Gait adjustment method, multi-legged robot, and computer-readable storage medium

Abstract

The present invention discloses a gait adjustment method, a multi-legged robot, and a computer-readable storage medium. The multi-legged robot has at least two preset gaits and at least one transition gait, each preset gait is provided with a corresponding preferred energy consumption value interval, and the gait adjustment method includes: determining a target speed value; according to the target speed value, determining the target gait among at least two preset gaits and at least one transition gait, when the target gait is a preset gait, according to the corresponding relationship data between the energy consumption value and the speed value of the multi-legged robot, the energy consumption value corresponding to the target speed value is within the preferred energy consumption value interval corresponding to the corresponding preset gait; and controlling the multi-legged robot to move with the target speed value and the target gait. The above-mentioned gait adjustment method determines the preferred target gait corresponding to the energy consumption value of the target speed value according to the target speed value, and when the multi-legged robot is controlled to move with the target speed value, the gait can be adjusted to the target gait, so as to achieve the effect of improving the endurance by reducing energy consumption.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-legged robots, and in particular to a gait adjustment method, a multi-legged robot, and a computer-readable storage medium. Background Art

[0002] With the development of science and technology and the continuous progress of robotics, various robots have gradually appeared in human life to help humans complete specific tasks. As a type of legged robot, quadruped robots have the ability to cross obstacles that wheeled robots lack, while simplifying the complex balance control principles of bipedal robots. They are currently one of the robots that are most easily integrated into human daily life.

[0003] For quadruped robots, using legs to support body movement consumes more energy than wheeled robots. However, quadruped robots have their own carrying capacity limitations and cannot be equipped with larger capacity batteries, making the battery life problem of quadruped robots particularly obvious. Summary of the invention

[0004] The invention provides a gait adjustment method, a multi-legged robot, and a computer-readable storage medium.

[0005] An embodiment of the present invention provides a gait adjustment method for a multi-legged robot, wherein the multi-legged robot has at least two preset gaits and at least one transition gait, each of the preset gaits is provided with a corresponding preferred energy consumption value interval, and the gait adjustment method comprises:

[0006] Determine the target speed value;

[0007] According to the target speed value, a target gait is determined among the at least two preset gaits and at least one transition gait, and when the target gait is a preset gait, according to the corresponding relationship data between the energy consumption value and the speed value of the multi-legged robot, the energy consumption value corresponding to the target speed value is within the preferred energy consumption value interval corresponding to the corresponding preset gait;

[0008] The multi-legged robot is controlled to move at the target speed value and the target gait.

[0009] The above-mentioned gait adjustment method can determine the target gait with the preferred energy consumption value corresponding to the target speed value according to the target speed value, so that when controlling the multi-legged robot to move at the target speed value, the gait can be adjusted to the target gait, thereby achieving the effect of improving endurance by reducing energy consumption.

[0010] In some embodiments, the gait adjustment method further includes: each of the preset gaits has a plurality of gait cycles, and according to the preferred energy consumption value interval corresponding to each preset gait, screening out at least one preferred gait cycle corresponding to each preset gait;

[0011] According to the corresponding relationship data between the energy consumption value and the speed value and at least one preferred gait cycle corresponding to each preset gait, the preferred speed value interval of at least one preferred gait cycle corresponding to each preset gait is determined.

[0012] In some embodiments, the at least two preset gaits include a first gait and a second gait, the first gait and the second gait are different preset gaits, and the gait cycle of the first gait and the gait cycle of the second gait belong to the preferred gait cycle corresponding to the respective preset gaits; the gait parameters include a gait cycle, a sequence parameter and a take-off parameter, and the gait parameters of the transition gait are obtained by the following method:

[0013] Determine the gait cycle of the transition gait according to the target speed value, the gait cycle of the first gait and the first speed value in the corresponding preferred speed value interval, the gait cycle of the second gait and the second speed value in the corresponding preferred speed value interval;

[0014] Determining the order parameter of the transition gait according to the target speed value, the order parameter of the first gait and the first speed value, the order parameter of the second gait and the second speed value;

[0015] The flight parameters of the transition gait are determined according to the target speed value, the flight parameters of the first gait and the first speed value, the flight parameters of the second gait and the second speed value.

[0016] In some embodiments, controlling the multi-legged robot to move at the target speed value and the target gait includes:

[0017] When the target speed value is within the preferred speed value interval, controlling the multi-legged robot to move at the target speed value and a preset gait corresponding to the target speed value;

[0018] When the target speed value is outside the preferred speed value interval, the multi-legged robot is controlled to move at the target speed value and a transition gait corresponding to the target speed value.

[0019] An embodiment of the present invention provides a multi-legged robot, wherein the multi-legged robot has at least two preset gaits and at least one transition gait, each of the preset gaits is provided with a corresponding preferred energy consumption value interval, and the multi-legged robot includes a control module, wherein the control module is used to:

[0020] Determine the target speed value;

[0021] According to the target speed value, a target gait is determined from the at least two preset gaits and the at least one transition gait, and when the target gait is a preset gait, according to the corresponding relationship data between the energy consumption value and the speed value of the multi-legged robot, the energy consumption value corresponding to the target speed value is within the preferred energy consumption value interval corresponding to the corresponding preset gait;

[0022] The multi-legged robot is controlled to move at the target speed value and the target gait.

[0023] The above-mentioned multi-legged robot can determine the target gait with the preferred energy consumption value corresponding to the target speed value according to the target speed value, so that when the multi-legged robot is controlled to move at the target speed value, the gait can be adjusted to the target gait, thereby achieving the effect of improving endurance by reducing energy consumption.

[0024] In some embodiments, the control module is used to:

[0025] Each of the preset gaits has a plurality of gait cycles, and at least one preferred gait cycle corresponding to each preset gait is screened out according to the preferred energy consumption value interval corresponding to each preset gait;

[0026] According to the corresponding relationship data between the energy consumption value and the speed value and at least one preferred gait cycle corresponding to each preset gait, the preferred speed value interval of at least one preferred gait cycle corresponding to each preset gait is determined.

[0027] In some embodiments, the at least two preset gaits include a first gait and a second gait, the first gait and the second gait are different preset gaits, and the gait cycle of the first gait and the gait cycle of the second gait belong to the preferred gait cycle corresponding to the respective preset gaits, the gait parameters include a gait cycle, a sequence parameter and a flight parameter, and the control module is used to:

[0028] Determine the gait cycle of the transition gait according to the target speed value, the gait cycle of the first gait and the first speed value in the corresponding preferred speed value interval, the gait cycle of the second gait and the second speed value in the corresponding preferred speed value interval;

[0029] Determining the order parameter of the transition gait according to the target speed value, the order parameter of the first gait and the first speed value, the order parameter of the second gait and the second speed value;

[0030] The flight parameters of the transition gait are determined according to the target speed value, the flight parameters of the first gait and the first speed value, the flight parameters of the second gait and the second speed value.

[0031] In some embodiments, the control module is used to:

[0032] When the target speed value is within the preferred speed value interval, controlling the multi-legged robot to move at the target speed value and a preset gait corresponding to the target speed value;

[0033] When the target speed value is outside the preferred speed value interval, the multi-legged robot is controlled to move at the target speed value and a transition gait corresponding to the target speed value.

[0034] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the gait adjustment method described in any of the above embodiments is implemented.

[0035] The above-mentioned computer-readable storage medium can determine the target gait with the preferred energy consumption value corresponding to the target speed value according to the target speed value, so that when controlling the multi-legged robot to move at the target speed value, the gait can be adjusted to the target gait, thereby achieving the effect of improving endurance by reducing energy consumption.

