Motion control method and device, electronic equipment and computer readable storage medium

Abstract

The invention discloses a motion control method and device, electronic equipment and a computer readable storage medium, and the method comprises the steps: obtaining the current motion state parameters of a robot in response to a motion control instruction for the robot, and enabling the motion state parameters to comprise the body state parameters and the foot end state parameters of the robot; determining a target centroid trajectory of the robot according to the motion control instruction and the motion state parameters; and controlling the robot to run along the target centroid trajectory. The robot motion control precision can be effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, and in particular to a motion control method and device, electronic equipment and a computer readable storage medium. BACKGROUND

[0002] With the rapid development of robot technology, legged robots have unique advantages in rugged terrain, disaster rescue, planetary exploration and other scenarios due to their ability to choose discrete footholds and actively adjust the height of the center of mass. Autonomous motion control of legged robots in complex unstructured environments has become a research hotspot. In related technologies, the motion control precision is low when controlling the robot. SUMMARY

[0003] Embodiments of the present application provide a motion control method, device, electronic equipment and computer readable storage medium, which aims to effectively improve the motion control precision of the robot.

[0004] In a first aspect, embodiments of the present application provide a motion control method, which comprises:

[0005] In response to a motion control instruction of a robot, a current motion state parameter of the robot is obtained, the motion state parameter comprising a body state parameter and a foot end state parameter of the robot;

[0006] According to the motion control instruction and the motion state parameter, a target center of mass trajectory of the robot is determined;

[0007] The robot is controlled to run in the target center of mass trajectory.

[0008] Optionally, the control of the robot to run in the target center of mass trajectory comprises:

[0009] Based on the target center of mass trajectory and the phase of each foot of the robot, a target foot end trajectory of each foot of the robot is determined;

[0010] The robot is controlled to run in the target center of mass trajectory and the target foot end trajectory.

[0011] Optionally, the control of the robot to run in the target center of mass trajectory and the target foot end trajectory comprises:

[0012] The target center of mass trajectory and the body state parameter are processed by a model predictive controller to determine the target foot end force corresponding to each foot of the robot;

[0013] Based on the target center of mass trajectory, the target foot end trajectory and the target foot end force corresponding to each foot, the robot is controlled to run.

[0014] Optionally, the controlling the robot to run based on the target foot end force corresponding to each foot, the target center of mass trajectory and the target foot end trajectory comprises:

[0015] The whole body controller processes the target foot end force corresponding to each foot, the target center of mass trajectory, the target foot end trajectory and the motion state parameter of the robot to determine the target joint torque of each joint on each foot.

[0016] The joints of the robot are controlled to run with the corresponding target joint torque.

[0017] Optionally, the robot is provided with an inertial measurement unit, a joint encoding unit and a foot end contact detection unit, and the acquiring the current motion state parameter of the robot comprises:

[0018] The inertial measurement parameter of the robot is acquired by the inertial measurement unit, the joint information is acquired by the joint encoding unit and the foot end contact force is acquired by the foot end contact detection unit.

[0019] The current motion state parameter of the robot is determined according to the inertial measurement parameter, the joint information and the foot end contact force.

[0020] Optionally, the determining the current motion state parameter of the robot according to the inertial measurement parameter, the joint information and the foot end contact force comprises:

[0021] The motion state parameter is obtained by filtering processing of a state estimator based on the inertial measurement parameter, the joint information and the foot end contact force.

[0022] Optionally, the body state parameter comprises at least one of attitude, body height and speed information, and the foot end state parameter comprises at least one of foot end position, speed and contact flag, the contact flag being used to indicate the ground contact of the corresponding foot of the robot.

[0023] In a second aspect, an embodiment of the present application provides a motion control device, which comprises:

[0024] An acquiring module is configured to acquire the current motion state parameter of the robot in response to a motion control instruction of the robot, the motion state parameter comprising a body state parameter and a foot end state parameter of the robot.

[0025] A determining module is configured to determine a target center of mass trajectory of the robot according to the motion control instruction and the motion state parameter.

[0026] A controlling module is configured to control the robot to run with the target center of mass trajectory.

[0027] In a third aspect, an electronic device is provided, including a processor and a memory. The memory stores a computer program. When the computer program is executed by the processor, the processor performs the steps of any of the motion control methods provided by the embodiments of the present application.

