Harmonic reducer humanoid robot leg power mechanism and gait optimization method

Abstract

The invention discloses a harmonic reducer humanoid robot leg power mechanism and a gait optimization method.The harmonic reducer humanoid robot leg power mechanism comprises a mounting frame and a foot bottom plate, and a mounting cylinder is fixedly mounted at the bottom end of the mounting frame; a first driving assembly used for driving the mechanical legs to rotate simply and a second driving assembly used for driving the mechanical legs to bend, stretch and turn are arranged outside the mounting cylinder, and the mounting frame and the foot bottom plate are connected through the first driving assembly. The leg power mechanism has the beneficial effects that by arranging the second driving assembly, harmonic speed reducers are distributed in a concentrated mode, external force interference borne by flexible gears in the harmonic speed reducers is reduced, and therefore the reliability of the leg power mechanism is improved, and the service life of the harmonic speed reducers is prolonged; and due to centralized arrangement, technicians can conveniently check, maintain and replace the flexible gear and related parts, and the maintainability of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the field of harmonic reducer humanoid robots, and in particular to a leg power mechanism and a gait optimization method of a harmonic reducer humanoid robot. Background Art

[0002] Harmonic reducers are precision transmission devices widely used in robotics and other fields. They primarily consist of a wave generator, a flexspline, and a rigid pulley. The wave generator, acting as the active component, elastically deforms the flexspline through its elliptical profile, creating inter-tooth engagement with the rigid pulley, thereby achieving reduction transmission. They offer advantages such as small size, light weight, a high transmission ratio, high precision, and minimal return error. They can convert the high-speed rotation of a motor into a low-speed, high-torque output. When used in robotics, they provide precise and stable power transmission to mechanisms such as robot joints, making them a key component in achieving high-precision motion control in robots.

[0003] However, in the existing technology, the leg structure of a humanoid robot usually needs to have three degrees of freedom to ensure that the robot can be precisely controlled. Therefore, the leg structure of a humanoid robot is usually controlled by multiple motors, which are respectively arranged on both sides or at the joints of the robot's legs. When the leg structure of the humanoid robot performs more complex movements, such as bending, changing direction, etc., this structure is easily used to cause the flexible wheel, which is already prone to fatigue damage, to suffer more wear and even breakage, thereby affecting the reliability and service life of the leg power mechanism. Summary of the Invention

[0004] The main purpose of this invention is to propose a harmonic reducer humanoid robot leg power mechanism and gait optimization method, aiming to solve the problem of unreasonable power mechanism position design in the existing harmonic reducer humanoid robot leg power mechanism, which affects the reliability and service life of the leg power mechanism.

[0005] To solve the above problems, the present invention proposes a harmonic reducer humanoid robot leg power mechanism and gait optimization method, including a mounting frame and a foot base. The bottom end of the mounting frame is fixedly installed with a mounting cylinder, and the outside of the mounting cylinder is provided with a first drive component for driving the mechanical leg to perform simple rotation movements and a second drive component for driving the mechanical leg to perform flexion, extension and steering movements. The mounting frame and the foot base are connected through the first drive component.

[0006] Preferably, the first driving assembly includes a rotating wheel provided on the outer wall of the mounting cylinder, and the outer wall of the rotating wheel is provided with a forelimb assembly and a hindlimb assembly;

[0007] The forelimb assembly includes a first connecting rod arranged on the outer wall of the rotating wheel, a first connecting block is fixedly installed on an end of the first connecting rod away from the rotating wheel, a second connecting block is fixedly installed on one end of the first connecting block, a first connecting plate is rotatably installed on one end of the second connecting block, a second connecting plate is installed on one side of the first connecting plate, a first calf frame is fixedly installed on an end of the second connecting plate away from the first connecting plate, and an end of the first calf frame close to the foot bottom plate is set as a first bent end;

[0008] The hind limb assembly includes a third connecting block arranged on the outer wall of the rotating wheel, the third connecting block having one end away from the rotating wheel, a second connecting rod being fixedly installed, one end of the second connecting rod being fixedly installed with a rotating shaft, and the third connecting rod being rotatably installed on one side of the rotating shaft, one end of the third connecting rod being fixedly installed with a fourth connecting rod, the other end of the fourth connecting rod being fixedly installed with a three-end connecting block, one end of the three-end connecting block being rotatably installed with a fourth connecting block, the other end of the fourth connecting block passing through the second connecting plate and being rotatably installed on one side of the first connecting plate, one side of the three-end connecting block being rotatably installed with a second calf frame, and one end of the second calf frame close to the foot bottom plate being set as a second bent end;

[0009] The first bent end is rotatably connected to the end of the second bent end, and foot connecting blocks are rotatably installed on both sides of the second bent end. One end of the foot connecting block is fixedly connected to the foot bottom plate.

