Robot motion control method, computer equipment and computer storage medium

Abstract

The embodiment of the invention discloses a robot motion control method, computer equipment and a computer storage medium. An optimization function about the contact force between the robot and the object and the joint acceleration of the robot and a floating base kinetic model of the robot are established, and the contact force constraint between the feet of the robot and the ground is established according to the friction constraint relation corresponding to the feet of the robot and the supporting constraint relation corresponding to the feet of the robot; an expected contact force constraint model about the contact force between the robot and the object and the joint acceleration of the robot is established according to the preset contact force, that is, the balance stability of the robot is reflected in friction constraint and inequality constraint for preventing toppling on the sole of the robot, and it is ensured that the robot can be kept balanced and stable all the time in heavy object operation; secondly, joint acceleration of the robot and contact force of the robot and an external object are solved in a unified mode, and contact force control and position adaptation of the robot in the operation process of the heavy object can be considered;

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of robot motion control, and in particular, to a robot motion control method, a computer device, and a computer storage medium. BACKGROUND

[0002] In recent years, humanoid robots have gradually attracted the attention of companies or scholars due to their cross-scene general potential. However, the existing research on humanoid robots focuses on improving the gait movement ability and object grasping ability of the robots, and few mechanisms can achieve the operation of heavy objects close to the torque limit.

[0003] Some humanoid robot mechanisms have shown experimental videos of carrying heavy boxes, but such experiments are often result-oriented hard-coded movements that completely rely on the personal experience of robot experts and cannot adaptively solve and ensure balance according to the contact force during the operation of heavy objects. SUMMARY

[0004] Embodiments of the present application provide a robot motion control method, a computer device, and a computer storage medium, which ensure that the robot can maintain balance and stability at all times during the operation of heavy objects, and take into account the contact force control and position adaptation of the robot during the operation of heavy objects.

[0005] A first aspect of embodiments of the present application provides a robot motion control method, the method comprising:

[0006] establishing an optimization function about the contact force between the robot and an object and the joint acceleration of the robot when the robot carries the object;

[0007] establishing a floating-base dynamics model of the robot according to the contact force between the robot and the object and the joint acceleration of the robot;

[0008] establishing a contact force constraint between the robot foot and the ground according to the friction constraint relationship corresponding to the robot foot and the support constraint relationship corresponding to the robot foot;

[0009] establishing a desired contact force constraint model about the contact force between the robot and the object and the joint acceleration of the robot according to a preset contact force;

[0010] solving the optimization function, the floating-base dynamics model, the contact force constraint, and the desired contact force constraint model to obtain an optimal solution of the contact force between the robot and the object and an optimal solution of the joint acceleration of the robot.

[0011] A second aspect of embodiments of the present application provides a computer device, comprising:

[0012] The first establishing unit is configured to establish an optimization function about contact force between the robot and the object and joint acceleration of the robot when the robot carries the object;

[0013] The second establishing unit is configured to establish a floating-base dynamics model of the robot according to the contact force between the robot and the object and the joint acceleration of the robot;

[0014] The third establishing unit is configured to establish a contact force constraint between the robot foot and the ground according to the friction constraint relationship corresponding to the robot foot and the support constraint relationship corresponding to the robot foot;

[0015] The fourth establishing unit is configured to establish a desired contact force constraint model about the contact force between the robot and the object and the joint acceleration of the robot according to a preset contact force;

[0016] The computing unit is configured to solve the optimization function, the floating-base dynamics model, the contact force constraint and the desired contact force constraint model to obtain an optimal solution of the contact force between the robot and the object and an optimal solution of the joint acceleration of the robot.

[0017] The third aspect of the embodiments of the present application provides a computer device, including a memory and a processor, the memory stores a computer program, and the processor implements the method of the first aspect when executing the computer program.

[0018] The fourth aspect of the embodiments of the present application provides a computer storage medium, and the computer storage medium stores instructions, and the instructions make the computer execute the method of the first aspect when the instructions are executed on the computer.

[0019] The fifth aspect of the embodiments of the present application provides a computer program product, and the computer program product makes the computer device execute the method of the first aspect when the computer program product runs on the computer device.