[0028] In a fourth aspect, a computer readable storage medium is provided. The computer readable storage medium includes a computer program. When the computer program is run on an electronic device, the computer program is configured to cause the electronic device to perform the steps of any of the motion control methods provided by the embodiments of the present application.

[0029] In response to a motion control instruction of a robot, the current motion state parameters of the robot are acquired, including body state parameters and foot end state parameters of the robot. According to the motion control instruction and the motion state parameters, a target center of mass trajectory of the robot is determined. The robot is controlled to run in the target center of mass trajectory. In this way, when the motion control instruction is received, the current body state parameters and foot end state parameters of the robot are acquired to plan the target center of mass trajectory of the robot, so as to control the robot to run. The center of mass of the robot can be controlled to move according to the expected center of mass trajectory within the allowable error, and the motion control precision of the robot is improved. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0031] Figure 1 is a flowchart of an embodiment of the motion control method provided by the embodiments of the present application;

[0032] Figure 2 is a flowchart of another embodiment of the motion control method provided by the embodiments of the present application;

[0033] Figure 3 is a flowchart of an example of the motion control method provided by the embodiments of the present application;

[0034] Figure 4 is a structural schematic diagram of the motion control device provided by the embodiments of the present application;

[0035] Figure 5 is a structural schematic diagram of the robot provided by the embodiments of the present application. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application. Meanwhile, in the description of the embodiments of the present application, the terms "first", "second", and the like are only used for distinguishing description, and cannot be understood as indicating or implying relative importance. Therefore, the features with "first" and "second" can explicitly or implicitly include one or more features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0037] The embodiment of the present application provides a motion control method and device, electronic equipment and computer readable storage medium.

[0038] Specifically, the embodiment will be described from the perspective of a motion control device, which can be integrated in a robot, that is, the motion control method of the embodiment of the present application can be executed by a robot.

[0039] The following will be described in detail in conjunction with the accompanying drawings. In the embodiment, the execution subject is taken as an example of a robot. It should be noted that the description order of the following embodiments is not limited as the preferred order of the embodiments. Although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown in the accompanying drawings.

[0040] With the rapid development of robot technology, the legged robot has unique advantages in rugged terrain, disaster rescue, planetary exploration and other scenes due to its discrete foot point selection and active adjustment of centroid height. The autonomous motion control of the legged robot in complex unstructured environment has become a research hotspot. In the related art, the motion control precision is low when controlling the robot.

[0041] To solve the above problems, the present application discloses a motion control method, please refer to Figure 1 The specific process of the motion control method can include the following steps S10-S30, wherein:

[0042] Step S10, in response to the motion control instruction of the robot, acquiring the current motion state parameter of the robot, the motion state parameter including the body state parameter and the foot end state parameter of the robot;

[0043] In the embodiment, the robot can be a multi-legged robot. The multi-legged robot is a kind of autonomous robot system taking mechanical legs as a moving carrier, which alternates discrete support and swing. The motion mechanism is based on a coupling model of multi-rigid-body dynamics and contact mechanics. By periodically reconstructing the support polygon and adjusting the motion trajectory of the center of mass of the whole machine, three-dimensional six-degree-of-freedom pose control in non-continuous and unstructured terrain is realized. Unlike the wheel or track platform relying on continuous rolling contact, the multi-legged robot adopts a gait cycle of “contact-separation-recontact”, which has the ability to actively select the landing point, cross obstacles, and adjust the step frequency and step width, thereby maintaining mobility and stability in complex environments such as stairs, gravel, ruins, slopes, soft or low-friction surfaces. Common multi-legged robots include biped robots and quadruped robots. In the embodiment, the robot can be a hexapod robot.

[0044] The user can send a motion control instruction to the robot through a remote controller or the like. Generally, the motion control instruction is a command instructing the robot to move forward, backward, left, right or rotate. When receiving the motion control instruction, the robot responds to the motion control instruction and needs to control the robot to run according to the motion control instruction. The robot obtains the current motion state parameter of the robot. The motion state parameter represents the current motion state of the robot. In the embodiment, the motion state parameter includes a robot body state parameter and a foot end state parameter. The robot body state parameter represents the current motion state of the robot body. The foot end state parameter represents the current motion state of the corresponding foot of the robot.

[0045] In step S20, a target center of mass trajectory of the robot is determined according to the motion control instruction and the motion state parameter.