[0010] Preferably, the second drive assembly includes a first drive wheel, a second drive wheel, a third drive wheel and a fourth drive wheel arranged on both sides of the mounting cylinder, and the first drive wheel, the second drive wheel, the third drive wheel and the fourth drive wheel are symmetrically installed on both sides of the mounting cylinder;

[0011] A first adjustment unit, a second adjustment unit, a third adjustment unit, and a fourth adjustment unit are respectively provided on one side of the first drive wheel, the second drive wheel, the third drive wheel, and the fourth drive wheel, wherein the first adjustment unit, the second adjustment unit, the third adjustment unit, and the fourth adjustment unit all include a connecting seat, a rotating plate is rotatably mounted on one side of the connecting seat, and an adjustment rod is fixedly mounted on one side of the rotating plate;

[0012] One end of the adjusting rod in the first adjusting unit and the fourth adjusting unit overlaps with the outer wall of the second connecting rod, and one end of the adjusting rod in the second adjusting unit and the third adjusting unit overlaps with the outer wall of the top end of the second connecting block.

[0013] Preferably, the first drive wheel, the second drive wheel, the third drive wheel and the fourth drive wheel are respectively connected to a harmonic reduction drive, wherein the harmonic reduction drive can be arranged inside the mounting cylinder or on one side of the first drive wheel and the fourth drive wheel, and the harmonic reduction drives are all arranged at the same horizontal position.

[0014] Optionally, obstruction structures are provided at the connections between the two sides of the second bent end and the foot connecting block, so as to limit the rotation angle of the foot connecting block.

[0015] Optionally, the rotation angle of the foot connecting block is set to between 0° and 30°.

[0016] Preferably, protection components are provided on both sides of the mounting tube, and the protection components include a driving motor, the output ends of the driving motor are connected to a bidirectional screw rod, the outer walls of the bidirectional screw rods are symmetrically threaded with movable protection blocks, and the ends of the movable protection blocks away from the bidirectional screw rods are slidably installed with auxiliary rods, and both ends of the auxiliary rods are fixedly installed on the inner walls on both sides of the mounting tube.

[0017] Optionally, an auxiliary protection block is provided on the inner side of the movable protection block, and the movable protection block and the auxiliary protection block are connected via a buffer spring.

[0018] A gait optimization method for a harmonic reducer humanoid robot comprises the following steps:

[0019] Collect the time domain signal of the reflected wave of any ground sample, obtain the real-time contact force distribution matrix and micro-vibration signal data using the piezoelectric film sensor array on the sole of the foot, and perform pre-processing;

[0020] Construct a frequency domain response model of terrain disturbance and generate frequency domain eigenvectors based on the frequency domain response model to reflect the ground bearing capacity and sliding risk;

[0021] A gait planning model is constructed based on the frequency domain eigenvector to generate an anti-disturbance foot trajectory.

[0022] Beneficial effects: The technical solution of the present invention arranges a second drive assembly to centrally distribute the harmonic reducer, thereby reducing the external force interference on the flexible wheel in the harmonic reducer, thereby improving the reliability of the leg power mechanism and extending the service life of the harmonic reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a schematic diagram of the main structure of a harmonic reducer humanoid robot leg power mechanism of the present invention;

[0025] Figure 2This invention Figure 1 Enlarged view of point A in the middle;

[0026] Figure 3 This is a structural diagram of the main body of the leg power mechanism of the present invention from another perspective;

[0027] Figure 4 It is a schematic diagram of the explosion structure of the power mechanism of the present invention;

[0028] Figure 5 This invention Figure 4 Enlarged view of point B in the middle;

[0029] Figure 6 This is a schematic structural diagram of the leg power mechanism of the present invention in a bent state;

[0030] Figure 7 This is a schematic structural diagram of the leg power mechanism of the present invention in a direction-changing state;

[0031] Figure 8 4 is a flow chart of the gait optimization method of the present invention.

