Motion control method for adjusting the slider of the center of mass mechanism during the reconstruction process of a deformable robot

Abstract

The present invention discloses a motion control method for adjusting a center of mass mechanism slider during the reconstruction process of a deformable robot, comprising the following steps: 1. establishing a deformable robot model; 2. inputting the deviation between the desired zero-torque point and the actual zero-torque point into a fuzzy-PID controller, calculating and outputting the desired displacement of the slider; 3. performing anti-impact rapid motion planning on the desired displacement to obtain the desired speed of the slider; 4. inputting the deviation between the desired speed and the actual speed into an integral sliding mode controller, calculating and outputting the slider control voltage; 5. inputting the control voltage into an electromechanical dynamics model to obtain the actual speed, and feeding it back to the integral sliding mode controller to achieve smoothness closed-loop control; 6. integrating the speed to obtain the displacement, calculating the zero-torque point using the displacement, and feeding it back to the fuzzy-PID controller to form stability closed-loop control. The present invention can perform multi-objective integrated control on the displacement and speed of the slider movement, so that the slider can quickly reach the desired position without impact, thereby effectively improving the reconstruction stability of the deformable robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of motion control of a deformable robot, and in particular relates to a motion control method for adjusting a slider of a center of mass mechanism during a reconstruction process of a deformable robot. Background Art

[0002] The transformable robot is a new type of reconstructible robot developed based on the structure of an automobile. It has multiple movement modes. It can achieve high-speed and stable driving in the form of an automobile on structured roads. When encountering unstructured roads (steps, stairs, etc.), it can also achieve human-like striding with the support of its legs and feet. This vehicle can be widely used in engineering surveys, military reconnaissance, counter-terrorism and riot control, and interstellar exploration.

[0003] During the reconfiguration process of a transformable robot from a car-like state to a humanoid state, the center of mass position changes significantly. The support area shrinks from the area enclosed by the four wheels to the area enclosed by the two legs, significantly reducing the support area. Therefore, the transformable robot is prone to tipping and instability during the reconfiguration process. Currently, most robot motion stability control methods use the zero-moment point theory to plan and adjust the displacement of the slider in the center of mass adjustment mechanism. This control adjusts the system's center of mass position by controlling the slider's displacement. Then, based on the inverted pendulum model, the angular motion of each leg joint is designed. By adjusting the angles of each joint, the robot's motion posture is controlled, thereby improving the robot's motion stability. However, during the stability control process, the rapid movement of the center of mass adjustment mechanism's slider can also cause motion shock, which can affect the robot's stability. Traditional motion smoothness control mainly focuses on speed control within a known motion path. However, during the reconfiguration process of a transformable robot, the slider's motion trajectory changes in real time. Therefore, achieving rapid and shock-free motion of the slider while maintaining stability control has become a pressing challenge. Summary of the Invention

[0004] The purpose of the present invention is to solve the shortcomings of the above-mentioned existing technologies and provide a motion control method for adjusting the center of mass mechanism slider during the reconstruction process of the deformable robot, so as to perform multi-objective comprehensive control of the displacement and speed of the slider movement, so that the slider can quickly reach the desired position without impact, thereby effectively improving the stability of the deformable robot reconstruction.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] The present invention provides a motion control method for adjusting a center of mass mechanism slider during the reconstruction process of a transformable robot. The method is applied during the reconstruction process of the transformable robot between an automobile state and a humanoid state in a supporting state. The transformable robot comprises: front and rear bodies and a center of mass adjustment mechanism. Two mechanical legs, the center of mass adjustment mechanism, and a lifting mechanism are arranged on the floor of the rear body. Each mechanical leg comprises: a thigh, a calf, and a supporting foot. The center of mass adjustment mechanism comprises: a slide rail, a slider capable of moving in two degrees of freedom in the horizontal and vertical directions, a ball screw, and a drive motor. The method is characterized in that the motion control method comprises the following steps:

[0007] Step 1: Establish an electromechanical dynamics model of the center of mass adjustment mechanism;

[0008] Step 1.1: Establish a basic coordinate system on the horizontal plane where the soles of the transforming robot are located The origin of the basic coordinate system is set at the middle position of the sole of the foot. The positive direction of the axis is the forward direction of the transforming robot, and the basic coordinate system The positive direction of the axis is perpendicular to the horizontal plane and upward. The positive direction of the axis is perpendicular to Axis and The axis is in the plane and points to the outside of the vehicle;