[0046] In the embodiment, the target center of mass trajectory of the robot is determined by planning according to the motion control instruction and the motion state parameter. The target center of mass trajectory is a center of mass trajectory calculated according to the motion control instruction and the motion state parameter, which enables the robot to walk stably. The target center of mass trajectory includes a center of mass moving position and a moving speed. The moving speed also meets the expected speed of the robot.

[0047] In the embodiment, the ZMP (Zero-Moment Point) algorithm can be used to plan the motion control instruction and the motion state parameter to obtain the target center of mass trajectory.

[0048] In step S30, the robot is controlled to run at the target center of mass trajectory.

[0049] In the embodiment, the robot is controlled to run according to the target center of mass trajectory. In the actual moving process of the robot, the actual center of mass trajectory of the robot can conform to the target center of mass trajectory. The error between the actual center of mass trajectory and the target center of mass trajectory needs to be within the allowable error, so as to ensure that the robot moves stably according to the motion control instruction.

[0050] In the technical solution disclosed in the embodiment, in response to a motion control instruction of the robot, a current motion state parameter of the robot is acquired, the motion state parameter including a body state parameter and a foot end state parameter of the robot; a target center of mass trajectory of the robot is determined according to the motion control instruction and the motion state parameter; and the robot is controlled to run in the target center of mass trajectory. In this way, when the motion control instruction is received, the current body state parameter and the foot end state parameter of the robot are acquired to plan the target center of mass trajectory of the robot, so as to control the robot to run, and the center of mass of the robot can be controlled to move along the expected center of mass trajectory within an allowable error, thereby improving the motion control precision of the robot.

[0051] Optionally, the robot is provided with an inertial measurement unit, a joint encoding unit and a foot end ground contact detection unit, and the acquisition of the current motion state parameter of the robot includes:

[0052] The inertial measurement parameter of the robot is acquired by the inertial measurement unit, the joint information is acquired by the joint encoding unit, and the foot end contact force is acquired by the foot end ground contact detection unit.

[0053] The current motion state parameter of the robot is determined according to the inertial measurement parameter, the joint information and the foot end contact force.

[0054] In the embodiment, the robot is provided with an inertial measurement unit (IMU), a joint encoding unit and a foot end ground contact detection unit, the inertial measurement unit is used to acquire real-time inertial measurement parameters of the robot, the joint encoding unit is used to acquire real-time joint information of the robot, and the foot end ground contact detection unit is used to determine whether the foot end of the robot contacts the ground in real time.

[0055] The current inertial measurement parameter of the robot is acquired by the inertial measurement unit, including three-axis acceleration and angular velocity of the robot, the current joint information of the robot is acquired by the joint encoding unit, including joint angle and angular velocity of the robot, and the real-time foot end contact force of the robot is acquired by the foot end ground contact detection unit. The current motion state parameter of the robot is determined according to the inertial measurement parameter, the joint information and the foot end contact force, which is used for subsequent center of mass trajectory planning, and the accuracy of the motion state parameter can be effectively improved through multi-dimensional measurement information.

[0056] Optionally, the determination of the current motion state parameter of the robot according to the inertial measurement parameter, the joint information and the foot end contact force includes:

[0057] Based on the inertial measurement parameters, the joint information and the foot end contact force, filtering processing is performed by a state estimator to obtain the motion state parameters.

[0058] In this embodiment, the current inertial measurement parameters of the robot, the joint information and the foot end contact force are filtered by a state estimator to obtain motion state parameters. The filtering processing can perform noise suppression to avoid IMU high-frequency noise, fuse IMU and kinematics, output more accurate motion state parameters, and also can perform drift compensation to eliminate steady-state error, making long-term motion more stable.

[0059] Optionally, the body state parameters include at least one of attitude, body height and speed information, and the foot end state parameters include at least one of foot end position, speed and contact flag, and the contact flag is used to indicate the ground contact of the corresponding foot of the robot.

[0060] In this embodiment, the body state parameters include attitude (Roll, Pitch, Yaw), which is a stable estimation after removing IMU drift, and can also include body height (Z-axis position), which is a ground height estimation combined with IMU data and kinematics model, and can also include speed information, i.e. smoothed values of linear speed and angular speed after noise elimination, which are obtained by kinematics analytical solution or IMU data fusion, and the foot end state parameters include at least one of foot end position, speed and contact flag, and the contact flag is used to indicate the ground contact of the corresponding foot of the robot for gait phase determination, and the foot end position and speed are obtained based on forward kinematics and contact state correction.