[0036] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0038] Figure 1 Schematic diagram of the hardware structure of a multi-legged robot according to an embodiment of the present invention;

[0039] Figure 2 is a schematic structural diagram of a multi-legged robot according to an embodiment of the present invention;

[0040] Figure 3 is a flow chart of a gait adjustment method according to an embodiment of the present invention;

[0041] Figure 4 is a flow chart of a gait adjustment method according to an embodiment of the present invention;

[0042] Figure 5 It is a data schematic diagram of the corresponding relationship between the energy consumption value and the speed value of the multi-legged robot according to an embodiment of the present invention;

[0043] Figure 6 yes Figure 5 An enlarged view of part VI;

[0044] Figure 7-Figure 8 is a flow chart of a gait adjustment method according to an embodiment of the present invention;

[0045] Figure 9-10 is another data schematic diagram of the corresponding relationship between the energy consumption value and the speed value of the multi-legged robot according to an embodiment of the present invention;

[0046] Fig.11 4 is a flow chart of a gait adjustment method according to an embodiment of the present invention.

[0047] Description of main component symbols:

[0048] Multi-legged robot 100, mechanical unit 101, drive board 1011, motor 1012, mechanical structure 1013, body 1014, legs 1015, feet 1016, communication unit 102, sensor unit 103, interface unit 104, storage unit 105, display unit 106, input unit 107, touch panel 1071, input device 1072, touch detection device 1073, touch controller 1074, audio output unit 108, control module 110, power supply 111. DETAILED DESCRIPTION

[0049] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0050] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0053] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0054] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent components are only used to facilitate the description of the present invention, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0055] See also Figure 1 , Figure 1 FIG. 1 is a schematic diagram of the hardware structure of a multi-legged robot 100 according to one embodiment of the present invention. Figure 1 In the illustrated embodiment, the multi-legged robot 100 includes a mechanical unit 101, a communication unit 102, a sensor unit 103, an interface unit 104, a storage unit 105, a control module 110, and a power supply 111. The various components of the multi-legged robot 100 can be connected in any manner, including wired or wireless connections. Those skilled in the art will appreciate that Figure 1 The specific structure of the multi-legged robot 100 shown in the figure does not constitute a limitation of the multi-legged robot 100. The multi-legged robot 100 may include more or fewer components than shown in the figure. Some components are not essential components of the multi-legged robot 100 and can be omitted or combined as needed without changing the essence of the invention.

[0056] Combine the following Figure 1 The various components of the multi-legged robot 100 are introduced in detail:

[0057] The mechanical unit 101 is the hardware of the multi-legged robot 100. Figure 1 As shown, the mechanical unit 101 may include a driving plate 1011, a motor 1012, and a mechanical structure 1013. Figure 2 As shown, the mechanical structure 1013 may include a body 1014, extendable legs 1015, and a foot 1016. In other embodiments, the mechanical structure 1013 may also include an extendable mechanical arm, a rotatable head structure, a swingable tail structure, a load-bearing structure, a saddle structure, a camera structure, etc. It should be noted that each component module of the mechanical unit 101 may be one or more, and may be arranged according to specific circumstances. For example, there may be four legs 1015, and each leg 1015 may be configured with three motors 1012, and the corresponding motors 1012 are 12.

[0058] The communication unit 102 can be used to receive and send signals, and can also communicate with the network and other devices, for example, after receiving the instruction information sent by the remote control or other multi-legged robot 100 to move in a specific direction at a specific speed according to a specific gait, the communication unit 102 is transmitted to the control module 110 for processing. The communication unit 102 includes, for example, a WiFi module, a 4G module, a 5G module, a Bluetooth module, an infrared module, etc.

[0059] The sensing unit 103 is used to obtain information data about the environment around the multi-legged robot 100 and to monitor parameter data of each component inside the multi-legged robot 100, and send it to the control module 110. The sensing unit 103 includes a variety of sensors, such as sensors for obtaining information about the surrounding environment: laser radar (for long-range object detection, distance determination and / or speed value determination), millimeter wave radar (for short-range object detection, distance determination and / or speed value determination), camera, infrared camera, global navigation satellite system (GNSS, Global Navigation Satellite System), etc. For example, sensors for monitoring each component inside the multi-legged robot 100: inertial measurement unit (IMU, Inertial Measurement Unit) (for measuring the value of velocity value, acceleration value and angular velocity value), plantar sensor (for monitoring the position of the plantar force point, plantar posture, ground contact force size and direction), temperature sensor (for detecting component temperature). As for other sensors such as load sensors, touch sensors, motor angle sensors, torque sensors, etc. that can also be configured for the multi-legged robot 100, they will not be repeated here.

[0060] The interface unit 104 may be used to receive input (e.g., data information, power, etc.) from an external device and transmit the received input to one or more components within the multi-legged robot 100, or may be used to output (e.g., data information, power, etc.) to an external device. The interface unit 104 may include a power port, a data port (such as a USB port), a memory card port, a port for connecting a device having an identification module, an audio input / output (I / O) port, a video I / O port, etc.

[0061] The storage unit 105 is used to store software programs and various data. The storage unit 105 may mainly include a program storage area and a data storage area, wherein the program storage area may store operating system programs, motion control programs, application programs (such as text editors), etc.; the data storage area may store data generated by the multi-legged robot 100 during use (such as various sensor data obtained by the sensor unit 103, log file data), etc. In addition, the storage unit 105 may include a high-speed random access memory, and may also include a non-volatile memory, such as a disk storage, a flash memory, or other volatile solid-state memory.

[0062] The display unit 106 is used to display information input by the user or information provided to the user. The display unit 106 may include a display panel 1061, which may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), or the like.

[0063] The input unit 107 can be used to receive input digital or character information. Specifically, the input unit 107 may include a touch panel 1071 and other input devices 1072. The touch panel 1071, also known as a touch screen, can collect the user's touch operation (such as the user's operation on the touch panel 1071 or near the touch panel 1071 using the palm, finger or suitable accessory), and drive the corresponding connection device according to a pre-set program. The touch panel 1071 may include two parts: a touch detection device 1073 and a touch controller 1074. Among them, the touch detection device 1073 detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller 1074; the touch controller 1074 receives the touch information from the touch detection device 1073, converts it into contact coordinates, and then sends it to the control module 110, and can receive and execute commands sent by the control module 110. In addition to the touch panel 1071, the input unit 107 may also include other input devices 1072. Specifically, other input devices 1072 may include but are not limited to one or more of a remote control operating handle, etc., which are not specifically limited here.

[0064] Furthermore, the touch panel 1071 may cover the display panel 1061. When the touch panel 1071 detects a touch operation on or near it, it transmits the information to the control module 110 to determine the type of the touch event. Then, the control module 110 provides corresponding visual output on the display panel 1061 according to the type of the touch event. Figure 1 In the embodiment, the touch panel 1071 and the display panel 1061 are used as two independent components to respectively realize the input and output functions. However, in some embodiments, the touch panel 1071 and the display panel 1061 can be integrated to realize the input and output functions, which is not limited here.

[0065] The audio output unit 108 can convert the audio data received by the communication unit 102 or stored in the storage unit 105 into an audio signal and output it as sound. The audio output unit 108 can include a speaker, a buzzer, and the like.

[0066] The control module 110 is the control center of the multi-legged robot 100. It uses various interfaces and lines to connect the various components of the entire multi-legged robot 100, and controls the multi-legged robot 100 as a whole by running or executing software programs stored in the storage unit 105 and calling data stored in the storage unit 105.

[0067] The power supply 111 is used to supply power to each component. The power supply 111 may include a battery and a power control board. The power control board is used to control functions such as battery charging, discharging, and power consumption management. Figure 1In the illustrated embodiment, the power supply 111 is electrically connected to the control module 110. In other embodiments, the power supply 111 may also be electrically connected to the sensor unit 103 (such as a camera, a radar, a speaker, etc.) and the motor 1012. It should be noted that each component may be connected to a different power supply 111 or powered by the same power supply 111.

[0068] On the basis of the above embodiments, specifically, in some embodiments, a terminal device can be used to communicate with the multi-legged robot 100. When the terminal device communicates with the multi-legged robot 100, the terminal device can send instruction information to the multi-legged robot 100. The multi-legged robot 100 can receive the instruction information through the communication unit 102, and can transmit the instruction information to the control module 110 after receiving the instruction information, so that the control module 110 can process the target speed value according to the instruction information. The terminal device includes but is not limited to: a mobile phone with an image shooting function, a tablet computer, a server, a personal computer, a wearable smart device, and other electrical devices.