[0032] The following are the descriptions of the reference numerals:

[0033] 1. Mounting frame; 2. Foot base; 3. Mounting cylinder; 4. Rotating wheel; 5. First connecting rod; 6. First connecting block; 7. Second connecting block; 8. First connecting plate; 9. Second connecting plate; 10. First calf frame; 11. Third connecting block; 12. Second connecting rod; 13. Rotating shaft; 14. Third connecting rod; 15. Fourth connecting rod; 16. Three-end connecting block; 17. Fourth connecting block; 18. Second calf frame; 19. Foot connecting block; 20. First driving wheel; 21. Second driving wheel; 22. Third driving wheel; 23. Fourth driving wheel; 24. Connecting seat; 25. Rotating plate; 26. Adjusting rod; 27. Driving motor; 28. Bidirectional screw; 29. ​​Moving protection block; 30. Auxiliary rod; 31. Auxiliary protection block; 32. Buffer spring. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0035] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0036] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0037] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0038] The present invention proposes a harmonic reducer humanoid robot leg power mechanism and a gait optimization method. By setting a second drive component in the harmonic reducer humanoid robot leg power mechanism, the harmonic reducer is centrally distributed, reducing the external force interference on the flexible wheel in the harmonic reducer, thereby improving the reliability of the leg power mechanism and extending the service life of the harmonic reducer. In addition, the centralized arrangement also makes it convenient for technicians to inspect, maintain and replace the flexible wheel and related components, thereby improving the maintainability of the robot.

[0039] Example 1:

[0040] In this embodiment, the structure of the leg power mechanism is as follows: Figures 1 to 7 As shown, Figure 2 and Figure 5Only a portion of the leg power mechanism is shown, mainly showing the part related to the present invention. The leg power mechanism of a harmonic reducer humanoid robot of the present invention includes a mounting frame 1 and a foot base plate 2. A mounting cylinder 3 is fixedly installed at the bottom end of the mounting frame 1. A power device can be set inside the mounting cylinder 3. A first drive component for driving the mechanical leg to perform simple rotation movements and a second drive component for driving the mechanical leg to perform flexion, extension and steering movements are set outside the mounting cylinder 3. The mounting frame 1 and the foot base plate 2 are connected by the first drive component, wherein the first drive component includes a rotating wheel 4 provided on the outer wall of the mounting cylinder 3, and the outer wall of the rotating wheel 4 is provided with a forelimb component and a hindlimb component;

[0041] The forelimb assembly includes a first connecting rod 5 arranged on the outer wall of the rotating wheel 4, and the first connecting rod 5 is fixedly installed with a first connecting block 6 at one end away from the rotating wheel 4, and a second connecting block 7 is fixedly installed at one end of the first connecting block 6, wherein the second connecting block 7 can be provided with an auxiliary power device at one end close to the first connecting block 6, so that the auxiliary power device can drive the second connecting block 7 to rotate, thereby driving the leg structure to make a direction change action, and a first connecting plate 8 is rotatably installed at one end of the second connecting block 7, and a second connecting plate 9 is installed on one side of the first connecting plate 8, and the second connecting plate 9 is fixed at one end away from the first connecting plate 8. The first calf frame 10 is fixedly installed, and the end of the first calf frame 10 close to the foot sole plate 2 is set as the first bending end. The hind limb assembly includes a third connecting block 11 arranged on the outer wall of the rotating wheel 4, and the end of the third connecting block 11 away from the rotating wheel 4 is fixedly installed with a second connecting rod 12, and one end of the second connecting rod 12 is fixedly installed with a rotating shaft 13, and one side of the rotating shaft 13 is rotatably installed with a third connecting rod 14, and one end of the third connecting rod 14 is fixedly installed with a fourth connecting rod 15, and the other end of the fourth connecting rod 15 is fixedly installed with a three-end connecting block 16, and one end of the three-end connecting block 16 is rotatably installed with the fourth connecting rod The connecting block 17, the other end of the fourth connecting block 17 passes through the second connecting plate 9 and is rotatably mounted on one side of the first connecting plate 8, and the second calf frame 18 is rotatably mounted on one side of the three-end connecting block 16. The end of the second calf frame 18 close to the foot base plate 2 is set as the second bending end, and the first bending end is rotatably connected to the end of the second bending end. The two sides of the second bending end are rotatably mounted with foot connecting blocks 19, and one end of the foot connecting block 19 is fixedly connected to the foot base plate 2. When the robot leg structure needs to move, the power device can be used to drive the mounting cylinder 3 to rotate so that the mounting cylinder 3 passes through the rotating wheel 4 The first connecting rod 5, the first connecting block 6, the second connecting block 7, the first connecting plate 8, the second connecting plate 9 and the first calf frame 10 are driven to rotate. At the same time, the fourth connecting rod 15, the three-end connecting block 16 and the second calf frame 18 are driven to rotate through the third connecting block 11, the second connecting rod 12, the rotating shaft 13 and the third connecting rod 14, thereby driving the foot connecting block 19 and the foot bottom plate 2 to move. An auxiliary power device can also be provided on one side of the second connecting block 7 or the three-end connecting block 16 to rotate the second connecting block 7 or the three-end connecting block 16, thereby driving the leg structure to bend;