[0009] Step 1.2: Establish an electromechanical dynamics model of the mass center adjustment mechanism according to formula (1);

[0010] (1)

[0011] In formula (1), represents the equivalent current constant of the mass center adjustment mechanism; represents the equivalent torque constant of the mass center adjustment mechanism; To adjust the equivalent moment of inertia of the center of mass mechanism; To adjust the equivalent viscous damping coefficient of the center of mass mechanism; is the proportionality coefficient; To adjust the motor angular acceleration of the center of mass mechanism, To adjust the slider speed of the center of mass mechanism; To adjust the control voltage of the center of mass mechanism;

[0012] Step 2: Transform the robot during the reconstruction process The expected zero moment point position at time and the actual zero moment point position Deviation and the rate of change of deviation The input is processed by the Fuzzy-PID controller and the output slider is Expected displacement at time ;

[0013] Step 3: Perform anti-impact rapid motion planning on the desired displacement of the slider obtained in step 2, and obtain Expected speed after time slider planning ,in, , The time planned for the slider movement;

[0014] Step 4: Calculation Expected speed after time slider planning and Actual speed at the moment Deviation , and input into the integral sliding mode controller, so as to output the adjustment of the center of mass mechanism Control voltage at the moment ;

[0015] Step 5: Input into the electromechanical dynamics model and get the slider Actual speed at the moment ,Will Assign to Then return to step 4 and execute sequentially until So far, closed-loop feedback of the inner loop smoothness control of the deformable robot is realized;

[0016] Step 6: Adjust the slider Actual speed at the moment After integration, we get the slider Actual displacement in time , used to calculate the deformation robot in the basic coordinate system Zero moment point at time ;

[0017] Step 7: Assign to After that, return to step 2 and execute sequentially until the zero torque point deviation is zero, thereby realizing the closed-loop feedback of the outer loop stability control of the deformable robot.

[0018] The motion control method for adjusting the slider of the center of mass mechanism during the reconstruction of a deformable robot according to the present invention is also characterized in that the step 4 includes:

[0019] Step 4.1: Use formula (2) to construct Sliding surface function at time ;

[0020] (2)

[0021] In formula (2), is the first parameter of the sliding surface, and , is the second parameter of the sliding surface, and ; The time planned for the slider movement; for The derivative of

[0022] Step 4.2: Use formula (3) to construct Exponential convergence law of time ;

[0023] (3)

[0024] In formula (3), is the first parameter of the reaching law, is the second parameter of the reaching law, represents a symbolic function;

[0025] Step 4.3: Derivative equation (2) and insert it into equation (3), so that the integral sliding mode controller can be obtained according to equation (4). Control voltage at the moment ;

[0026] (4)

[0027] In formula (4), for The second derivative of .

[0028] Furthermore, in step six, As the slider in the base coordinate system Axis coordinates, and substitute them into formula (5), so as to use formula (5) to calculate the deformation robot in the basic coordinate system. Zero moment point at time ;

[0029] (5)

[0030] In formula (5), Any of the lifting mechanism, slider, thighs of two mechanical legs, calves of two mechanical legs, and supporting feet of two mechanical legs The quality of each component, is the number of components, and ; They are The first time the transforming robot component Axis direction and The acceleration of the center of mass along the axis, is the acceleration due to gravity, They are The first time the transforming robot The centroid of each component in the basic coordinate system Axis coordinates and Axis coordinates.

[0031] The electronic device of the present invention includes a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the motion control method, and the processor is configured to execute the program stored in the memory.

[0032] The present invention provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer program executes the steps of the motion control method when executed by a processor.

[0033] Compared with the prior art, the beneficial effects of the present invention are embodied in:

[0034] 1. This paper designs a motion control method for the slider in the center-of-mass adjustment mechanism mounted on the rear body of a transforming robot. An outer-loop fuzzy-PID controller serves as the position controller for the slider's motion. By controlling the slider's displacement, it adjusts the system's zero-torque point in real time, ensuring the stability of the reconstruction process. An inner-loop integral sliding mode controller serves as the slider's velocity controller. Based on the displacements obtained by the outer-loop stability controller, it performs impact-resistant rapid motion planning, ensuring smooth slider motion and minimizing the impact of rapid motion.