[0020] From the above technical solutions, it can be seen that the embodiments of the present application have the following advantages:

[0021] An optimization function about contact force of the robot and the object and joint acceleration of the robot and a floating base dynamics model of the robot are established, a contact force constraint of the robot foot and the ground is established according to a friction constraint relationship corresponding to the robot foot and a support constraint relationship corresponding to the robot foot, a desired contact force constraint model about contact force of the robot and the object and joint acceleration of the robot is established according to a preset contact force, that is, the robot balance stability is reflected in the inequality constraint of the robot sole having the friction constraint and preventing tilting, so that the robot can keep balance stability at all times in the heavy object operation; secondly, the joint acceleration of the robot and the contact force of the robot and the external object are uniformly solved, so that the contact force control and position adaptation of the robot in the heavy object operation process can be considered. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 A flowchart of a robot motion control method in the embodiment of the present application is shown;

[0023] Figure 2 A schematic diagram of an exemplary scenario of a robot motion control method in the embodiment of the present application is shown;

[0024] Figure 3 A structural diagram of a computer device in the embodiment of the present application is shown;

[0025] Figure 4 Another structural diagram of a computer device in the embodiment of the present application is shown. DETAILED DESCRIPTION

[0026] The embodiment of the present application provides a robot motion control method, a computer device and a computer storage medium, so that the robot can keep balance stability at all times in the heavy object operation, and the contact force control and position adaptation of the robot in the heavy object operation process can be considered.

[0027] The robot motion control method in the embodiment of the present application is described as follows:

[0028] In related schemes, when the motion control of the robot is planned, the humanoid robot is simply simplified as a single block for consideration and control, or only the two feet of the robot are considered (without considering the influence of the arms on the dynamics of the robot). In the embodiment of the present application, a dynamics model can be established based on the whole body of the humanoid robot, and the two hands are also added to the motion control of the humanoid robot, so that the contact force operation of the two hands is realized while the two feet are constrained to be stable.

[0029] In some related solutions, only the contact force between the robot and the object is studied, and although the adjustment of the contact force stiffness parameter can be achieved, the motion planning control is not performed according to the dynamics model of the robot, and the contact strategy is only based on data learning, and the motion balance of the robot is not considered. The contact strategy based on the mathematical model and considering the balance in the embodiment of the application can ensure the stable and smooth operation of the robot during the heavy object carrying process.

[0030] In some related solutions, only the contact of the mechanical arm is considered, and the balance during the motion is not considered, and only the end position of the mechanical arm is generated, but this is a relatively traditional position control, and the optimization solution of the contact force between the robot and the heavy object to be carried and the joint acceleration is not involved, and the torque of each joint motor can be directly solved in the embodiment of the application, which has natural dynamics flexibility.

[0031] In view of the technical defects existing in the above-mentioned various related solutions, the embodiment of the application aims to propose a heavy object balance operation algorithm to overcome the pain points that the physical dynamics characteristics are not considered in the existing heavy object operation. First, the optimization objective and optimization variable of the balance operation optimization problem are proposed, the robot dynamics during the heavy object operation can be considered, and then the foot friction and overturning constraint of the operation is established to ensure the stability of the robot during the operation. Further, based on the real-time monitoring of the operation end force sensor, the stress during the operation is added to the whole body control optimization framework in the form of expected force. Finally, the humanoid robot can solve the whole body joint degrees of freedom according to the operation force in real time during the stable process, and realize the smooth heavy object operation.

[0032] Please refer to Figure 1 An embodiment of the robot motion control method in the embodiment of the application comprises the following steps:

[0033] 101. An optimization function about the contact force between the robot and the object and the joint acceleration of the robot when the robot carries the object is established;

[0034] The embodiment can be applied to any computer device, which can be a terminal, a server or other device capable of data calculation and processing. For example, in the embodiment, the computer device can be a processing unit of a robot, such as a central processing unit (CPU), which is used as a control unit to process the data collected by the sensor and control the motion behavior of the robot according to the processing result.

[0035] In the embodiment, the computer device can establish an optimization function about the contact force between the robot and the object and the joint acceleration of the robot when the robot carries the object, that is, the optimization function is used to calculate the contact force between the robot and the object to be carried and the joint acceleration of the robot to optimize the contact force and the joint acceleration.

[0036] For example, in some optional embodiments, the optimization function can be established by obtaining a first preset weight corresponding to the contact force between the robot and the object, and obtaining a second preset weight corresponding to the joint acceleration of the robot, obtaining a reference value of the joint acceleration of the robot, and obtaining the rotational torque of the contact force between the robot and the object around multiple direction axes, and establishing an optimization function based on the first preset weight, the second preset weight, the reference value, and the rotational torque.