[0042] like Figure 1 、 Figure 3 、 Figure 6 and Figure 7As shown, a harmonic reducer humanoid robot leg power mechanism includes a second drive assembly, wherein the second drive assembly includes a first drive wheel 20, a second drive wheel 21, a third drive wheel 22 and a fourth drive wheel 23 arranged on both sides of the mounting cylinder 3, and the first drive wheel 20, the second drive wheel 21, the third drive wheel 22 and the fourth drive wheel 23 are respectively connected to a harmonic reduction driver (not shown in the figure). In this embodiment, the power device preferably uses a harmonic reducer as the core transmission component, so as to have high-precision transmission characteristics, and can realize precise angle control of the robot leg joints, making the humanoid robot's movements more precise and smooth, and adapting to complex task requirements, such as walking in a narrow space, performing delicate operations, etc., and can also convert the low torque output of the motor into high torque to meet the torque requirements of the humanoid robot legs when supporting the body weight, performing rapid movements and overcoming external forces, ensuring that the robot can stand and walk stably, and maintain good motion performance even under heavy loads. The first drive wheel 20, the second drive wheel 21 and the third drive wheel 22 and The fourth driving wheel 23 is symmetrically mounted on both sides of the mounting cylinder 3, and the first adjusting unit, the second adjusting unit, the third adjusting unit and the fourth adjusting unit are respectively provided on one side of the first driving wheel 20, the second driving wheel 21, the third driving wheel 22 and the fourth driving wheel 23, wherein the first adjusting unit, the second adjusting unit, the third adjusting unit and the fourth adjusting unit all include a connecting seat 24, one side of the connecting seat 24 is rotatably mounted with a rotating plate 25, and one side of the rotating plate 25 is fixedly mounted with an adjusting rod 26, wherein one end of the adjusting rod 26 in the first adjusting unit and the fourth adjusting unit overlaps with the outer wall of the second connecting rod 12, and one end of the adjusting rod 26 in the second adjusting unit and the third adjusting unit overlaps with the outer wall of the top end of the second connecting block 7, and the harmonic reduction drive is arranged inside the mounting cylinder 3 or on one side of the first driving wheel 20 and the fourth driving wheel 23, and the harmonic reduction drives are all arranged at the same horizontal position. With this design, when the leg structure needs to perform normal rotation, the first adjusting unit, the second adjusting unit, the third adjusting unit and the fourth adjusting unit rotate in the same direction;

[0043] When the leg structure needs to bend, the first adjustment unit and the fourth adjustment unit can be rotated in the same direction, while the second adjustment unit and the third adjustment unit can be rotated in opposite directions;

[0044] When the leg structure needs to change direction, the first adjustment unit and the second adjustment unit can be rotated in the same direction, and the third adjustment unit and the fourth adjustment unit can be rotated in opposite directions. In the prior art, the leg structure of the harmonic reducer humanoid robot is controlled by multiple motors, and they are respectively arranged on both sides or at the joints of the robot's legs. When the leg structure of the humanoid robot performs more complex movements, such as bending, changing direction, etc., it is easy for the flexible wheel, which is already prone to fatigue damage, to suffer more wear and even breakage, affecting the reliability and service life of the leg power mechanism. By using the second drive component in this embodiment, the harmonic reduction drive can be placed centrally and set at the same horizontal position, thereby reducing the external force interference on the flexible wheel in the harmonic reducer, thereby improving the reliability of the leg power mechanism and extending the service life of the harmonic reducer. At the same time, the leg structure can be controlled to perform complex movements such as bending and changing direction.