[0061] Optionally, referring to Figure 2 , based on any of the above embodiments, in another embodiment of the motion control method of the application, the S30 step can include:

[0062] Step S31, determining target foot end trajectories of each foot of the robot based on the target center of mass trajectory and the phases of each foot of the robot;

[0063] Step S32, controlling the robot to run with the target center of mass trajectory and the target foot end trajectory.

[0064] In the embodiment, the phases of the feet of the robot can be determined by the phase generator of the robot, the phase can be a swing phase or a support phase, the swing phase indicates that the corresponding foot is in a swing state, and the support phase indicates that the corresponding foot is used to support the robot to stand, when in the swing phase, the corresponding foot of the robot is in a swing state, and when in the support phase, the corresponding foot of the robot is in a support state, so that the robot can stand. According to the target center of mass trajectory and the phases of the feet of the robot, the target foot end trajectory of each foot can be planned, and the robot can be controlled to run in the target center of mass trajectory and the target foot end trajectory, so as to further improve the control accuracy of the robot.

[0065] Optionally, the control of the robot to run in the target center of mass trajectory and the target foot end trajectory comprises:

[0066] The target foot end force corresponding to each foot of the robot is determined by processing the target center of mass trajectory and the body state parameter by the model predictive controller.

[0067] The robot is controlled to run based on the target foot end force corresponding to each foot, the target center of mass trajectory and the target foot end trajectory.

[0068] In the embodiment, the model predictive controller (MPC) is a motion controller of the robot, the MPC outputs ideal foot end force distribution based on the target center of mass trajectory and the body state parameter, obtains the target foot end force corresponding to each foot of the robot, and controls each joint on each foot to run based on the target foot end force corresponding to each foot, which can be used for body planning and stability maintenance to control the robot to run in the expected center of mass trajectory. Then, the robot is controlled to run based on the target foot end force corresponding to each foot, the target center of mass trajectory and the target foot end trajectory, so that the robot can accurately run according to the planned trajectory, and the control accuracy of the robot is further improved.

[0069] Optionally, the control of the robot to run based on the target foot end force corresponding to each foot, the target center of mass trajectory and the target foot end trajectory comprises:

[0070] The target joint torque of each joint on each foot is determined by processing the target foot end force corresponding to each foot, the target center of mass trajectory, the target foot end trajectory and the motion state parameter of the robot by the whole body controller.

[0071] Each joint of the robot is controlled to run in the corresponding target joint torque.

[0072] In this embodiment, the whole-body controller (WBC) is a motion controller of the robot, and the WBC is a low-level controller based on an optimized inverse dynamics method, and realizes coordination between multiple targets, foot end trajectory tracking, body posture keeping, joint force limitation, support force balancing, etc. The target foot end force corresponding to each foot, the target mass center trajectory, the target foot end trajectory and the motion state parameter of the robot are input into the WBC, the WBC can perform multiple tasks at the same time, and real-time output target joint torque is output to realize the tasks of foot end trajectory tracking, body posture keeping, joint force limitation and support force balancing, respectively. The WBC is used to coordinate the body tasks of multiple robots, and the multiple target task priorities are processed according to different task weights. The WBC runs at a high frequency to output real-time joint torque, and each joint of the robot is controlled based on the real-time output target joint torque output by the WBC. The motor corresponding to each joint of the robot can be controlled to match the torque output by the motor with the corresponding target joint torque, so as to control the robot to run with the target mass center trajectory and the body state parameter.

[0073] In an example, as shown in Figure 3 After receiving the motion controller instruction, the robot performs filtering processing on the motion controller instruction by using a state estimator to obtain the body state parameter and the foot end state parameter of the robot, plans a target mass center trajectory by using a ZMP algorithm according to the motion controller instruction and the motion state parameter of the current robot, plans a target foot end trajectory according to the target mass center trajectory and the phase generator, and performs foot end force distribution by using an MPC and based on the target mass center trajectory and the body state parameter to obtain the target foot end force of each foot of the robot. The WBC fuses the target foot end force of each foot calculated by the MPC as a task with other task distribution weights corresponding to the target mass center trajectory and the target foot end trajectory to control the motion of the robot.