[0035] 2. This invention incorporates a variable center of mass control method into the research on stability control of the reconfigurable motion of a transformable robot. This method implements multi-objective integrated control over the displacement and velocity of the slider in the center of mass adjustment mechanism. This method achieves both stability and smoothness in the motion of the slider based on the center of mass adjustment mechanism, ensuring smooth and impact-free motion while meeting the real-time stability control requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A diagram showing the reconstruction process of the transformable robot according to the present invention;

[0037] Figure 2 Schematic diagram of the structure of the mass center adjustment mechanism involved in the present invention;

[0038] Figure 3 This is a schematic diagram of the slider motion control principle involved in the present invention;

[0039] Figure 4 Schematic diagram of the coordinate system of the transformable robot involved in the present invention;

[0040] Figure 5 The zero torque point of the system before and after the stability control involved in the present invention is Direction change curve chart;

[0041] Figure 6 This is a curve diagram of the acceleration change of the front and rear sliders in the smoothness control involved in the present invention.

[0042] Numbers in the figure: 1 driving motor; 2 slider; 3 fixed box; 4 ball screw; 5 rear body bottom plate; 6 slide rail. DETAILED DESCRIPTION

[0043] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0044] A motion control method for adjusting the slider of the center of mass mechanism during the reconstruction process of a transformable robot is applied to the reconstruction process of the support state between the vehicle state and the humanoid state of the transformable robot. Specifically, the reconstruction process of the transformable robot is as follows: Figure 1 The transformable robot includes: front and rear bodies and a mass center adjustment mechanism. Two mechanical legs, a mass center adjustment mechanism, and a lifting mechanism are arranged on the bottom plate of the rear body. Each mechanical leg includes: a thigh, a calf, and a supporting foot.

[0045] The center of mass adjustment mechanism is installed on the bottom plate of the rear body of the transforming robot, and includes a slide rail 6, a center of mass adjustment slider 2 that moves with two degrees of freedom in the horizontal and vertical directions, a ball screw 4, and a drive motor 1. The rotation of the drive motor 1 is converted into the linear motion of the slider 2 by the ball screw 4, so as to achieve the purpose of adjusting the center of mass of the system. Using a large-mass on-board power lithium-ion battery as the slider 2 can not only make the rear body structure more compact and save space, but also significantly reduce the system mass and reduce the system energy consumption. When the transforming robot is on the verge of instability during the reconstruction process, the movement of the slider 2 can be controlled by the drive motor 1, so that the zero torque point of the system continuously approaches the center of the support domain, thereby ensuring the stable operation of the reconstruction process. Specifically, the structure of the center of mass adjustment mechanism is as follows: Figure 2 As shown;

[0046] In this embodiment, a motion control method for adjusting a slider of a center of mass mechanism during reconstruction of a deformable robot is provided. Specifically, Figure 3As shown. Based on the design of the adjustment center of mass mechanism and the establishment of an electromechanical dynamics model of the slider motion in the adjustment center of mass mechanism, in order to improve the stability of the reconstruction of the deformable robot, a reconstruction kinematic model is established, and a Fuzzy-PID controller is designed to control the displacement of slider 2 in the adjustment center of mass mechanism, so that the zero torque point of the system continuously approaches the center of the support domain. In order to avoid the impact caused by the high-speed movement of slider 2 in stability control, the movement of slider 2 is subjected to anti-impact fast motion planning based on the fifth-order polynomial, and an integral sliding mode controller is designed to track and control the speed of slider 2. The slider motion control method is carried out in the following steps:

[0047] Step 1: Build a transformable robot model;

[0048] Step 1.1: Establish a basic coordinate system on the horizontal plane where the soles of the transforming robot are located The origin of the basic coordinate system is set at the middle position of the sole of the foot. The positive direction of the axis is the forward direction of the transforming robot, and the basic coordinate system The positive direction of the axis is perpendicular to the horizontal plane and upward. The positive direction of the axis is perpendicular to Axis and The axis is in the plane and points to the outside of the vehicle;

[0049] The attached coordinate system of the ankle joint, the attached coordinate system of the knee joint, the attached coordinate system of the hip joint, the attached coordinate system of the rear body, the attached coordinate system of the lifting mechanism and the attached coordinate system of the front body are established in sequence, and any one of the attached coordinate systems is recorded as the first Attached coordinate system , , specifically, if Figure 4 The base coordinate system is fixed when the deformable robot is reconstructed, and the appendage coordinate system changes with the movement of the component. The position and orientation of each component in the base coordinate system are determined by the homogeneous coordinate transformation matrix.

