Acquisition method, device, robot and storage medium of centroid trajectory
A robot, centroid technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the inability to solve the trajectory of the centroid
Active Publication Date: 2022-03-04
乐聚(深圳)机器人技术有限公司
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[0003] In the prior art, when solving the centroid trajectory, usually by solving the linear inverted pendulum differential equation, the centroid position and the analytical solution of the centroid position are obtained. However, this solution method requires the ZMP trajectory to be a regular polyline, so it cannot solve any shape The centroid trajectory corresponding to the ZMP trajectory
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[0065] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the appended The figures are only for the purpose of illustration and description, and are not used to limit the protection scope of the present application. Additionally, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented in accordance with some embodiments of the application. It should be understood that the operations of the flowcharts may be performed out of order, and steps that have no logical context may be performed in reverse order or concurrently. In addition, those skilled in the art may add one or more other operations t...
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The present application provides a method, device, robot and storage medium for acquiring a center-of-mass trajectory, wherein the method includes: constructing optimization variables according to N centroid variables and acceleration change rates of N centroids of the robot in N control cycles, According to the optimization variable and the first preset matrix, obtain the coefficient matrix for solving the zero-torque point trajectory, and obtain the expression matrix of the cost function of the robot according to the coefficient matrix for solving the zero-torque point trajectory and the expected zero-torque point trajectory, and obtain the robot's The equality constraints of the center of mass, according to the equality constraints and the expression matrix of the cost function, the optimization variables are constrained to solve, and the trajectory of the center of mass of the robot is obtained. In this application, the equation constraints are used to solve the optimization variable constraints, so that the cost function constructed by solving the zero-moment point trajectory and the expected zero-moment point trajectory is minimized, and the centroid trajectory corresponding to the zero-moment point trajectory of any shape can be solved .
Description
technical field [0001] The present application relates to the technical field of robot control, and in particular, to a method, device, robot and storage medium for acquiring a centroid trajectory. Background technique [0002] At present, when the existing humanoid robot plans the walking trajectory, it generally uses the linear inverted pendulum model, manually specifies the sequence of footholds, interpolates the trajectory of the Zero Moment Point (ZMP) according to the sequence of footholds, and solves the problem according to the ZMP trajectory The trajectory of the center of mass is obtained, and the trajectory of the foot end is obtained according to the foothold sequence planning, and then the robot is controlled to reach the target location according to the ZMP trajectory, the trajectory of the center of mass and the trajectory of the foot end. [0003] In the prior art, when solving the centroid trajectory, usually by solving the linear inverted pendulum different...
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IPC IPC(8): B25J9/16
CPCB25J9/1679B25J9/1664B25J9/1602
Inventor 冷晓琨常琳何治成白学林柯真东王松吴雨璁黄贤贤
Owner 乐聚(深圳)机器人技术有限公司