[0045] It should be noted that, after the leg structure adopts the second drive assembly in this embodiment, the rotating wheel 4 and the first connecting rod 5 no longer serve as connecting parts connecting the mounting cylinder 3 and the first drive assembly, but instead support and guide the leg structure when the first drive assembly and the second drive assembly are in operation. Therefore, in this embodiment, the rotating wheel 4 is configured to be sleeved on the outer wall of the mounting cylinder 3. In addition, the harmonic reducers used in this embodiment are all mature existing technologies, so their internal structure and working principle are not described in detail, and the model is LHSG-32-80-CI. The harmonic reducer can be connected to an external power supply through a wire, and can also be connected to a power supply arranged inside the mounting cylinder 3.

[0046] Furthermore, in this embodiment, an obstruction structure (not shown in the figure) is provided at the connection between the second bent end and the foot connecting block 19 on both sides, wherein the obstruction structure can be a blocking block provided on the second bent end and one side of the foot connecting block 19, for limiting the rotation angle of the foot connecting block 19, so that the rotation angle of the foot connecting block 19 is between 0° and 30°, thereby allowing the foot connecting block 19 and the foot base plate 2 to rotate, ensuring the flexibility of the robot's legs while also preventing the foot connecting block 19 and the foot base plate 2 from rotating at a large angle due to gravity when the leg structure is bent, so that when the leg structure is straightened, the foot connecting block 19 and the foot base plate 2 abut against the ground, which can easily cause the robot to stand unstable and fall, thereby causing damage.

[0047] Example 2:

[0048] In order to further supplement the explanation based on Example 1, in this example, Figure 4 and Figure 5As shown, protection components are provided on both sides of the mounting cylinder 3, which include a driving motor 27, the output ends of the driving motor 27 are connected to a bidirectional screw rod 28, the outer walls of the bidirectional screw rod 28 are symmetrically threaded with a movable protection block 29, and the end of the movable protection block 29 away from the bidirectional screw rod 28 is slidably installed with an auxiliary rod 30, and the two ends of the auxiliary rod 30 are fixedly mounted on the inner walls of both sides of the mounting cylinder 3. In this way, when the harmonic reducer is not in operation, the output end of the flexible wheel can be clamped and fixed by the movable protection block 29, thereby limiting unnecessary shaking or displacement of the flexible wheel in a non-working state, preventing it from being damaged by external force collision, vibration and other factors, avoiding the accumulation of small deformations of the flexible wheel, ensuring its transmission accuracy, and starting the driving motor 27 when the harmonic reducer starts to operate, so that the driving motor 27 drives the movable protection blocks 29 away from each other through the bidirectional screw rod 28, avoiding the problem that the movable protection block 29 generates additional resistance to the rotation of the flexible wheel, affecting the transmission efficiency of the harmonic reducer, and increasing energy loss. The inner side of the protective block 29 is provided with an auxiliary protective block 31, and the movable protective block 29 and the auxiliary protective block 31 are connected by a buffer spring 32, wherein a plurality of buffer springs 32 are evenly arranged around the auxiliary protective block 31, which can make the buffering effect more uniform. With this design, on the one hand, when the driving motor 27 drives the movable protective block 29 to abut and fix the flexible pulley output end through the bidirectional screw rod 28, the damage to the flexible pulley output end can be reduced. On the other hand, when the harmonic reducer starts to operate, the protection component has not been completely withdrawn, so that the flexible pulley output end can abut the auxiliary protective block 31, so that the auxiliary protective block 31 moves in the direction close to the movable protective block 29, preventing the auxiliary protective block 31 from abutting against the flexible pulley output end, causing the flexible pulley output end to be squeezed and deformed, thereby reducing its service life. The driving motor 27 uses the LW100 model, which is connected to an external power supply through a wire, and can also be connected to a power supply arranged inside the mounting cylinder 3. It belongs to a mature existing technology, so its internal structure and working principle are not described in detail.