[0069] The instruction information can be determined according to preset conditions. In one embodiment, the multi-legged robot 100 may include a sensor unit 103, and the sensor unit 103 may generate instruction information according to the current environment where the multi-legged robot 100 is located. The control module 110 may determine whether the current speed value of the multi-legged robot 100 meets the corresponding preset conditions according to the instruction information. If satisfied, the current speed value and current gait of the multi-legged robot 100 will be maintained; if not satisfied, the target speed value and the corresponding target gait will be determined according to the corresponding preset conditions, so that the multi-legged robot 100 can be controlled to move with the target speed value and the corresponding target gait. The environmental sensor may include a temperature sensor, an air pressure sensor, a visual sensor, and a sound sensor. The instruction information may include temperature information, air pressure information, image information, and sound information. The communication method between the environmental sensor and the control module 110 may be wired communication or wireless communication. The wireless communication method includes but is not limited to: wireless network, mobile communication network (3G, 4G, 5G, etc.), Bluetooth, infrared.

[0070] Please refer to Figure 2 and Figure 3 , an embodiment of the present invention provides a gait adjustment method for a multi-legged robot 100. The multi-legged robot 100 has a plurality of preset gaits. The gait adjustment method includes:

[0071] 02: Determine the target speed value;

[0072] 03: According to the target speed value, determine the target gait from at least two preset gaits and at least one transition gait. When the target gait is the preset gait, according to the corresponding relationship data between the energy consumption value and the speed value of the multi-legged robot 100, the energy consumption value corresponding to the target speed value is within the preferred energy consumption value range corresponding to the corresponding preset gait;

[0073] 04: Control the multi-legged robot 100 to move at a target speed value and a target gait.

[0074] The gait adjustment method of the embodiment of the present invention can be implemented by the multi-legged robot 100 of the embodiment of the present invention. Figure 1 The control module 110 is used to: determine a target speed value; determine a target gait among at least two preset gaits and at least one transition gait according to the target speed value; when the target gait is a preset gait, according to the corresponding relationship data between the energy consumption value and the speed value of the multi-legged robot 100, the energy consumption value corresponding to the target speed value is within the preferred energy consumption value range corresponding to the corresponding preset gait; control the multi-legged robot 100 to move at the target speed value and the target gait.

[0075] The above-mentioned gait adjustment method and multi-legged robot 100 can determine the target gait with the preferred energy consumption value corresponding to the target speed value according to the target speed value, so that when the multi-legged robot 100 is controlled to move at the target speed value, the gait can be adjusted to the target gait, thereby achieving the effect of improving endurance by reducing energy consumption.

[0076] Among them, the correspondence data between the energy consumption value and the speed value of the multi-legged robot 100 refers to the correspondence data between the energy consumption value and the speed value of the multi-legged robot 100 in each preset gait. The correspondence data between the energy consumption value and the speed value can be empirical data, or obtained based on statistics from product experimental tests, or obtained based on statistics during the product use process.

[0077] The method for determining the target speed value may be a speed value strategy calculated by the robot based on the obtained destination distance, destination distance and completion time, and in combination with external environmental factors. According to the strategy, the multi-legged robot 100 continuously adjusts the current speed value to the target speed value. For example, the robot only obtains the destination instruction. If there is no requirement for the robot's moving time, the robot will calculate a speed value strategy with a more energy-saving value; the robot obtains the destination and completion time instructions. If the time is short, the robot will calculate a strategy with a more energy-saving value while maintaining a certain speed value; if the external environment obtained is on a flat ground, a high-speed passing strategy may be preferably adopted; if the external environment obtained is an external environment with obstacles on the road, many pedestrians or a slippery ground, a low-speed passing strategy may be adopted; as an embodiment, the moving speed value strategy may be to move slowly first, then gradually speed up, and then gradually slow down when approaching the destination, and adjust the speed value in the middle section according to the specific conditions of the environment.

[0078] The target speed value may also be determined by continuously matching the correction value obtained according to the current scene, so that the multi-legged robot 100 adjusts the current speed value to the target speed value while continuously correcting the target speed value. For example, the user manually adjusts the speed value through a remote control, or sends a speed value instruction directly to the robot through voice control. The robot will quickly adjust to the speed value while taking into account the energy consumption value.

[0079] The robot has multiple preset gaits, such as walk gait, trot gait, and gallop gait; the transition gait can be a transition gait between walk gait and trot gait, a transition gait between trot gait and gallop gait, or a transition gait between walk gait and gallop gait.

[0080] Each preset gait has a corresponding preferred energy consumption value range. The robot can select the gait cycle corresponding to the lowest energy consumption value under the gait, or select the gait cycle with an energy consumption value slightly higher than the lowest value.

[0081] The preferred energy consumption value interval can be set by the user or obtained through testing, or can be obtained by the robot through self-learning during actual use. The energy consumption value interval is not fixed, but can be dynamically adjusted according to the setting or robot self-learning;

[0082] It can be understood that each preset gait will have a corresponding preferred speed value interval, so that when the multi-legged robot 100 moves with the preset gait and the speed value within the preferred speed value interval corresponding to the preset gait, the energy consumption value generated will be less than or equal to the preset value, so that the target gait can be determined according to each preset gait and the corresponding preferred speed value interval. In other words, when the multi-legged robot 100 uses one of the preset gaits as the gait when moving, if it moves with the preferred speed value interval corresponding to the preset gait, the multi-legged robot 100 can have sufficiently low energy consumption in the preset gait.

[0083] Specifically, after determining the target speed value, a preset gait corresponding to the target speed value can be determined according to the target speed value, and the corresponding preset gait can be used as the target gait. In other words, according to the preset gait with a low energy consumption value corresponding to the target speed value, the multi-legged robot 100 can achieve the effect of optimizing the energy consumption value by changing the gait of the multi-legged robot 100 when moving at the target speed value.

[0084] In some embodiments, controlling the multi-legged robot 100 to move at a target speed value and a target gait includes:

[0085] The current speed value is adjusted to the target speed value, and the gait parameters of the current gait are adjusted to the gait parameters of the target gait.

[0086] The gait adjustment method of the embodiment of the present invention can be implemented by the multi-legged robot 100 of the embodiment of the present invention. Figure 1 The control module 110 is used to: adjust the current speed value to the target speed value, and adjust the gait parameters of the current gait to the gait parameters of the target gait.

[0087] In this way, the current speed value and the current gait of the multi-legged robot 100 can be adjusted.

[0088] Specifically, when controlling the movement of the multi-legged robot 100, if the target speed value and the corresponding target gait are determined, the gait parameters under the current gait can be adjusted to the gait parameters under the target gait, so that the multi-legged robot 100 can move in the target gait. In this process, the current speed value of the multi-legged robot 100 will also be adjusted to the target speed value, so that the current speed value and the current gait of the multi-legged robot 100 can be adjusted. In addition, in some embodiments, the multi-legged robot 100 can change the current speed value by adjusting the gait parameters of the current gait.

[0089] Please refer to Figure 1 and Figure 2In some embodiments, the multi-legged robot 100 includes a motor 1012 and a plurality of legs 1015. The motor 1012 is used to drive the plurality of legs 1015 to move according to a target speed value and a target gait.

[0090] In this way, the speed value and gait of the multi-legged robot 100 can be changed by driving the motor 1012 .

[0091] Specifically, in Figure 2 In the illustrated embodiment, there are four motors 1012 and four legs 1015, and each motor 1012 is connected to a corresponding leg 1015, so that the motor 1012 can be used to drive the corresponding leg 1015 to move to drive the multi-legged robot 100 to move. The motor 1012 is electrically connected to the control module 110. When the control module 110 adjusts the speed value of the multi-legged robot 100, the electrical parameters of the motor 1012 can be adjusted, so that when the motor 1012 is operated according to the adjusted electrical parameters, it will drive the leg 1015 to make corresponding adjustments, and finally achieve the effect of changing the speed value and gait of the multi-legged robot 100. The electrical parameters of the motor 1012 may include current and voltage.