[0074] This embodiment also provides a motion control device, which can be integrated in a robot. For example, as shown in Figure 4 The motion control device can include:

[0075] The acquisition module 1001 is configured to acquire the motion state parameter of the robot in response to a motion control instruction of the robot, and the motion state parameter includes a body state parameter and a foot end state parameter of the robot.

[0076] The determination module 1002 is configured to determine a target mass center trajectory of the robot according to the motion control instruction and the motion state parameter.

[0077] The control module 1003 is configured to control the robot to run with the target mass center trajectory.

[0078] Optionally, the control module 1003 is further configured to:

[0079] determine target foot end trajectories of each foot of the robot based on the target center of mass trajectory and the phase of each foot of the robot;

[0080] control the robot to run according to the target center of mass trajectory and the target foot end trajectories.

[0081] Optionally, the control module 1003 is further configured to:

[0082] determine target foot end forces corresponding to each foot of the robot by processing the target center of mass trajectory and the body state parameters through a model predictive controller;

[0083] control the robot to run based on the target center of mass trajectory, the target foot end trajectories and the target foot end forces corresponding to each foot.

[0084] Optionally, the control module 1003 is further configured to:

[0085] determine target joint torques of each joint on each foot by processing the target center of mass trajectory, the target foot end trajectories, the target foot end forces corresponding to each foot and the motion state parameters of the robot through a whole-body controller;

[0086] control each joint of the robot to run according to the corresponding target joint torques.

[0087] Optionally, the robot is provided with an inertial measurement unit, a joint encoding unit and a foot end contact detection unit, and the acquisition module 1001 is further configured to:

[0088] acquire inertial measurement parameters, joint information and foot end contact forces of the robot, the inertial measurement parameters being collected through the inertial measurement unit, the joint information being collected through the joint encoding unit, and the foot end contact forces being collected through the foot end contact detection unit;

[0089] determine the current motion state parameters of the robot according to the inertial measurement parameters, the joint information and the foot end contact forces.

[0090] Optionally, the acquisition module 1001 is further configured to filter the motion state parameters through a state estimator based on the inertial measurement parameters, the joint information and the foot end contact forces.

[0091] Optionally, the body state parameters include at least one of attitude, body height and velocity information, and the foot end state parameters include at least one of foot end position, velocity and contact flag, the contact flag being used to indicate the ground contact condition of the corresponding foot of the robot.

[0092] The embodiment acquires the current motion state parameters of the robot in response to the motion control instruction of the robot, the motion state parameters including body state parameters and foot end state parameters of the robot; determines the target center of mass trajectory of the robot according to the motion control instruction and the motion state parameters; and controls the robot to run in the target center of mass trajectory. In this way, when the motion control instruction is received, the current body state parameters and foot end state parameters of the robot are acquired to plan the target center of mass trajectory of the robot, so as to control the robot to run, the center of mass of the robot can be controlled to move along the expected center of mass trajectory within the allowable error, and the motion control precision of the robot is improved.

[0093] The specific implementation of each operation can refer to the foregoing embodiments, which will not be described here.

[0094] Correspondingly, the embodiment also provides an electronic device, which can be a robot or a control module of the robot, etc., as shown in Figure 5 Figure 5 is a structural schematic diagram of the electronic device provided by the embodiment. The electronic device 1100 includes a processor 1101 having one or more processing cores, a memory 1102 having one or more computer readable storage media, and a computer program stored in the memory 1102 and executable on the processor. The processor 1101 is electrically connected to the memory 1102. Those skilled in the art can understand that the structure of the electronic device shown in the figure does not constitute a limitation on the electronic device, and can include more or fewer components than the figure, or combine certain components, or different component arrangements.

[0095] The processor 1101 is the control center of the electronic device 1100, and connects various parts of the entire electronic device 1100 through various interfaces and lines. By running or loading the software program and / or unit stored in the memory 1102, and calling the data stored in the memory 1102, the processor 1101 executes various functions and processes data of the electronic device 1100, thereby overall monitoring the electronic device 1100. The processor 1101 can be a processor CPU, a graphics processor GPU, a network processor (Network Processor, NP), etc., and can realize or execute the methods, steps and logic block diagrams disclosed in the embodiments of the application.