[0050] Calculate the homogeneous coordinate transformation matrix of the positional relationship between adjacent coordinate systems:

[0051] In the coordinate system Describe the coordinate system in Around Axis rotation clockwise The homogeneous coordinate transformation matrix is:

[0052] (1)

[0053] The rotated coordinate system is Axis translation :

[0054] (2)

[0055] In formula (2), For components and coordinate system middle The angle of the axis, For components length.

[0056] Coordinate system To coordinate system The homogeneous coordinate transformation matrix is:

[0057] (3)

[0058] The centroid of the component can be regarded as the geometric center, through the homogeneous coordinate transformation matrix and the centroid position of each component in each attached coordinate system We can calculate the center of mass in the basic coordinate system The coordinates below :

[0059] (4)

[0060] Step 1.2: Establish an electromechanical dynamics model of the mass center adjustment mechanism according to formula (5);

[0061] (5)

[0062] In formula (5), represents the equivalent current constant of the mass center adjustment mechanism; represents the equivalent torque constant of the mass center adjustment mechanism; To adjust the equivalent moment of inertia of the center of mass mechanism; To adjust the equivalent viscous damping coefficient of the center of mass mechanism; is the proportionality coefficient; To adjust the motor angular acceleration of the center of mass mechanism, To adjust the slider speed of the center of mass mechanism; To adjust the control voltage of the center of mass mechanism;

[0063] Step 2: Transform the robot during the reconstruction process The expected zero moment point position at time and the actual zero moment point position Deviation and the rate of change of deviation The input is processed by the Fuzzy-PID controller and the output slider 2 is Expected displacement at time ;

[0064] Step 2.1. Determine the fuzzy domain: Input variable deviation The domain of discourse is [-0.08, ]; Input variable deviation change rate The domain is [-0.02 ], output variable The domain of is [-15, 15], The domain of is [-1, 1], The domain of is [-15, 15];

[0065] Step 2.2, determine the fuzzy set: the input and output fuzzy set of the fuzzy controller is , respectively representing {negative large, negative medium, negative small, zero, positive small, positive medium, positive large .

[0066] Step 2.3, determine the membership function: triangular membership function;

[0067] Step 2.4: Establish the fuzzy rule for the expected slider displacement:

[0068] ①When the deviation When the absolute value is large, you should choose to increase To quickly eliminate the deviation, in order to prevent the deviation from changing rapidly and causing differential saturation, it is also necessary to reduce ,at the same time To reduce the effect of the integral, control the overshoot.

[0069] ②When the deviation When the absolute value is small, the larger one should be selected and appropriate , making the system more stable; considering the possible oscillation problem, when the deviation change rate When the absolute value of It should decrease, otherwise it should increase.

[0070] ③When the deviation and the rate of change of deviation When the absolute value of is medium, you should choose to reduce , increase , control the system overshoot and ensure the response speed.

[0071] Specifically, 、 、 The fuzzy rules are shown in Table 4;

[0072] Table 1 、 、 Fuzzy rule table

[0073]

[0074] Step 3: Perform anti-impact rapid motion planning on the expected displacement of the slider obtained in step 2 to obtain the expected speed of the slider after planning. ,in , The time planned for the slider movement;

[0075] The goal of shock-resistant rapid motion planning is to ensure smooth changes in velocity and acceleration by planning the slider's displacement, ultimately achieving zero or minimal jerk (force change), thereby reducing motion impact and improving mechanical efficiency and equipment safety. Common acceleration and deceleration algorithms for shock-resistant rapid motion planning include linear, trapezoidal, trigonometric, polynomial, and S-shaped acceleration and deceleration. Taking into account factors such as impact severity and computational complexity, a quintic polynomial acceleration and deceleration algorithm was designed to plan the slider's motion.

[0076] First, a five-order polynomial acceleration and deceleration motion planning is performed on the slider displacement within the first two seconds of the reconstruction process to obtain the slider motion planning curve for this time period. Subsequently, the slider displacement output by the fuzzy-PID controller is sampled every second. The slider displacement within the next time interval is collected and calculated. The velocity and acceleration at the middle moment of the motion planning of the current time period are used as the starting planning parameters, and the final velocity and acceleration are zero. The total displacement consisting of the remaining displacement of the motion planning of the current time period and the slider displacement calculated within the next time interval is planned across the entire segment. That is, the subsequent motion planning time is 2 seconds. A new slider motion planning curve is obtained, and the velocity of the previous motion planning is adjusted so that the slider continues to move according to the new motion planning curve. This process is repeated until the reconstruction is completed.