[0037] The multiple direction axes may be multiple direction axes determined based on a pre-established spatial rectangular coordinate system, such as the x-axis, y-axis, and z-axis.

[0038] Its optimization goal can be expressed as follows:

[0039]

[0040] Among them, W1 and W2 represent the contact force F between the robot and the object to be transported and the joint acceleration of the robot in the optimization problem, respectively. Optimization weights. Represents the contact force between the robot and the external object, T x 、T y 、T z Represents the contact force between the robot and the object The rotational moments about the x-axis, y-axis, and z-axis, where T is the abbreviation for torque. represents the joint acceleration of the robot, Represents the reference value of the robot's joint acceleration.

[0041] This step mainly defines an optimization goal, that is, the contact force between the robot and the external object and the robot's joint acceleration are used as the optimization goals, so that the robot can move with the smallest possible contact force and joint acceleration. This is the key to the robot's heavy object balance operation algorithm based on carrying heavy objects, and it realizes the joint optimization of the acceleration of each degree of freedom of the whole body and the contact force generated by the outside world.

[0042] 102. Establishing a floating-based dynamics model of the robot according to the contact force between the robot and the object and the joint acceleration of the robot;

[0043] The computer device can also establish a floating base dynamics model of the robot according to contact force between the robot and the object and joint acceleration of the robot. Specifically, the humanoid robot is affected by severe external force during operation of the heavy object. As a floating base robot, the humanoid robot is difficult to directly overcome the external force interference. In order to solve these problems, the embodiment realizes the operation of the heavy object by the humanoid robot in the manner of optimizing joint internal force and motion adaptation of the robot. The floating base dynamics constraint is extremely important, which provides the relationship between the kinematics of each joint of the humanoid robot and the external contact force.

[0044] In some optional embodiments, the floating base dynamics model of the robot is established according to the contact force between the robot and the object and the joint acceleration of the robot. One way can be to obtain an internal force model of an execution joint of the robot, and to obtain a dynamics description model of the robot, and to establish the floating base dynamics model of the robot according to the contact force between the robot and the object and the joint acceleration of the robot according to the internal force model and the dynamics description model.

[0045] In the internal force model of the execution joint of the robot, one way can be to obtain a Jacobian matrix of a contact point between the robot and the object, and to establish the internal force model of the execution joint of the robot according to the Jacobian matrix and the contact force between the robot and the object.

[0046] In the dynamics description model of the robot, one way can be to obtain a mass matrix, an inertia matrix and a gravity matrix of the robot, and to establish the dynamics description model of the joint acceleration of the robot according to the internal force of the execution joint of the robot and the mass matrix, the inertia matrix and the gravity matrix.

[0047] For example, in general, the dynamics description model of the joint acceleration of the robot can be given by the following equation:

[0048] ;

[0049] In the equation, M, J and g respectively represent the mass matrix, the inertia matrix and the gravity matrix, , , is the internal force of the execution joint of the robot, which can be expressed as:

[0050] ;

[0051] In the equation, Jc represents the Jacobian matrix of the contact point between the robot and the object. Finally, the floating base dynamics constraint model can be written as:

[0052]

[0053] ​​

[0054] This step is mainly to establish the relationship between the joint acceleration of the robot and the contact force between the robot and the external object, which is the floating base dynamics model.

[0055] 103. establishing the contact force constraint between the robot foot and the ground according to the friction constraint relationship corresponding to the robot foot and the support constraint relationship corresponding to the robot foot;

[0056] The key to the stability of the robot during heavy object operation is that the foot contact force does not exceed the friction constraint of the foot and the support base constraint of the foot. Therefore, the computer device can also establish the contact force constraint between the robot foot and the ground according to the friction constraint relationship corresponding to the robot foot and the support constraint relationship corresponding to the robot foot. In some optional embodiments, one way to establish the contact force constraint between the robot foot and the ground according to the friction constraint relationship corresponding to the robot foot and the support constraint relationship corresponding to the robot foot is to determine the friction constraint relationship matrix according to the static friction coefficient, and to determine the support constraint matrix according to the distance from the midpoint of the robot foot area to each edge of the foot area, and then to establish the contact force inequality constraint on the contact force between the robot and the object and the joint acceleration of the robot according to the friction constraint relationship matrix and the support constraint matrix.