[0049] A gait optimization method for a harmonic reducer humanoid robot comprises the following steps:

[0050] Collect the time domain signal of the reflected wave of any ground sample, obtain the real-time contact force distribution matrix and micro-vibration signal data using the piezoelectric film sensor array on the sole of the foot, and perform pre-processing;

[0051] Construct a frequency domain response model of terrain disturbance and generate frequency domain eigenvectors based on the frequency domain response model to reflect the ground bearing capacity and sliding risk;

[0052] A gait planning model is constructed based on the frequency domain eigenvector to generate an anti-disturbance foot trajectory.

[0053] Based on a fusion model of acoustic reflection signals and mechanical sensor data, the system dynamically quantifies ground stiffness, porosity, friction coefficient, and harmonic distortion rate through frequency domain feature extraction (dominant frequency, attenuation slope, etc.), providing multi-dimensional input parameters for gait planning. Its innovation lies in unifying acoustic, mechanical, and vibration modal data into the frequency domain, solving the challenge of heterogeneous data fusion. Furthermore, the cross-modal fusion framework of acoustic inversion (stiffness, porosity) and mechanical perception (friction, vibration) significantly improves terrain classification accuracy compared to single-sensor solutions.

[0054] Furthermore, the frequency domain response model of terrain disturbance includes a ground type model reflecting the ground bearing capacity and a ground risk level model reflecting the sliding risk;

[0055] The ground type model is:

[0056]

[0057] Where K is the ground stiffness; φ is the porosity;

[0058] The calculation method of K is: K = ρv 2 , where v is the wave velocity and ρ is the material density;

[0059] The calculation formula of φ is: φ=a·f 主 +b·β+c, where a, b, c are coefficients, f 主 is the main frequency of the spectrum, β is the attenuation slope;

[0060] where f 主 The calculation formula is: Where S(f) is the spectrum; arg max is the independent variable corresponding to the maximum value of the function, f min ≤f≤f max The frequency range for analysis was set to exclude irrelevant frequency bands;

[0061] The calculation method of S(f) is: Where s(t) is the time domain signal;

[0062] The calculation method of β is:

[0063] Select the attenuation frequency band, usually the high frequency band (such as 1kHz-5kHz), which needs to be adjusted according to the actual signal characteristics;

[0064] Convert to decibel (dB) scale, convert the amplitude spectrum to logarithmic scale to linearize the attenuation characteristics,

[0065]

[0066] Linear regression fitting: a linear fit is performed on the frequency and amplitude within the attenuation frequency band to obtain the slope β;

[0067]

[0068] Where n is the number of data points in the frequency band, f i is the frequency at point i, |S(f i )| dB ; is the corresponding amplitude;

[0069] The ground risk level model is:

[0070]

[0071] Where μ is the friction coefficient;

[0072] The calculation method of μ is: Can suppress vibration interference;

[0073] Among them F 切向 is the tangential force; F 法向 is the normal force, α is the wave velocity attenuation rate, E vib is the total energy of the vibration signal, E ref is the reference energy;

[0074] in F z,i is the normal pressure value of the i-th sensor;

[0075] Among them F x,i , F y,i is the lateral force component of the i-th sensor;

[0076] The calculation formula of the wave velocity attenuation rate is:

[0077] Where A0 is the transmitted wave amplitude, A is the received wave amplitude, and d is the propagation distance;

[0078] THD is harmonic distortion; the calculation method of harmonic distortion is:

[0079]

[0080] Where V(f1) is the fundamental amplitude, V(f n ) is the amplitude of the nth harmonic.

[0081] Furthermore, the frequency domain eigenvector is:

[0082] F=[K ' ,φ ' ,μ ' ,THD ' ,Δf 主 ]

[0083] where K ' ,φ ' ,μ ' ,THD ' To standardize the parameters and eliminate the dimension difference, where μ * is the mean value of each parameter σ * is the standard deviation of each parameter;

[0084] Δf 主 =f 主 -f base ; where f base Δf is the default step frequency set for the robot under ideal or standard ground conditions (such as hard, low-porosity ground). 主 It is the main frequency offset, reflecting the difference between the ground resonance characteristics and the reference step frequency.