[0092] In addition, the multi-legged robot 100 can be provided with a corresponding number of motors 1012 according to specific circumstances, such as 1, 2, 3, 4, 5, and more than 5. In one embodiment, the number of motors 1012 is 12. The motors 1012 can be installed at corresponding positions according to the specific structure of the multi-legged robot 100, and the specific installation positions of the motors 1012 on the multi-legged robot 100 are not limited here.

[0093] Regarding the energy consumption value of the multi-legged robot 100, in some such embodiments, please combine Figure 2 , the energy consumption value (unit: J) of the multi-legged robot 100 is:

[0094] E=tau*w*t,

[0095] Wherein, E is the energy consumption value of the multi-legged robot 100, tau is the output torque of the motor 1012 (unit: N*m), and w is the speed of the motor 1012 (unit: s -1 ), t is time (unit: s). The energy consumption value of the multi-legged robot 100 may be the total work done by the multi-legged robot 100 in time t when the multi-legged robot 100 drives itself to move through the legs 1015 .

[0096] In summary, the gait adjustment method and the multi-legged robot 100 of the embodiment of the present invention can determine the corresponding target gait according to the target speed value. Since the energy consumption value generated when the multi-legged robot 100 moves at the target speed value under the target gait will be less than or equal to the preset value, the effect of reducing the energy consumption value generated by the movement of the multi-legged robot 100 can be achieved. In other words, by adjusting the gait of the multi-legged robot 100 when moving, the energy consumption of the multi-legged robot 100 can be saved, thereby achieving the effect of enhancing the endurance function. Compared with the energy consumption value comparison experiment under the relevant technology, the cruising range of the multi-legged robot 100 of the embodiment of the present invention can be increased by 10% to 20%. In other embodiments, the preset value can be determined based on the corresponding relationship data between the energy consumption value and the speed value under the preset gait.

[0097] In addition, Figure 2 In the illustrated embodiment, the number of legs 1015 of the multi-legged robot 100 is four. In other embodiments, the number of legs 1015 of the multi-legged robot 100 may be three, five, or more than five.

[0098] The preset gait can be determined by the corresponding gait parameters. Figure 2 In some embodiments, the multi-legged robot 100 includes a plurality of legs 1015. The gait parameters include a gait cycle, an order parameter, and a soaring parameter. The gait cycle corresponds to the time it takes for all the legs 1015 to take a step. The order parameter corresponds to the order of the legs 1015 taking steps. The soaring parameter corresponds to the duration of each leg 1015 being soaring in the gait cycle.

[0099] In this way, the corresponding preset gait can be determined through corresponding parameters.

[0100] It is understood that for the multi-legged robot 100, different gaits may be represented by different parameters. That is, by determining the parameters of the corresponding representation, the corresponding gait may be determined. In some embodiments, the multi-legged robot 100 may have a walk gait, a trot gait, and a gallop gait.

[0101] For the gait cycle, specifically, the leg 1015 performs a stepping operation from starting to take off and then landing. From the time the first leg 1015 among the multiple legs 1015 takes a step to the time the last leg 1015 lands, all the multiple legs 1015 take a step. In other words, the time from the time the first leg 1015 takes a step to the time the last leg 1015 lands is the gait cycle. According to the size of the gait cycle, the movement frequency of the multiple legs 1015 of the multi-legged robot 100 can be determined. The larger the gait cycle, the lower the movement frequency of the leg 1015; the smaller the gait cycle, the higher the movement frequency of the leg 1015. In one embodiment, a gait cycle of a walk gait is 1000ms (milliseconds), and a gait cycle of a trot gait is 500ms (milliseconds).

[0102] In addition, in some embodiments, the same gait may have multiple gait cycles. In such an embodiment, the gait cycle interval of the walk gait of the multi-legged robot 100 is [800, 1200] ms, that is, when the time for all the legs 1015 of the multi-legged robot 100 to take a step is within the range of 800ms to 1200ms, the corresponding gait can be determined to be a walk gait.

[0103] Regarding the order parameter, specifically, in order to ensure that the multi-legged robot 100 maintains good stability when moving, when one part of the legs 1015 takes a step, another part of the legs 1015 is required to support the multi-legged robot 100 as a whole. The order parameter can be determined according to the order in which all the legs 1015 take steps one after another.

[0104] It should be pointed out that the order parameter is a multidimensional vector, and the dimension of the order parameter corresponds to the number of legs 1015. Specifically, each leg 1015 has a corresponding order value, and the stepping order of the corresponding leg 1015 can be determined according to the size of the order value. The smaller the order value, the earlier the corresponding leg 1015 will step; the larger the order value, the later the corresponding leg 1015 will step. In other words, the order parameter represents the ratio of the time when each leg 1015 starts to step and the gait cycle. The order parameter corresponding to the preset gait can be determined based on all the order values. In some embodiments, the numerical range of the order value is [0,1].

[0105] Further, in such an embodiment, the gait period under one of the preset gaits is 1000ms and the order parameter is [0, 0.25, 0.5, 0.75]. Specifically, the first leg 1015 will take a step at 0ms, the second leg 1015 will take a step at 250ms, the third leg 1015 will take a step at 500ms, and the fourth leg 1015 will take a step at 750ms. In other words, the product of the order value and the gait period represents the moment when the leg 1015 starts to take a step within the gait period.

[0106] In addition, in some embodiments, the same gait may have multiple different order parameters. Specifically, in such an embodiment, the order parameters in the walk gait may be [0, 0.25, 0.5, 0.75], [0.1, 0.25, 0.5, 0.75], [0, 0.3, 0.5, 0.75], [0, 0.25, 0.6, 0.75], [0, 0.25, 0.5, 0.8]. In other words, the order values ​​corresponding to the legs 1015 may be adjusted to obtain multiple order parameters. Multiple order parameters may be adjusted according to specific circumstances, or may be pre-calibrated through actual tests. The order parameter in the above embodiment is to adjust the order value of one of the legs 1015. In other embodiments, the order values ​​of multiple legs 1015 may be adjusted according to actual application scenarios. No specific limitation is made here.

[0107] Regarding the flight parameters, specifically, during the movement of the multi-legged robot 100, the legs 1015 will be in the air for a certain period of time before landing when taking a step. In the corresponding gait cycle, the flight parameters can be determined accordingly based on the length of the flight time of the legs 1015.

[0108] It should be pointed out that the soaring parameter is a multidimensional vector, and the dimension of the soaring parameter corresponds to the number of legs 1015. Specifically, each leg 1015 has a corresponding duty cycle, and the soaring proportion of the corresponding leg 1015 in the gait cycle can be determined according to the size of the duty cycle. The smaller the duty cycle, the shorter the soaring time of the corresponding leg 1015 and the faster the stepping action of the leg 1015; the larger the duty cycle, the longer the soaring time of the corresponding leg 1015 and the slower the stepping action of the leg 1015. The soaring parameter corresponding to the preset gait can be determined based on all the duty cycles. In other words, the soaring parameter represents the proportion of the soaring time of each leg 1015 in the entire gait cycle. In some embodiments, the value range of the duty cycle is [0,1].

[0109] Further, in such an embodiment, the gait cycle in one gait is 1000ms, and the air parameter is [0.25, 0.25, 0.25, 0.25]. Specifically, the air duration of the first leg 1015 is 250ms, the air duration of the second leg 1015 is 250ms, the air duration of the third leg 1015 is 250ms, and the air duration of the fourth leg 1015 is 250ms. When a gait cycle is completed, the air duration of each leg 1015 is determined with the same air duty ratio in the next gait cycle. That is, the product of the duty ratio and the gait cycle represents the air duration of the leg 1015 in the gait cycle.