[0096] In the embodiment of the application, the processor 1101 in the electronic device 1100 will load the instructions corresponding to the processes of one or more application programs into the memory 1102, and run the application programs stored in the memory 1102 by the processor 1101, so as to realize various functions, for example:

[0097] ​In response to the motion control instruction of the robot, a current motion state parameter of the robot is acquired, the motion state parameter including a body state parameter and a foot end state parameter of the robot;

[0098] According to the motion control instruction and the motion state parameter, a target center of mass trajectory of the robot is determined;

[0099] The robot is controlled to run in the target center of mass trajectory.

[0100] The specific implementation of each operation can refer to the foregoing embodiments, which will not be described here.

[0101] Optionally, as shown in Figure 5 The electronic device 1100 further includes a touch display screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch display screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107, respectively. Those skilled in the art can understand that the electronic device structure shown in Figure 5 The electronic device structure shown in the foregoing embodiments does not constitute a limitation on the electronic device, and can include more or fewer components than those shown, or combine certain components, or have a different arrangement of components.

[0102] The touch display screen 1103 can be used to display a graphical user interface and receive operation instructions generated by user acting on the graphical user interface. The touch display screen 1103 can include a display panel and a touch panel. The display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the electronic device, which can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc. The touch panel can be used to collect touch operations (such as user operations on or near the touch panel using a finger, a stylus or any suitable object or accessory) of the user thereon or therearound, and generate corresponding operation instructions, and the operation instructions execute corresponding programs. Optionally, the touch panel can include two parts of a touch detection device and a touch controller. The touch detection device detects the touch position of the user and detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, and converts it into touch coordinates, and then sends it to the processor 1101, and can also receive commands from the processor 1101 and execute them. The touch panel can cover the display panel, and when the touch panel detects a touch operation thereon or therearound, it transmits to the processor 1101 to determine the type of touch event, and then the processor 1101 provides corresponding visual output on the display panel according to the type of touch event. In the embodiments of the present application, the touch panel and the display panel can be integrated into the touch display screen 1103 to realize the input and output functions. However, in some embodiments, the touch panel and the touch panel can realize the input and output functions as two independent components. That is, the touch display screen 1103 can also realize the input function as part of the input unit 1106.

[0103] The radio frequency circuit 1104 can be used to transceive radio frequency signals to establish wireless communication with network devices or other electronic devices, and transceive signals between network devices or other electronic devices.

[0104] The audio circuit 1105 can be used to provide an audio interface between a user and the electronic device through a speaker and a microphone. The audio circuit 1105 can convert received audio data into an electrical signal and transmit the electrical signal to the speaker for conversion into a sound signal and output; on the other hand, the microphone collects a sound signal and converts the sound signal into an electrical signal, which is received by the audio circuit 1105 and converted into audio data, and then output to the processor 1101 for processing, and then transmitted to another electronic device through the radio frequency circuit 1104, or output to the memory 1102 for further processing. The audio circuit 1105 can also include a headphone jack to provide communication between an external device and the electronic device.

[0105] The input unit 1106 can be used to receive input digital, character information or user feature information (such as fingerprint, iris, face information, etc.), and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0106] The power supply 1107 is used to supply power to various components of the electronic device 1100. Optionally, the power supply 1107 can be logically connected to the processor 1101 through a power management system, so that the power management system can realize functions such as management of charging, discharging and power consumption management. The power supply 1107 can also include one or more direct current or alternating current power supplies, recharging systems, power failure detection circuits, power converters or inverters, power state indicators, and any other components.

[0107] Although Figure 5 The electronic device 1100 can also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which are not described here.

[0108] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0109] Those of ordinary skill in the art can understand that all or part of the steps of the various methods of the above embodiments can be completed by instructions, or by instructions controlling related hardware, which can be stored in a computer readable storage medium and loaded and executed by a processor.

[0110] To this end, the embodiments of the present application provide a computer readable storage medium, which stores a plurality of computer programs capable of being loaded by a processor to execute any motion control method provided by the embodiments of the present application. The computer program can execute the steps of the following motion control method:

[0111] In response to the motion control instruction of the robot, a current motion state parameter of the robot is acquired, the motion state parameter including a body state parameter and a foot end state parameter of the robot;

[0112] According to the motion control instruction and the motion state parameter, a target center of mass trajectory of the robot is determined;

[0113] The robot is controlled to run in the target center of mass trajectory.