[0077] Step 4: Calculate the expected speed of the slider and Actual speed at the moment Deviation , and input into the integral sliding mode controller, so as to output the adjustment of the center of mass mechanism Control voltage at the moment ;

[0078] Step 4.1: Use formula (6) to construct Sliding surface function at time ;

[0079] (6)

[0080] In formula (6), is the first parameter of the sliding surface, and , is the second parameter of the sliding surface, and ; The time planned for the slider movement; is the derivative of the velocity deviation;

[0081] Step 4.2: Use formula (7) to construct Exponential convergence law of time ;

[0082] (7)

[0083] In formula (7), is the first parameter of the reaching law, is the second parameter of the reaching law, represents a symbolic function;

[0084] Step 4.3: Derivative equation (8) and insert it into equation (7), so that the integral sliding mode controller can be obtained according to equation (8): Control voltage at the moment ;

[0085] (8)

[0086] In formula (8), for The second derivative of

[0087] Step 5: Input into the electromechanical dynamics model and get the slider Actual speed at the moment ,Will Assign to Then return to step 4 and execute sequentially until So far, closed-loop feedback of the inner loop smoothness control of the deformable robot is realized;

[0088] Step 6: Actual speed of the slider After integration, we get the slider Actual displacement in time , that is, the slider in the basic coordinate system Axis coordinates. Substitute into formula (9), and then use formula (9) to calculate the deformation robot in the basic coordinate system Zero moment point at time ;

[0089] (9)

[0090] In formula (9), Any of the lifting mechanism, slider, thighs of two mechanical legs, calves of two mechanical legs, and supporting feet of two mechanical legs The quality of each component, is the number of components, and ; They are The first time the transforming robot component Xianghe The acceleration toward the center of mass, is the acceleration due to gravity, They are The first time the transforming robot The centroid of each component in the basic coordinate system Axis coordinates and axis coordinates;

[0091] Step 7: Assign to After that, return to step 2 and execute sequentially until the zero torque point deviation is zero, thereby realizing the closed-loop feedback of the outer loop stability control of the deformable robot;

[0092] The zero torque point of the system before and after the stability control of the center of mass mechanism slider during the reconstruction of the deformable robot is The direction change curve is as follows Figure 5 As shown. Figure 5 It can be seen that without stability control, The value of is constantly changing, moving from the dangerous position near the support region boundary at the beginning of the reconstruction to the center of the support region, and then exceeding the support region center after 5 seconds and continuing to move to the other boundary of the support region. At the end of the reconstruction, The robot remains in a dangerous position near the other edge of the support domain. By incorporating the center of mass adjustment mechanism control, the robot's reconstruction stability has been greatly improved. Under Fuzzy-PID control, the system's zero torque point can reach the center of the support domain in approximately 1.5 seconds during reconstruction and remain relatively stable. Compared to conventional PID control, it can approach the center of the support domain more quickly. The maximum ZMP overshoot is only 0.001m, far less than the 0.006m maximum overshoot under conventional PID control, resulting in improved system reconstruction stability.

[0093] Figure 6 To control the front and rear acceleration curve for smoothness. Figure 6 It can be seen that after the anti-shock rapid motion planning, the jerk of the slider fluctuates slightly at the beginning of the reconstruction and at 1.1s. The jerk value of the slider is small during the entire motion process, with a maximum value of only 3m / s 3, and its duration is very short, making its impact on smoothness almost negligible. This shows that after the anti-shock rapid motion planning, the rate of change of the driving force applied to the slider during motion is very small, effectively eliminating the impact caused by sudden changes in driving force, improving the smoothness of the slider's motion, and further improving the reconstructed motion quality.

[0094] In this embodiment, an electronic device includes a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the above method, and the processor is configured to execute the program stored in the memory.

[0095] In this embodiment, a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are executed.

