moments of force required by motors of the joints are calculated via inverse kinematics and feedforward control is realized. Compared to fixed-base robot inverse kinematicalgorithms of existing schemes, the robot inverse kinematic algorithm can be simplified, the complexity of calculation and amount of calculation are lowered, the problem that a sudden change of single and dual-leg switching load in the process of walking causes a sudden change of torque is effectively improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a floating base dynamics feedforward control method, device and multi-legged robot. Background technique [0002] For the application of the inverse dynamics algorithm, for example, its main application scenario is a serial structure robot with a fixed base and each joint connected in turn. By giving the trajectory of the end effector of the robot following time, based on the fixed base, the full dynamic equation is used to solve the torque (also called torque) required by each joint at each moment, and then the position control or direct force control of each joint motor is performed. , to achieve the desired robot motion. [0003] However, there are also some shortcomings in this fixed-base inverse dynamics algorithm. For example, the application scenarios are limited, and the algorithm cannot be directly applied to mobile robots, such as biped or quadruped robots. At p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B62D57/032
CPCB25J9/16B25J9/1628B25J9/1651B25J9/1664B25J9/1633B62D57/032B25J9/1607G05B2219/40264G05B2219/40077G05B19/4155G05B19/4166G05B2219/34013G05B2219/50391
Inventor 王岳嵩鞠笑竹赵明国熊友军
Owner UBTECH ROBOTICS CORP LTD