[0114] The specific implementation of each operation can refer to the foregoing embodiments, which will not be described here again.

[0115] The computer readable storage medium can include a read only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0116] Due to the computer program stored in the computer readable storage medium, any motion control method provided by the embodiments of the present application can be executed, thus the beneficial effects of any motion control method provided by the embodiments of the present application can be achieved, which will be described in detail in the foregoing embodiments, and will not be described here again.

[0117] In the above motion control device, computer readable storage medium, electronic device and computer program product, the description of each embodiment has its own focus, and the part not described in detail in an embodiment can refer to the related description of other embodiments. It can be clearly understood by those skilled in the art that, for the convenience and brevity of description, the specific working process of the above-described motion control device, computer readable storage medium, computer program product, electronic device and corresponding units and the beneficial effects brought by them can refer to the description of the motion control method in the above embodiments, and will not be described here again.

[0118] The above describes in detail a motion control method, a motion control device, an electronic device, a computer readable storage medium and a computer program product provided by the embodiments of the present application. The principle and implementation manner of the present application are described by applying specific examples in this paper. The above embodiment description is only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manner and application range will be changed. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A motion control method characterized by, The motion control method comprises: in response to a motion control instruction of a robot, acquiring a current motion state parameter of the robot, the motion state parameter comprising a body state parameter and a foot end state parameter of the robot; determining a target center of mass trajectory of the robot according to the motion control instruction and the motion state parameter; controlling the robot to run in the target center of mass trajectory.

2. The motion control method of claim 1, wherein, The control of the robot to run in the target center of mass trajectory comprises: determining a target foot end trajectory of each foot of the robot based on the target center of mass trajectory and the phase of each foot of the robot; controlling the robot to run in the target center of mass trajectory and the target foot end trajectory.

3. The motion control method of claim 2, wherein, The control of the robot to run in the target center of mass trajectory and the target foot end trajectory comprises: processing the target center of mass trajectory and the body state parameter through a model predictive controller to determine a target foot end force corresponding to each foot of the robot; controlling the robot to run based on the target center of mass trajectory, the target foot end trajectory and the target foot end force corresponding to each foot.

4. The motion control method of claim 3, wherein, The control of the robot to run based on the target center of mass trajectory, the target foot end trajectory and the target foot end force corresponding to each foot comprises: processing the target center of mass trajectory, the target foot end trajectory, the motion state parameter of the robot and the target foot end force corresponding to each foot through a whole body controller to determine a target joint torque of each joint on each foot; controlling each joint of the robot to run in the corresponding target joint torque.

5. The motion control method of claim 1, wherein, The robot is provided with an inertial measurement unit, a joint encoding unit and a foot end contact detection unit, and the acquisition of the current motion state parameter of the robot comprises: acquiring inertial measurement parameters, joint information and foot end contact force of the robot, the inertial measurement parameters being collected through the inertial measurement unit, the joint information being collected through the joint encoding unit, and the foot end contact force being collected through the foot end contact detection unit; determining the current motion state parameter of the robot according to the inertial measurement parameters, the joint information and the foot end contact force.

6. The motion control method of claim 5, wherein, The determination of the current motion state parameter of the robot according to the inertial measurement parameters, the joint information and the foot end contact force comprises: filtering the inertial measurement parameters, the joint information and the foot end contact force through a state estimator to obtain the motion state parameter.

7. A motion control method according to any one of claims 1 to 6, characterized in that, The body state parameter comprises at least one of attitude, body height and speed information, and the foot end state parameter comprises at least one of foot end position, speed and contact flag, the contact flag being used to indicate the contact of the corresponding foot of the robot.

8. A motion control apparatus characterized by comprising: The motion control device comprises: an acquisition module, configured to acquire a current motion state parameter of a robot in response to a motion control instruction of the robot, the motion state parameter comprising a body state parameter and a foot end state parameter of the robot; a determination module, configured to determine a target center of mass trajectory of the robot according to the motion control instruction and the motion state parameter; a control module, configured to control the robot to run in the target center of mass trajectory.

9. An electronic device, comprising: The computer readable storage medium comprises a computer program, when the computer program is run on the electronic device, the computer program is used to make the electronic device execute the steps of the motion control method in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a computer program, when the computer program is run on the electronic device, the computer program is used to make the electronic device execute the steps of the motion control method in any one of claims 1-7.

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