[0057] For example, the contact force constraint between the robot foot and the ground can be represented by an inequality constraint, which includes friction and foot pressure. In heavy object operation, the motion of the humanoid robot involves various basic motions in daily life, but all basic motion tasks are balanced from the foot contact force, so the friction and torque of the foot palm are the key to the balance operation of the humanoid robot, that is, the contact force inequality constraint on the contact force between the robot and the object and the joint acceleration of the robot can be represented as follows:

[0058] ;

[0059] wherein, is the friction constraint relationship matrix, which can be determined according to the static friction coefficient μ, and its expansion formula is as follows:

[0060] ;

[0061] is the support constraint matrix, which can be determined according to the distance from the midpoint of the robot foot area to each edge of the foot area. For example, assuming that the robot foot area is a rectangle, the distance from the midpoint of the rectangular foot area to the right edge of the rectangular foot area is , and the distance from the midpoint of the rectangular foot area to the left edge of the rectangular foot area is the midpoint of the rectangular foot region to the front edge of the rectangular foot region is the midpoint of the rectangular foot region to the back edge of the rectangular foot region is Further, the support constraint matrix can be determined according to the above distance, and the expansion thereof is as follows:

[0062] ;

[0063] The physical meaning of the contact force inequality constraint determined in this step is that the robot can not slip and not tip over during movement, so as to achieve balance and stable movement of the robot during heavy object carrying.

[0064] 104. establishing a desired contact force constraint model about the contact force between the robot and the object and the joint acceleration of the robot according to the preset contact force;

[0065] In this embodiment, in order to control the end contact force of the robot, the computer device can establish a desired contact force constraint model about the contact force between the robot and the object and the joint acceleration of the robot according to the preset contact force. In some optional implementation manners, the manner of establishing the desired contact force constraint model can be that a unit matrix is obtained, and the desired contact force constraint model is established according to the unit matrix and the preset contact force.

[0066] For example, the equality constraint of the desired contact force can be expressed as follows:

[0067] ;

[0068] In the real heavy object operation process, the arm sensor configured by the robot can monitor the contact force between the robot and the heavy object in real time The contact force can be taken as the preset contact force to establish the equality constraint of the desired contact force. The equality constraint of the desired contact force can realize control of the end contact force.

[0069] 105. solving the optimization function, the floating base dynamics model, the contact force constraint and the desired contact force constraint model to obtain the optimal solution of the contact force between the robot and the object and the optimal solution of the joint acceleration of the robot;

[0070] In this embodiment, the computer device can solve the optimization framework composed of the optimization function, the floating base dynamics model, the contact force constraint and the desired contact force constraint model based on a quadratic programming solving strategy, to determine the minimum value of the contact force between the robot and the object and the minimum value of the joint acceleration of the robot, so as to control the robot to realize movement with as small contact force and joint acceleration as possible.

[0071] For example, the overall form of the above constraints in series is as follows:

[0072]

[0073] ;

[0074] The optimization framework composed of the above constraints can be solved based on quadratic programming to obtain the optimal value of the contact force between the robot and the external object and the optimal value of the joint acceleration of the robot, and the robot is controlled based on the solving result to carry out the object carrying process.

[0075] Therefore, for the heavy object operation scene involved in the humanoid robot system, the embodiment constructs a heavy object operation optimization solving framework with balance stability, which is reflected in the friction constraint of the robot foot bottom and the inequality constraint of preventing tilting, ensuring that the robot can maintain balance and stability at all times during the heavy object operation.

[0076] Secondly, in the solving framework proposed in the embodiment, the joint acceleration of the robot and the contact force between the robot and the external object are uniformly solved, which can take into account the contact force control and position adaptation during the robot operation process.

[0077] As shown in Figure 2 , the robot can be configured with a force sensor to collect the contact force between the end of the robot arm and the external object , and a position encoder is used to encode the position information of the robot, and the encoding result output by the position encoder is used to estimate the state to determine the Jacobian matrix J of the contact point between the robot and the object. The above multiple constraint relationships are established based on the contact force and the Jacobian matrix, and the optimization framework determined by the multiple constraint relationships is solved, and the heavy object operation optimization solving is performed on the optimization framework, and the optimal solution of the contact force between the robot and the object and the optimal solution of the joint acceleration of the robot can be obtained.