[0110] In addition, in some embodiments, the same gait may have multiple different take-off parameters. Specifically, in such an embodiment, the take-off parameters in the walk gait may be [0.25, 0.25, 0.25, 0.25], [0.3, 0.25, 0.25, 0.25], [0.25, 0.3, 0.25, 0.25], [0.25, 0.25, 0.3, 0.25], [0.25, 0.25, 0.3, 0.25], [0.25, 0.25, 0.25, 0.3]. In other words, the duty cycle corresponding to the leg 1015 may be adjusted to obtain multiple take-off parameters. Multiple take-off parameters may be adjusted according to specific circumstances, or may be pre-calibrated through actual testing. The take-off parameters in the above embodiments are to adjust the duty cycle of one of the legs 1015. In other embodiments, the duty cycles of multiple legs 1015 may be adjusted according to actual application scenarios. No specific limitation is made here.

[0111] On the basis of the above, by setting different gait cycles, sequence parameters and take-off parameters for all preset gaits, the corresponding preset gaits can be determined according to the corresponding gait cycles, sequence parameters and take-off parameters.

[0112] In certain embodiments, see Figure 4 , gait adjustment methods include:

[0113] 011: Each preset gait has multiple gait cycles, and at least one preferred gait cycle corresponding to each preset gait is screened out according to the preferred energy consumption value interval corresponding to each preset gait;

[0114] 012: Determine a preferred speed value interval of at least one preferred gait cycle corresponding to each preset gait according to the corresponding relationship data between the energy consumption value and the speed value and at least one preferred gait cycle corresponding to each preset gait.

[0115] The gait adjustment method of the embodiment of the present invention can be implemented by the multi-legged robot 100 of the embodiment of the present invention. Figure 1The control module 110 can be used for: each preset gait has multiple gait cycles, and according to the preferred energy consumption value interval corresponding to each preset gait, at least one preferred gait cycle corresponding to each preset gait is screened out; according to the corresponding relationship data between the energy consumption value and the speed value and at least one preferred gait cycle corresponding to each preset gait, the preferred speed value interval of at least one preferred gait cycle corresponding to each preset gait is determined.

[0116] In this way, the mapping relationship between the target speed value and the preset gait can be easily determined.

[0117] Specifically, for some gait cycles, the energy consumption values ​​corresponding to the speed values ​​at any stage may be greater than the preset value, so these gait cycles will be filtered out; while for other gait cycles, in some stages, there are situations where the energy consumption values ​​corresponding to the speed values ​​are less than or equal to the preset value. By taking the preferred energy consumption value interval as the partial stage, the corresponding gait cycle can be determined according to the required preferred energy consumption value interval, so that the preset gait in the corresponding gait cycle can achieve the effect of optimizing energy consumption. When the speed value of the multi-legged robot 100 is within the preferred energy consumption value interval, the gait cycle of the current gait can be adjusted, so that the energy consumption value of the multi-legged robot 100 is less than or equal to the preset value, and the gait cycle can be used as the preferred gait cycle.

[0118] In addition, when there are multiple selected preferred gait cycles, the multi-legged robot 100 can adopt any one of the selected multiple preferred gait cycles under the corresponding preset gait, and can ensure that the corresponding energy consumption value is within the preferred energy consumption value range. In one embodiment, the preset gait cycle corresponding to the preset gait adopted by the multi-legged robot 100 is a minimum value within the preferred energy consumption value range.

[0119] Please refer to Figure 5 and Figure 6 It can be understood that when the gait of the multi-legged robot 100 is one of the preset gaits, under the same gait cycle, the corresponding energy consumption value will also change according to the different speed values ​​adopted. In other words, the corresponding relationship data about the energy consumption value and the speed value can be obtained according to the corresponding gait cycle. According to the corresponding relationship data between the energy consumption value and the speed value, and the corresponding preferred energy consumption value interval, the preferred speed value interval corresponding to the preferred energy consumption value interval can be determined. The preferred energy consumption value interval can be pre-calibrated or determined in real time according to the current situation. Figure 5 In the illustrated embodiment, the preferred energy consumption value interval is [0, e0]. In other embodiments, the preferred energy consumption value interval may be any sub-interval of [0, e0].

[0120] In addition, in one embodiment, please combine Figure 1 and Figure 3 , the corresponding relationship data between the energy consumption value and the speed value of the preset gait can be determined by the control module 110 according to the change relationship between the energy consumption value and the speed value. In other embodiments, the multi-legged robot 100 can be communicatively connected to other test equipment for testing, and the test equipment can obtain different speed values ​​and corresponding energy consumption values ​​under the preset gait, so as to calibrate the corresponding relationship data between the energy consumption value and the speed value of the preset gait, that is, 011, 012, and 013 can be implemented by the test equipment.

[0121] On the basis of the above, in the case where the preferred gait cycle under each preset gait can be determined, by changing different preset gaits, it is possible to determine the preferred gait cycles under all the preset gaits.

[0122] Please combine Figure 5 After determining multiple gait cycles, the optimal gait cycle can be obtained through the corresponding relationship data between the energy consumption value and the speed value. In some embodiments, the corresponding relationship between the energy consumption value and the speed value in each gait cycle can be obtained by simulation testing and data sampling. Figure 5 , Figure 5 The figure shows the energy consumption-speed value curve corresponding to multiple different gait cycles under one of the preset gaits obtained through simulation test. Among them, the multiple gait cycles (milliseconds) of the preset gait are h1, h2, and h3, and h1>h2>h3. When the gait cycle is h1, the corresponding minimum energy consumption value is e1, when the gait cycle is h2, the corresponding minimum energy consumption value is e2, and when the gait cycle is h3, the corresponding minimum energy consumption value is e3. According to Figure 5 It can be determined that e3>e2>e0>e1, that is, in the preset gait, the preferred gait cycle is h1, and the corresponding preferred energy consumption value that can be had in the preset gait is e1, and e1 is within the preferred energy consumption value range. The preferred energy consumption value can be the minimum energy consumption value that can be had in the corresponding gait cycle.

[0123] Furthermore, please combine Figure 5 and Figure 6 , the speed value corresponding to the preferred energy consumption value e1 is v1, the speed value corresponding to the preferred energy consumption value e2 is v2, and the speed value corresponding to the preferred energy consumption value e3 is v3, so that the speed value v1 corresponding to the preferred energy consumption value e1 in the gait cycle h1 can be determined as the preferred speed value interval of the preset gait. In other words, when the multi-legged robot 100 moves in the preset gait and the preferred speed value interval corresponding to the preset gait, the multi-legged robot 100 can have the preferred energy consumption value in the preset gait.

[0124] In addition, in some embodiments, when the preferred energy consumption value of one of the preset gaits is e1, the preset value e0 may be equal to e1 or greater than e1.

[0125] On the basis of the above-mentioned embodiment, in other preset gaits, the corresponding preferred speed value interval can be determined by the same or similar principle, so that the multi-legged robot 100 can move with the corresponding preferred energy consumption value in the preset gait. In other words, after determining the speed value to be achieved, the corresponding preset gait can be determined. After determining the target speed value, the target gait is determined from multiple preset gaits according to the preferred speed value interval corresponding to the target speed value.

[0126] In some embodiments, the at least two preset gaits include a first gait and a second gait. The first gait and the second gait are different preset gaits, and the gait cycle of the first gait and the gait cycle of the second gait belong to the preferred gait cycle corresponding to the respective preset gaits. The gait parameters include the gait cycle, the sequence parameter and the flight parameter. Please refer to Figure 7 , gait adjustment methods include:

[0127] 014: Obtain the gait parameters of the first gait and the gait parameters of the second gait;

[0128] 015: interpolating the gait parameters of the first gait and the gait parameters of the second gait to generate a transition gait;

[0129] 016: When the current speed value corresponds to a transition gait, the multi-legged robot 100 is controlled to move in the transition gait.

[0130] The gait adjustment method of the embodiment of the present invention can be implemented by the multi-legged robot 100 of the embodiment of the present invention. Figure 1 The control module 110 can be used to: obtain the gait parameters of the first gait and the gait parameters of the second gait; perform interpolation processing on the gait parameters of the first gait and the gait parameters of the second gait to generate a transition gait; when the current speed value corresponds to the transition gait, control the multi-legged robot 100 to move with the transition gait.

[0131] In this way, the gait can be smoothly switched when the speed value changes through the transition gait, and the impact on the body of the multi-legged robot 100 itself can be reduced, which is beneficial to improving the service life of the multi-legged robot 100.