[0085] Furthermore, the gait planning model includes: the trunk center of mass (CoM) trajectory, the leg joint angle trajectory and the foot end trajectory:

[0086] The trajectory of the torso center of mass is:

[0087]

[0088] x CoM (t) is the position coordinate of the robot's torso center of mass (Center of Mass) at time t, which is used to describe the global trajectory of the robot's overall motion; x0 is the center of mass position at the initial moment (t = 0), v base is the baseline speed, set by the task, a adapt is the adaptive acceleration, where where K ref is the reference stiffness, t is the time variable;

[0089] The leg joint angle trajectory is:

[0090] The gait is decomposed into three levels of motion: trunk, leg, and foot. Each level of trajectory is generated by an n-order Bezier curve:

[0091]

[0092] where θ i (t) represents the i-th level motion trajectory (i = 1, 2, 3 correspond to the trunk, leg segment, and foot end, respectively);

[0093] B k,n (t) is the Bessel basis function, where B k,n (t)=C(n,k)·t k (1-t) n-k, is the n-order Bessel basis function, C(n,k) is the number of combinations, which is used for Bessel basis function weight distribution, which can ensure smooth transition of joint angles and reduce mechanical impact. The calculation method of C(n,k) is P i,k is the kth control point of the i-th level trajectory, and its coordinates are dynamically adjusted according to the terrain parameters;

[0094]

[0095] Among them, x k =k·L step ,z k =K / K ref ·h base ;

[0096] Among them, θ hip =μ·θ max ,θ knee =φ·θ max ;

[0097] L step is the base step length, where h base is the reference leg-lifting height; θ max is the maximum allowable angle of the joint, γ is the amplitude attenuation coefficient, which is dynamically adjusted according to the stiffness K of the ground, where γ=1-K / K ref ;

[0098] The foot trajectory is:

[0099]

[0100] Where z(t) is the displacement of the foot in the vertical direction (or specific movement direction) changing with time t, f 步 To set the cadence, φ crit is the critical porosity; φ k is the phase shift, where φ k =φ·k·π / 100, D is the amplitude of the foot end trajectory; ∈ is a zero-proof constant, where α k is the kth harmonic amplitude coefficient, where Where m is the number of superimposed harmonics (usually m=3), which is determined by the spectrum attenuation slope β:

[0101] Active cancellation of the resonant frequency between the foot trajectory and the ground is achieved, breaking through the limitations of traditional time-domain planning. This method enables the robot to work in different environments, improves the applicability of the robot, and can be applied in multiple fields.

[0102] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0103] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0104] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0105] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0106] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0107] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0108] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A harmonic reducer humanoid robot leg power mechanism, characterized in that: The invention comprises a mounting frame (1) and a foot base plate (2); a mounting cylinder (3) is fixedly mounted on the bottom end of the mounting frame (1); a first driving assembly for driving a mechanical leg to perform a simple rotational movement and a second driving assembly for driving the mechanical leg to perform a flexion, extension and steering movement are arranged on the outside of the mounting cylinder (3); the mounting frame (1) and the foot base plate (2) are connected via the first driving assembly.

2. The harmonic reducer humanoid robot leg power mechanism according to claim 1, characterized in that: The first driving assembly comprises a rotating wheel (4) arranged on the outer wall of the mounting cylinder (3), and the outer wall of the rotating wheel (4) is provided with a forelimb assembly and a hindlimb assembly; The forelimb assembly comprises a first connecting rod (5) arranged on the outer wall of the rotating wheel (4), a first connecting block (6) is fixedly mounted on one end of the first connecting rod (5) away from the rotating wheel (4), a second connecting block (7) is fixedly mounted on one end of the first connecting block (6), a first connecting plate (8) is rotatably mounted on one end of the second connecting block (7), a second connecting plate (9) is mounted on one side of the first connecting plate (8), a first calf frame (10) is fixedly mounted on one end of the second connecting plate (9) away from the first connecting plate (8), and an end of the first calf frame (10) close to the foot sole (2) is set as a first bent end; The hind limb assembly comprises a third connecting block (11) arranged on the outer wall of the rotating wheel (4), the third connecting block (11) is fixedly installed with a second connecting rod (12) at one end away from the rotating wheel (4), the second connecting rod (12) is fixedly installed with a rotating shaft (13) at one end, a third connecting rod (14) is rotatably installed on one side of the rotating shaft (13), a fourth connecting rod (15) is fixedly installed on one end of the third connecting rod (14), the other end of the fourth connecting rod (15) is fixedly installed with a three-end connecting block (16), one end of the three-end connecting block (16) is rotatably installed with a fourth connecting block (17), the other end of the fourth connecting block (17) passes through the second connecting plate (9) and is rotatably installed on one side of the first connecting plate (8), a second calf frame (18) is rotatably installed on one side of the three-end connecting block (16), and the end of the second calf frame (18) close to the foot sole (2) is set as a second bent end; The first bent end is rotatably connected to the end of the second bent end, and foot connection blocks (19) are rotatably mounted on both sides of the second bent end, and one end of the foot connection block (19) is fixedly connected to the foot base plate (2).