[0078] The robot motion control method in the embodiment of the application is described above, and the computer device in the embodiment of the application is described below. Please refer to Figure 3 , an embodiment of the computer device in the embodiment of the application includes:

[0079] A first establishing unit is configured to establish an optimization function about the contact force between the robot and the object when the robot carries the object and the joint acceleration of the robot;

[0080] A second establishing unit is configured to establish a floating base dynamics model of the robot according to the contact force between the robot and the object and the joint acceleration of the robot;

[0081] a third establishing unit, configured to establish a contact force constraint between the robot foot and the ground according to a friction constraint relationship corresponding to the robot foot and a support constraint relationship corresponding to the robot foot;

[0082] a first establishing unit, configured to establish a desired contact force constraint model about a contact force between the robot and the object and a joint acceleration of the robot according to a preset contact force;

[0083] a calculating unit, configured to solve the optimization function, the floating-base dynamics model, the contact force constraint and the desired contact force constraint model to obtain an optimal solution of the contact force between the robot and the object and an optimal solution of the joint acceleration of the robot.

[0084] In a preferred implementation of the embodiment, the first establishing unit is specifically configured to:

[0085] obtain a first preset weight corresponding to the contact force between the robot and the object, and obtain a second preset weight corresponding to the joint acceleration of the robot;

[0086] obtain a reference value of the joint acceleration of the robot, and obtain a moment of rotation of the contact force between the robot and the object around multiple direction axes;

[0087] establish the optimization function based on the first preset weight, the second preset weight and the reference value and the moment of rotation.

[0088] In a preferred implementation of the embodiment, the second establishing unit is specifically configured to:

[0089] obtain an internal force model of an execution joint of the robot, and obtain a dynamics description model of the robot;

[0090] establish the floating-base dynamics model about the contact force between the robot and the object and the joint acceleration of the robot according to the internal force model and the dynamics description model.

[0091] In a preferred implementation of the embodiment, the second establishing unit is specifically configured to:

[0092] obtain a Jacobian matrix of a contact point between the robot and the object;

[0093] establish the internal force model of the execution joint of the robot according to the Jacobian matrix and the contact force between the robot and the object.

[0094] In a preferred implementation of the embodiment, the second establishing unit is specifically configured to:

[0095] obtain a mass matrix, an inertia matrix and a gravity matrix about the robot;

[0096] The dynamics description model about joint acceleration of the robot is established according to the internal force of an execution joint of the robot and the mass matrix, the inertia matrix and the gravity matrix.

[0097] In a preferred embodiment of the present embodiment, the third establishing unit is specifically configured to:

[0098] The friction constraint relationship matrix is determined according to the static friction coefficient, and the support constraint matrix is determined according to the distance from the midpoint of the foot region of the robot to each edge of the foot region;

[0099] The contact force inequality constraint about the contact force between the robot and the object and the joint acceleration of the robot is established according to the friction constraint relationship matrix and the support constraint matrix.

[0100] In a preferred embodiment of the present embodiment, the first establishing unit is specifically configured to:

[0101] The identity matrix is obtained, and the expected contact force constraint model is established according to the identity matrix and the preset contact force.

[0102] In a preferred embodiment of the present embodiment, the computing unit is specifically configured to:

[0103] The optimization function, the floating-base dynamics model, the contact force constraint and the expected contact force constraint model are solved based on a quadratic programming solving strategy, so as to determine the minimum value of the contact force between the robot and the object and the minimum value of the joint acceleration of the robot.

[0104] In the present embodiment, the operations performed by each unit of the computer device are similar to those described in the foregoing embodiments and various optional embodiments of the present embodiment, and thus will not be described here again. Figure 1

[0105] The computer device in the present embodiment will be described below. Please refer to the foregoing description of the computer device in the foregoing embodiments and various optional embodiments of the present embodiment, and thus will not be described here again. Figure 4 In an embodiment of the computer device in the present embodiment, the computer device comprises:

[0106] The computer device 400 can comprise one or more central processing units (CPUs) 401 and a memory 405, wherein the memory 405 stores one or more application programs or data.

[0107] ​The memory 405 can be volatile memory or persistent storage. The programs stored in the memory 405 can include one or more modules, each of which can include a series of instruction operations in the computer device. Further, the central processor 401 can be configured to communicate with the memory 405 to execute the series of instruction operations in the memory 405 on the computer device 400.

[0108] The computer device 400 can further include one or more power supplies 402, one or more wired or wireless network interfaces 403, one or more input / output interfaces 404, and / or one or more operating systems, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0109] The central processor 401 can execute the operations of the computer device in the embodiments and various optional implementations thereof, which will not be described here in detail. Figure 1 The central processor 401 can execute the operations of the computer device in the embodiments and various optional implementations thereof, which will not be described here in detail.