[0132] It can be understood that for the preset gait, since it is necessary to determine the preferred speed value interval, within the speed value allowable interval that the speed value of the multi-legged robot 100 can reach, it is necessary to determine the corresponding preset gait for all different speed values, which is prone to implementation difficulties. In the case of generating a transition gait, it is not necessary to determine the preset gait corresponding to each speed value according to the speed value allowable interval of the multi-legged robot 100, and under the premise of satisfying the energy consumption value generated during movement, the gait of the multi-legged robot 100 has a corresponding smooth adjustment during the change of the speed value, so that the gait of the multi-legged robot 100 can fully adapt to the current speed value of the multi-legged robot 100.

[0133] Specifically, in one embodiment, the corresponding preset gait can be determined according to the gait parameters. When the gait parameters of the first gait and the gait parameters of the second gait are determined, the gait parameters of the first gait and the gait parameters of the second gait can be interpolated, so that the processed gait parameters can represent the gait between the first gait and the second gait, that is, the transition gait. When the target speed value corresponds to the preferred speed value interval of the first gait, the gait can be adjusted to the first gait, when the target speed value corresponds to the preferred speed value interval of the second gait, the gait can be adjusted to the second gait, and when the target speed value is between the preferred speed value interval of the first gait and the preferred speed value interval of the second gait, the gait will be adjusted to the transition gait, so that the switching of the gait parameters can be smoothed, and the multi-legged robot 100 will not have a large movement amplitude when switching gaits due to the sudden change of the gait parameters, resulting in an impact on its own body, which is conducive to improving the service life of the multi-legged robot 100.

[0134] In one embodiment, the multi-legged robot 100 may sequentially execute 014 and 015 before executing 02, and may execute 016 between 03 and 04, thereby determining the transition gait as the target gait. The execution order of 014, 015, and 016 in other embodiments is not limited here.

[0135] In certain embodiments, see Figure 8 , interpolate the gait parameters of the first gait and the gait parameters of the second gait to generate a transition gait, including:

[0136] 0151: Determine a gait cycle of a transition gait according to a target speed value, a gait cycle of a first gait and a first speed value within a corresponding preferred speed value interval, a gait cycle of a second gait and a second speed value within a corresponding preferred speed value interval;

[0137] 0152: Determine the order parameter of the transition gait according to the target speed value, the order parameter of the first gait and the first speed value, the order parameter of the second gait and the second speed value;

[0138] 0153: Determine the flight parameters of the transitional gait based on the target speed value, the flight parameters of the first gait and the first speed value, the flight parameters of the second gait and the second speed value.

[0139] The gait adjustment method according to the embodiments of the present invention can be implemented by the multi-legged robot 100 according to the embodiments of the present invention. Specifically, please combine Figure 1 , the control module 110 can be used to: determine the gait cycle of the transitional gait according to the target speed value, the gait cycle of the first gait and the first speed value within the corresponding preferred speed value range, the gait cycle of the second gait and the second speed value within the corresponding preferred speed value range; determine the order parameter of the transitional gait according to the target speed value, the order parameter of the first gait and the first speed value, the order parameter of the second gait and the second speed value; determine the flight parameters of the transitional gait according to the target speed value, the flight parameters of the first gait and the first speed value, the flight parameters of the second gait and the second speed value.

[0140] In this way, the transitional gait can be determined by the correspondingly changing parameters.

[0141] It should be noted that for the gait cycles of different preset gaits, they can be selected by the user himself or be specific values obtained by combining empirical judgments, such as the intermediate value or the minimum value corresponding to the preferred energy consumption value range. The specific values of the gait cycles of the preset gaits are not limited herein.

[0142] Specifically, please combine Fig. 9 , in such an embodiment, the multiple preset gaits include the first gait G1 and the second gait G2. The preferred speed value range corresponding to the first gait G1 is v4", and the preferred speed value range corresponding to the second gait G2 is v5". Any speed value in v4" is less than any speed value in v5". The multi-legged robot 100 can move at a speed value v4 within the range of v4", and can move at a speed value v5 within the range of v5", and v4 < v5. When the speed value of the multi-legged robot 100 switches from v4 to v5, the gait will switch from the first gait G1 to the second gait G2; when the speed value of the multi-legged robot 100 switches from v5 to v4, the gait will switch from the second gait G2 to the first gait G1. It can be understood that in other embodiments, the speed value v4 and the speed value v5 can be preset or selected by the user himself.

[0143] On the above basis, the gait when the speed value is between v4 and v5 can be determined by performing a difference process on the first gait G1 and the second gait G2.

[0144] Specifically, in such an embodiment, the gait parameters corresponding to the first gait G1 include the first gait cycle H1, the first sequence parameter O1, and the first take-off parameter D1, and the gait parameters corresponding to the second gait G2 include the second gait cycle H2, the second sequence parameter O2, and the second take-off parameter D2.

[0145] When the speed value of the multi-legged robot 100 is between v4 and v5, when the current speed value v is determined, the gait period Ht, the order parameter Ot, and the flight parameter Dt corresponding to the current speed value v can be obtained by calculation:

[0146] Ht=H1+(H2-H1)*(v-v4) / (v5-v4);

[0147] Ot=O1+(O2-O1)*(v-v4) / (v5-v4);

[0148] Dt=D1+(D2-D1)*(v-v4) / (v5-v4),

[0149] Therefore, the corresponding gait can be determined according to the gait cycle Ht, the order parameter Ot, and the take-off parameter Dt, and the corresponding gait is used as the transition gait Gt between v4 and v5. That is, the gait cycle Ht is obtained by interpolating the first gait cycle H1 and the second gait cycle H2, the order parameter Ot is obtained by interpolating the first order parameter O1 and the second order parameter O2, and the take-off parameter Dt is obtained by interpolating the first take-off parameter D1 and the second take-off parameter D2.

[0150] Please combine again Fig. 9 In such an embodiment, the first gait G1 is a walk gait, the first gait period H1 is 1000ms, the first order parameter O1 is [0, 0.25, 0.5, 0.75], the first take-off parameter D1 is [0.25, 0.25, 0.25, 0.25], and the speed value v4 is 0.2m / s (meters per second); the second gait G2 is a trot gait, the second gait period H2 is 500ms, the second order parameter O2 is [0, 0.5, 0.5, 0], the second take-off parameter D2 is [0.5, 0.5, 0.5, 0.5], and the speed value v5 is 0.8m / s.

[0151] When the current speed value of the multi-legged robot 100 is 0.5 m / s, it can be calculated according to the above formula:

[0152] Ht=1000+(500-1000)*(0.5-0.2) / (0.8-0.2)=750(ms),

[0153] Ot=[0,0.25,0.5,0.75]+([0,0.5,0.5,0]-[0,0.25,0.5,0.75])*(0.5-0.2) / (0.8-0.2)

[0154] =[0,0.375,0.5,0.375],

[0155] Dt=[0.25,0.25,0.25,0.25]+([0.5,0.5,0.5,0.5]-[0.25,0.25,0.25,0.25])*(0.5-0.2) / (0.8-0.2)

[0156] =[0.375,0.375,0.375,0.375];

[0157] That is to say, when it is determined that the current speed value of the multi-legged robot 100 is 0.5 m / s, the corresponding transition gait period is 750 ms, the order parameter is [0, 0.375, 0.5, 0.375], and the flight parameter is [0.375, 0.375, 0.375, 0.375]. Specifically, when the multi-legged robot 100 moves with a gait period of 750 ms, the first leg 1015 starts to move at 750*0=0 (ms) and lands at 0+750*0.375=281.25 (ms), and the second leg 1015 starts to move at 750*0.375=281.25 (ms) and lands at 281.25+750*0.375=56 The first leg 1015 will land at 2.5 (ms), the third leg 1015 will start to move at 750*0.5=375 (ms), and land at 375+750*0.375=656.25 (ms), the fourth leg 1015 will start to move at 750*0.375=281.25 (ms), and land at 281.25+750*0.375=562.5 (ms). The flight time of each leg 1015 is 750*0.375=281.25 (ms).