3. The harmonic reducer humanoid robot leg power mechanism according to claim 1, characterized in that: The second driving assembly comprises a first driving wheel (20), a second driving wheel (21), a third driving wheel (22) and a fourth driving wheel (23) which are arranged on both sides of the mounting cylinder (3); the first driving wheel (20), the second driving wheel (21) and the third driving wheel (22) and the fourth driving wheel (23) are symmetrically mounted on both sides of the mounting cylinder (3); A first adjustment unit, a second adjustment unit, a third adjustment unit and a fourth adjustment unit are respectively provided on one side of the first driving wheel (20), the second driving wheel (21), the third driving wheel (22) and the fourth driving wheel (23), wherein the first adjustment unit, the second adjustment unit, the third adjustment unit and the fourth adjustment unit all comprise a connecting seat (24), a rotating plate (25) is rotatably mounted on one side of the connecting seat (24), and an adjusting rod (26) is fixedly mounted on one side of the rotating plate (25); One end of the adjusting rod (26) in the first adjusting unit and the fourth adjusting unit overlaps with the outer wall of the second connecting rod (12), and one end of the adjusting rod (26) in the second adjusting unit and the third adjusting unit overlaps with the outer wall of the top end of the second connecting block (7).

4. The harmonic reducer humanoid robot leg power mechanism according to claim 3, characterized in that: The first drive wheel (20), the second drive wheel (21), the third drive wheel (22) and the fourth drive wheel (23) are all connected to a harmonic reduction drive, wherein the harmonic reduction drive can be arranged inside the mounting cylinder (3) or on one side of the first drive wheel (20) and the fourth drive wheel (23), and the harmonic reduction drives are all arranged at the same horizontal position.

5. The harmonic reducer humanoid robot leg power mechanism according to claim 2, characterized in that: The connection points between the two sides of the second bent end and the foot connection block (19) are provided with an obstruction structure for limiting the rotation angle of the foot connection block (19).

6. The harmonic reducer humanoid robot leg power mechanism according to claim 5, characterized in that: The rotation angle of the foot connection block (19) is set to be between 0° and 30°.

7. The harmonic reducer humanoid robot leg power mechanism according to claim 1, characterized in that: Protection components are provided on both sides of the installation cylinder (3), and the protection components include a driving motor (27). The output ends of the driving motor (27) are connected to a bidirectional screw rod (28). The outer walls of the bidirectional screw rod (28) are symmetrically threaded with movable protection blocks (29). An auxiliary rod (30) is slidably installed on one end of the movable protection block (29) away from the bidirectional screw rod (28). Both ends of the auxiliary rod (30) are fixedly installed on the inner walls of both sides of the installation cylinder (3).

8. The harmonic reducer humanoid robot leg power mechanism according to claim 7, characterized in that: An auxiliary protection block (31) is provided on the inner side of the movable protection block (29), and the movable protection block (29) and the auxiliary protection block (31) are connected via a buffer spring (32).

9. A gait optimization method for a harmonic reducer humanoid robot, characterized in that: The following steps are involved: Collect the time domain signal of the reflected wave of any ground sample, obtain the real-time contact force distribution matrix and micro-vibration signal data using the piezoelectric film sensor array on the sole of the foot, and perform pre-processing; Construct a frequency domain response model of terrain disturbance and generate frequency domain eigenvectors based on the frequency domain response model to reflect the ground bearing capacity and sliding risk; A gait planning model is constructed based on the frequency domain eigenvector to generate an anti-disturbance foot trajectory.

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