[0110] The embodiments of the present application also provide a computer storage medium, one embodiment of which includes instructions stored therein, which, when executed on a computer, cause the computer to perform the operations of the computer device in the embodiments and various optional implementations thereof. Figure 1 The central processor 401 can execute the operations of the computer device in the embodiments and various optional implementations thereof, which will not be described here in detail.

[0111] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems, devices and units can refer to the corresponding processes in the foregoing method embodiments, which will not be described here in detail.

[0112] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division, and actual implementation can have another division manner. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0113] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e. they can be located in one place or distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0114] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically independently, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0115] When the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, essentially or in other words, the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, read-only memory), a random access memory (RAM, random access memory), a magnetic disk or an optical disk, and various media that can store program codes.

Claims

1. A robot motion control method, characterized in that: The method comprises: Establishing an optimization function for the contact force between the robot and the object and the joint acceleration of the robot when the robot carries the object; Establishing a floating-based dynamics model of the robot according to the contact force between the robot and the object and the joint acceleration of the robot; Establishing a contact force constraint between the robot foot and the ground according to a friction constraint relationship corresponding to the robot foot and a support constraint relationship corresponding to the robot foot; Establishing an expected contact force constraint model regarding the contact force between the robot and the object and the joint acceleration of the robot according to the preset contact force; The optimization function, the floating basis dynamics model, the contact force constraint and the expected contact force constraint model are solved to obtain an optimal solution for the contact force between the robot and the object and an optimal solution for the joint acceleration of the robot.

2. The method according to claim 1, characterized in that The establishing of an optimization function regarding the contact force between the robot and the object and the joint acceleration of the robot when the robot carries the object comprises: Obtaining a first preset weight corresponding to a contact force between the robot and an object, and obtaining a second preset weight corresponding to a joint acceleration of the robot; Obtaining reference values ​​of joint accelerations of the robot, and obtaining rotational torques of contact forces between the robot and an object around multiple direction axes; The optimization function is established based on the first preset weight, the second preset weight, the reference value, and the rotation torque.

3. The method according to claim 1, characterized in that The step of establishing a floating-based dynamics model of the robot according to the contact force between the robot and the object and the joint acceleration of the robot comprises: Obtaining an internal force model of an execution joint of the robot and obtaining a dynamic description model of the robot; The floating-based dynamics model concerning the contact force between the robot and the object and the joint acceleration of the robot is established according to the internal force model and the dynamics description model.

4. The method according to claim 3, characterized in that The obtaining of the internal force model of the execution joint of the robot includes: Obtaining the Jacobian matrix of the contact points between the robot and the object; An internal force model of the robot's execution joint is established according to the Jacobian matrix and the contact force between the robot and the object.

5. The method according to claim 3, characterized in that The obtaining of the dynamic description model of the robot includes: Obtaining a mass matrix, an inertia matrix, and a gravity matrix of the robot; The dynamic description model of the joint acceleration of the robot is established according to the internal force of the execution joint of the robot and the mass matrix, the inertia matrix, and the gravity matrix.

6. The method according to claim 1, characterized in that The establishing of the contact force constraint between the robot foot and the ground according to the friction constraint relationship corresponding to the robot foot and the support constraint relationship corresponding to the robot foot includes: Determining a friction constraint relationship matrix based on the static friction coefficient, and determining a support constraint matrix based on the distance from the middle point of the foot region of the robot to each edge of the foot region; Contact force inequality constraints on the contact force between the robot and the object and the joint acceleration of the robot are established according to the friction constraint relationship matrix and the support constraint matrix.

7. The method according to claim 1, characterized in that The step of establishing an expected contact force constraint model regarding the contact force between the robot and the object and the joint acceleration of the robot according to the preset contact force includes: A unit matrix is ​​obtained, and the expected contact force constraint model is established according to the unit matrix and the preset contact force.

8. The method according to any one of claims 1 to 7, characterized in that Solving the optimization function, the floating basis dynamics model, the contact force constraint, and the expected contact force constraint model to obtain an optimal solution for the contact force between the robot and the object and an optimal solution for the joint acceleration of the robot includes: The optimization function, the floating basis dynamics model, the contact force constraint and the expected contact force constraint model are solved based on a quadratic programming solution strategy to determine the minimum contact force between the robot and the object and the minimum joint acceleration of the robot.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

10. A computer storage medium, characterized in that The computer storage medium stores instructions, which, when executed on a computer, enable the computer to perform the method according to any one of claims 1 to 8.

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