[0158] It can be understood that according to the above embodiment, in the walk gait, only one leg 1015 of the multi-legged robot 100 is always in the air, and in the trot gait, only two legs 1015 are always in the air. On the basis of the above, in the transition gait between the walk gait and the trot gait, by changing the gait parameters of the legs 1015, when one of the legs 1015 touches the ground, another leg 1015 will start to move, or another leg 1015 will start to move within the time t before one of the legs 1015 touches the ground. The time t refers to the time length during which at least two legs 1015 are in the air in the gait cycle.

[0159] As the number of legs 1015 in the air at the same time increases, the force generated by the multi-legged robot 100 in a short period of time when the legs 1015 move relative to the ground will be greater, and the movement amplitude will be more intense, so that the current speed value will also be greater. In other words, when the multi-legged robot 100 is in a transitional gait, the smaller the current speed value, the smaller the duration t will be, which means that the movement amplitude of the multi-legged robot 100 through the legs 1015 will be smaller; the larger the current speed value, the larger the duration t will be, which means that the movement amplitude of the multi-legged robot 100 through the legs 1015 will be larger.

[0160] Further, according to the determined first gait G1, second gait G2, transition gait Gt, v4 and v5, when the current speed value of the multi-legged robot 100 is v4, the multi-legged robot 100 will be controlled to move with the first gait G1; when the current speed value of the multi-legged robot 100 is v5, the multi-legged robot 100 will be controlled to move with the second gait G2; when the current speed value of the multi-legged robot 100 is between v4 and v5 (such as the speed value v4' located on the right side outside the v4" range, and the speed value v5' located on the left side outside the v5" range), the multi-legged robot 100 will be controlled to move with the transition gait Gt corresponding to v4' and the transition gait Gt corresponding to v5'. That is to say, by determining two of the preset gaits and performing interpolation processing between the two preset gaits, a transition gait between two preferred speed value intervals corresponding to the two preset gaits can be obtained. In this way, when multiple preset gaits are determined, the corresponding transition gait can be determined between every two preset gaits. In other embodiments, the first gait and the second gait may be standard gaits, and the standard gait is a preset gait that can be obtained through data collection and testing.

[0161] On the basis of the above, in some embodiments, when the multi-legged robot 100 switches from one standard gait to another standard gait, when the speed value is changed, the gait will be switched from the standard gait before the change to the transition gait, and then from the transition gait to the standard gait as the target gait. In other embodiments, when the multi-legged robot 100 switches from a standard gait to a transition gait, when the speed value is changed, the current gait will be gradually switched to the transition gait as the target gait, and the transition gait as the target gait will be maintained until the current speed value changes.

[0162] Regarding the gait cycle Ht of the transition gait, in one embodiment, the multi-legged robot 100 can determine the next gait cycle and the corresponding sequence parameters and flight parameters according to the speed value when the previous gait cycle is completed during the process of switching the transition gait, so that the multi-legged robot 100 can adjust the gait corresponding to the next gait cycle when each gait cycle is completed. Specifically, when the speed value of the multi-legged robot 100's movement gradually increases, the swing frequency of the leg 1015 gradually increases; when the speed value of the multi-legged robot 100's movement gradually decreases, the swing frequency of the leg 1015 gradually decreases.

[0163] Of course, based on the above-mentioned implementation, for those skilled in the art, other implementations can also be used to realize the generation of transitional gait, and the same or similar technical effects as the above-mentioned implementation can be achieved.

[0164] Please refer to Fig.10 In some embodiments, the preset gait has a preferred speed value interval. When the speed value of the multi-legged robot 100 is within the preferred speed value interval, the corresponding energy consumption value is less than or equal to the preset value. Fig.11 , controlling the multi-legged robot 100 to move at a target speed value and a target gait, including:

[0165] 042: When the target speed value is within the preferred speed value interval, control the multi-legged robot 100 to move at the target speed value and a preset gait corresponding to the target speed value;

[0166] 043: When the target speed value is outside the preferred speed value interval, the multi-legged robot 100 is controlled to move at the target speed value and the transition gait corresponding to the target speed value.

[0167] The gait adjustment method of the embodiment of the present invention can be implemented by the multi-legged robot 100 of the embodiment of the present invention. Figure 1 The control module 110 can be used to: when the target speed value is within the preferred speed value interval, control the multi-legged robot 100 to move with the target speed value and a preset gait corresponding to the target speed value; when the target speed value is outside the preferred speed value interval, control the multi-legged robot 100 to move with the target speed value and a transition gait corresponding to the target speed value.

[0168] In this way, frequent changes in speed values ​​and resulting in frequent switching of gait can be avoided.

[0169] It can be understood that for the multi-legged robot 100, when the preferred speed value interval corresponding to each preset gait is a single fixed value, when the current speed value of the multi-legged robot 100 is the single fixed value, it can be achieved that the preferred energy consumption value is achieved under the current preset gait. In actual applications, the current speed value of the multi-legged robot 100 will be affected by many factors, such as the terrain of the site, the stability of the body, the output of the motor 1012, the actual needs of the user, etc., so that the speed value of the multi-legged robot 100 cannot be maintained at a single fixed value and will fluctuate. In this case, the problem of frequent switching of gaits by the multi-legged robot 100 will arise.

[0170] On the basis of the above, by setting the preferred speed value interval, if the target speed value is within the preferred speed value interval, it can be determined that the energy consumption value corresponding to the target speed value is still less than the preset value, so that the multi-legged robot 100 can be controlled to maintain the current gait without adjusting the current gait; if the target speed value is outside the preferred speed value interval, it can be determined that the energy consumption value corresponding to the changed speed value will be greater than the preset value, so that the multi-legged robot 100 will be controlled to adjust the gait, and the changed speed value will be within the preferred speed value interval corresponding to the adjusted gait. In one embodiment, when the multi-legged robot 100 determines that the currently executed preset gait needs to be switched to one of the transition gaits, the gait parameters of the current gait can be adjusted to the gait parameters of the transition gait.

[0171] In addition, the gait parameters may be obtained by a pre-set manner, or may be obtained by performing data calculation and processing according to the current actual application scenario.

[0172] It should be pointed out that in Fig.10In the illustrated embodiment, the multi-legged robot 100 has a preset gait g1, a preset gait g2, and a preset gait g3. The preset gait g1 has a preferred speed value interval S1, the preset gait g2 has a preferred speed value interval S2, and the preset gait g3 has a preferred speed value interval S3. When the target speed value of the multi-legged robot 100 is within the preferred speed value interval S1, the multi-legged robot 100 will be controlled to switch the gait to the preset gait g1 or keep the current gait as the preset gait g1. When the target speed value of the multi-legged robot 100 is between the preferred speed value interval S1 and the preferred speed value interval S2, the gait of the multi-legged robot 100 will be adjusted to a transition gait corresponding to the preset gait g1 and the preset gait g2. When the target speed value of the multi-legged robot 100 is within the preferred speed value interval S2, the multi-legged robot 100 will be controlled to switch the gait to the preset gait g2 or keep the current gait as the preset gait g2. When the target speed value of the multi-legged robot 100 is between the preferred speed value interval S2 and the preferred speed value interval S3, the gait of the multi-legged robot 100 will be adjusted to a transition gait corresponding to the preset gait g2 and the preset gait g3. When the target speed value of the multi-legged robot 100 is within the preferred speed value interval S3, the multi-legged robot 100 will be controlled to switch the gait to the preset gait g3 or keep the current gait at the preset gait g3.

[0173] That is, according to the preset gait g1, the preset gait g2, the preset gait g3, the transition gait between the preset gait g1 and the preset gait g2, and the transition gait between the preset gait g2 and the preset gait g3, the corresponding relationship g0 of the speed value-energy consumption value in the embodiment of the present invention can be determined, wherein, since the preset gait is determined, the corresponding relationship g0 of the speed value-energy consumption value can be determined according to the specific speed value and Fig.10 The energy consumption value is mapped using the corresponding relationship g0 shown.