Claims

1. A motion control method for adjusting a center of mass mechanism slider during the reconfiguration process of a transformable robot, the method being applied during the reconfiguration process of the transformable robot between a vehicle state and a humanoid state. The transformable robot comprises: The front and rear bodies and the mass center adjustment mechanism are provided with two mechanical legs, a mass center adjustment mechanism, and a lifting mechanism arranged on the bottom plate of the rear body; wherein each mechanical leg comprises a thigh, a calf, and a supporting foot; the mass center adjustment mechanism comprises a slide rail, a slider that moves in two degrees of freedom in the horizontal and vertical directions, a ball screw, and a drive motor; and the motion control method comprises the following steps: Step 1: Establish an electromechanical dynamics model of the center of mass adjustment mechanism; Step 1.1: Establish a basic coordinate system on the horizontal plane where the soles of the transforming robot are located The origin of the basic coordinate system is set at the middle position of the sole of the foot. The positive direction of the axis is the forward direction of the transforming robot, and the basic coordinate system The positive direction of the axis is perpendicular to the horizontal plane and upward. The positive direction of the axis is perpendicular to Axis and The axis is in the plane and points to the outside of the vehicle; Step 1.2: Establish an electromechanical dynamics model of the mass center adjustment mechanism according to formula (1); (1) In formula (1), represents the equivalent current constant of the mass center adjustment mechanism; represents the equivalent torque constant of the mass center adjustment mechanism; To adjust the equivalent moment of inertia of the center of mass mechanism; To adjust the equivalent viscous damping coefficient of the center of mass mechanism; is the proportionality coefficient; To adjust the motor angular acceleration of the center of mass mechanism, To adjust the slider speed of the center of mass mechanism; To adjust the control voltage of the center of mass mechanism; Step 2: Transform the robot during the reconstruction process The expected zero moment point position at time and the actual zero moment point position Deviation and the rate of change of deviation The input is processed by the Fuzzy-PID controller and the output slider is Expected displacement at time ; Step 3: Perform anti-impact rapid motion planning on the desired displacement of the slider obtained in step 2, and obtain Expected speed after time slider planning ,in, , The time planned for the slider movement; Step 4: Calculation Expected speed after time slider planning and Actual speed at the moment Deviation , and input into the integral sliding mode controller, so as to output the adjustment of the center of mass mechanism Control voltage at the moment ; Step 5: Input into the electromechanical dynamics model and get the slider Actual speed at the moment ,Will Assign to Then return to step 4 and execute sequentially until So far, closed-loop feedback of the inner loop smoothness control of the deformable robot is realized; Step 6: Adjust the slider Actual speed at the moment After integration, we get the slider Actual displacement in time , used to calculate the deformation robot in the basic coordinate system Zero moment point at time ; Step 7: Assign to After that, return to step 2 and execute sequentially until the zero torque point deviation is zero, thereby realizing the closed-loop feedback of the outer loop stability control of the deformable robot.

2. The motion control method for adjusting the slider of the center of mass mechanism during the reconstruction process of a deformable robot according to claim 1, characterized in that: The fourth step includes: Step 4.1: Use formula (2) to construct Sliding surface function at time ; (2) In formula (2), is the first parameter of the sliding surface, and , is the second parameter of the sliding surface, and ; The time planned for the slider movement; for The derivative of Step 4.2: Use formula (3) to construct Exponential convergence law of time ; (3) In formula (3), is the first parameter of the reaching law, is the second parameter of the reaching law, represents a symbolic function; Step 4.3: Derivative equation (2) and insert it into equation (3), so that the integral sliding mode controller can be obtained according to equation (4). Control voltage at the moment ; (4) In formula (4), for The second derivative of .

3. The motion control method for adjusting the slider of the center of mass mechanism during the reconstruction process of a deformable robot according to claim 2, characterized in that: In step six, As the slider in the base coordinate system Axis coordinates, and substitute them into formula (5), so as to use formula (5) to calculate the deformation robot in the basic coordinate system. Zero moment point at time ; (5) In formula (5), Any of the lifting mechanism, slider, thighs of two mechanical legs, calves of two mechanical legs, and supporting feet of two mechanical legs The quality of each component, is the number of components, and ; They are The first time the transforming robot component Axis direction and The acceleration of the center of mass along the axis, is the acceleration due to gravity, They are The first time the transforming robot The centroid of each component in the basic coordinate system Axis coordinates and Axis coordinates.

4. An electronic device comprising a memory and a processor, characterized in that: The memory is used to store a program that supports the processor to execute the motion control method according to any one of claims 1 to 3, and the processor is configured to execute the program stored in the memory.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the motion control method according to any one of claims 1 to 3 are executed.

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