[0174] In addition, in other implementations, please combine Fig.10 The gait parameters of the gait can be adjusted within a specific range, so that the relationship curve between the speed value and the energy consumption value can fluctuate up and down, and the energy consumption value corresponding to the speed value can still be less than or equal to the preset value.

[0175] Regarding the current speed value of the multi-legged robot 100, in some such embodiments, the multi-legged robot 100 may include a speed value sensor. When the multi-legged robot 100 moves, the speed value sensor can detect the current speed value of the multi-legged robot 100, and can transmit the detected current speed value of the multi-legged robot 100 to the control module 110, so that the control module 110 determines to adjust the gait of the multi-legged robot 100 according to the current speed value of the multi-legged robot 100.

[0176] Regarding the preferred speed value interval, in some such embodiments, the same or different preferred speed value intervals can be set according to all preset gaits. The set preferred speed value interval can be calibrated through actual testing or determined based on experience. In one embodiment, when the multi-legged robot 100 moves on a solid flat ground, the preferred speed value interval corresponding to the walk gait is (0, 0.5) m / s, and when the multi-legged robot 100 moves on sand, the preferred speed value interval corresponding to the walk gait is (0, 0.3) m / s.

[0177] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the gait adjustment method of any of the above embodiments is implemented.

[0178] The above-mentioned computer-readable storage medium can determine the target gait with the preferred energy consumption value corresponding to the target speed value according to the target speed value, so that when controlling the multi-legged robot 100 to move at the target speed value, the gait can be adjusted to the target gait, thereby achieving the effect of improving endurance by reducing energy consumption.

[0179] For example, when the program is executed by a processor, the following steps of the display method are implemented:

[0180] 02: Determine the target speed value;

[0181] 03: According to the target speed value, determine the target gait from at least two preset gaits and at least one transition gait. When the target gait is the preset gait, according to the corresponding relationship data between the energy consumption value and the speed value of the multi-legged robot 100, the energy consumption value corresponding to the target speed value is within the preferred energy consumption value range corresponding to the corresponding preset gait;

[0182] 04: Control the multi-legged robot 100 to move at a target speed value and a target gait.

[0183] The computer-readable storage medium may be provided in the multi-legged robot 100 or in other terminal devices. The multi-legged robot 100 may communicate with other terminal devices to obtain corresponding programs.

[0184] It can be understood that computer-readable storage media may include: any entity or device capable of carrying a computer program, recording media, USB flash drives, mobile hard disks, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc. A computer program includes computer program code. The computer program code may be in source code form, object code form, executable file, or some intermediate form, etc. A computer-readable storage medium may include: any entity or device capable of carrying a computer program code, recording media, USB flash drives, mobile hard disks, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc.

[0185] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0186] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processing module, or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in combination with these instruction execution systems, apparatuses or devices.

[0187] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0188] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A gait adjustment method for a multi-legged robot, characterized in that: The multi-legged robot has at least two preset gaits and at least one transition gait, the at least two preset gaits include a first preset gait and a second preset gait, each preset gait is provided with a corresponding preferred energy consumption value interval, and the gait adjustment method includes: Determine the target speed value; According to the target speed value, a target gait is determined among the at least two preset gaits and at least one transition gait, and when the target gait is a preset gait, according to the corresponding relationship data between the energy consumption value and the speed value of the multi-legged robot, the energy consumption value corresponding to the target speed value is within the preferred energy consumption value interval corresponding to the corresponding preset gait; Controlling the multi-legged robot to move at the target speed value and the target gait; Performing interpolation processing on the gait parameters of the first preset gait and the gait parameters of the second preset gait to generate the transition gait; When the current speed value corresponds to the transition gait, the multi-legged robot is controlled to move with the transition gait.

2. The gait adjustment method according to claim 1, characterized in that: The gait adjustment method further includes: each of the preset gaits has a plurality of gait cycles, and according to the preferred energy consumption value interval corresponding to each of the preset gaits, at least one preferred gait cycle corresponding to each of the preset gaits is screened out; According to the corresponding relationship data between the energy consumption value and the speed value and at least one preferred gait cycle corresponding to each preset gait, the preferred speed value interval of at least one preferred gait cycle corresponding to each preset gait is determined.

3. The gait adjustment method according to claim 2, characterized in that: The at least two preset gaits include a first gait and a second gait, the first gait and the second gait are different preset gaits, and the gait cycle of the first gait and the gait cycle of the second gait respectively belong to the preferred gait cycle corresponding to the respective preset gaits; the gait parameters include a gait cycle, a sequence parameter and a take-off parameter, and the gait parameters of the transition gait are obtained by the following method: Determine the gait cycle of the transition gait according to the target speed value, the gait cycle of the first gait and the first speed value in the corresponding preferred speed value interval, the gait cycle of the second gait and the second speed value in the corresponding preferred speed value interval; Determining the order parameter of the transition gait according to the target speed value, the order parameter of the first gait and the first speed value, the order parameter of the second gait and the second speed value; The flight parameters of the transition gait are determined according to the target speed value, the flight parameters of the first gait and the first speed value, the flight parameters of the second gait and the second speed value.

4. The gait adjustment method according to claim 2, characterized in that: Controlling the multi-legged robot to move at the target speed value and the target gait includes: When the target speed value is within the preferred speed value interval, controlling the multi-legged robot to move at the target speed value and a preset gait corresponding to the target speed value; When the target speed value is outside the preferred speed value interval, the multi-legged robot is controlled to move at the target speed value and a transition gait corresponding to the target speed value.

5. A multi-legged robot, characterized in that: The multi-legged robot has at least two preset gaits and at least one transition gait, wherein the at least two preset gaits include a first preset gait and a second preset gait, and each preset gait is provided with a corresponding preferred energy consumption value interval. The multi-legged robot includes a control module, and the control module is used to: Determine the target speed value; According to the target speed value, a target gait is determined among the at least two preset gaits and at least one transition gait, and when the target gait is a preset gait, according to the corresponding relationship data between the energy consumption value and the speed value of the multi-legged robot, the energy consumption value corresponding to the target speed value is within the preferred energy consumption value interval corresponding to the corresponding preset gait; Controlling the multi-legged robot to move at the target speed value and the target gait; Performing interpolation processing on the gait parameters of the first preset gait and the gait parameters of the second preset gait to generate the transition gait; When the current speed value corresponds to the transition gait, the multi-legged robot is controlled to move with the transition gait.

6. The multi-legged robot according to claim 5, characterized in that: The control module is used for: Each of the preset gaits has a plurality of gait cycles, and at least one preferred gait cycle corresponding to each preset gait is screened out according to the preferred energy consumption value interval corresponding to each preset gait; According to the corresponding relationship data between the energy consumption value and the speed value and at least one preferred gait cycle corresponding to each preset gait, the preferred speed value interval of at least one preferred gait cycle corresponding to each preset gait is determined.

7. The multi-legged robot according to claim 6, characterized in that: The at least two preset gaits include a first gait and a second gait, the first gait and the second gait are different preset gaits, and the gait cycle of the first gait and the gait cycle of the second gait belong to the preferred gait cycle corresponding to the respective preset gaits, the gait parameters include a gait cycle, a sequence parameter and a flight parameter, and the control module is used to: Determine the gait cycle of the transition gait according to the target speed value, the gait cycle of the first gait and the first speed value in the corresponding preferred speed value interval, the gait cycle of the second gait and the second speed value in the corresponding preferred speed value interval; Determining the order parameter of the transition gait according to the target speed value, the order parameter of the first gait and the first speed value, the order parameter of the second gait and the second speed value; The flight parameters of the transition gait are determined according to the target speed value, the flight parameters of the first gait and the first speed value, the flight parameters of the second gait and the second speed value.

8. The multi-legged robot according to claim 6, characterized in that: The control module is used for: When the target speed value is within the preferred speed value interval, controlling the multi-legged robot to move at the target speed value and a preset gait corresponding to the target speed value; When the target speed value is outside the preferred speed value interval, the multi-legged robot is controlled to move at the target speed value and a transition gait corresponding to the target speed value.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it implements the gait adjustment method described in any one of claims 1 to 4.

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