Motion control methods, devices and storage media for legged robots

Abstract

This application provides a motion control method, device, and storage medium for a legged robot, relating to the field of robotics. The method includes: acquiring a target inertia coefficient of the legged robot, the target inertia coefficient being used to characterize the magnitude of the legged robot's motion inertia in a preset motion direction; determining inertia compensation parameters for the legged robot based on the target inertia coefficient; and compensating for the planned foot tilt angles of each foot of the legged robot based on the inertia compensation parameters. This enables real-time compensation control of the planned foot tilt angles of each foot of the legged robot in conjunction with the corresponding target inertia coefficient. Through compensation, the motion inertia of the legged robot in the preset motion direction can be taken into account, effectively reducing control errors, improving the accuracy of trajectory tracking control of the legged robot, and enhancing the stability of the legged robot's motion.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a motion control method, device, and storage medium for a legged robot. Background Technology

[0002] Bipedal robots are a type of biomimetic robot capable of walking and performing related actions on two legs. As a mechanically controlled dynamic system, bipedal robots possess rich dynamic characteristics. In future production and daily life, humanoid bipedal walking robots can help humans solve many problems, such as carrying loads and performing dangerous or heavy tasks like disaster relief.

[0003] Existing robot feedback control typically uses joint position for feedback control, while setting a large feedback gain to reduce feedback tracking error and improve tracking performance.

[0004] However, when using existing robot feedback control methods, if the control system has a large delay, the existing methods are prone to causing the feedback tracking error to increase. Summary of the Invention

[0005] The purpose of this application is to address the shortcomings of the prior art by providing a motion control method, device, and storage medium for a legged robot, which can improve the buffering effect.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0007] In a first aspect, the present invention provides a motion control method for a legged robot, comprising:

[0008] Obtain the target inertia coefficient of the legged robot, which is used to characterize the magnitude of the legged robot's motion inertia in a preset motion direction;

[0009] Based on the target inertia coefficient, determine the inertia compensation parameters of the legged robot;

[0010] Based on the inertial compensation parameters of the legged robot, the planned foot tilt angle of each foot of the legged robot is compensated and controlled.

[0011] In an optional implementation, the step of compensating for the planned foot tilt angle of each foot of the legged robot based on the inertial compensation parameters of the legged robot includes:

[0012] Obtain the target damping coefficient of the legged robot, which is used to characterize the resistance of the legged robot's motion velocity in a preset motion direction to the motion displacement;

[0013] Based on the target damping coefficient, determine the damping compensation parameters of the legged robot;

[0014] Based on the inertial compensation parameters and damping compensation parameters of the legged robot, the planned foot tilt angle of each foot of the legged robot is compensated and controlled.

[0015] In an optional implementation, determining the inertial compensation parameters of the legged robot based on the target inertia coefficient includes:

[0016] The angular acceleration of the torso of the legged robot in the preset direction of motion is obtained;

[0017] Based on the angular acceleration of the torso in the preset motion direction, the target inertia coefficient, and the preset inertia coefficient, the inertia compensation parameters of each foot in the legged robot are determined.

[0018] In an optional implementation, determining the damping compensation parameters of the legged robot based on the target damping coefficient includes:

[0019] Obtain the angular velocity of the torso in the preset motion direction of the legged robot;

[0020] Based on the angular velocity of the torso in the preset motion direction, the target damping coefficient, and the preset damping coefficient, the damping compensation parameters of each foot in the legged robot are determined.

[0021] In an optional implementation, the step of compensating for the planned foot tilt angle of each foot of the legged robot based on the inertial compensation parameters of the legged robot includes:

[0022] Based on the positional relationship between the feet and the inertial compensation parameters of the legged robot, the planned foot tilt angle of each foot is compensated and controlled.

[0023] In an optional implementation, the step of compensating and controlling the planned foot position corresponding to each foot based on the inertial compensation parameters and damping compensation parameters corresponding to the legged robot includes:

[0024] The planned foot position of each foot is compensated and controlled based on the positional relationship between the feet, the inertial compensation parameters of the legged robot, and the damping compensation parameters.

[0025] In an optional implementation, the preset motion direction includes: pitch angle direction and / or roll angle direction.

[0026] In a second aspect, the present invention provides a motion control device for a legged robot, comprising:

[0027] The acquisition module is used to acquire the target inertia coefficient of the legged robot, which is used to characterize the magnitude of the motion inertia of the legged robot in a preset motion direction;

[0028] The determination module is used to determine the inertial compensation parameters of the legged robot based on the target inertia coefficient.

[0029] The control module is used to compensate and control the planned foot tilt angle of each foot of the legged robot according to the inertial compensation parameters of the legged robot.

[0030] In an optional implementation, the control module is specifically used to obtain the target damping coefficient of the legged robot, the target damping coefficient being used to characterize the resistance of the legged robot's motion speed in a preset motion direction to the motion displacement;

[0031] Based on the target damping coefficient, determine the damping compensation parameters of the legged robot;

[0032] Based on the inertial compensation parameters and damping compensation parameters of the legged robot, the planned foot tilt angle of each foot of the legged robot is compensated and controlled.

[0033] In an optional implementation, the determining module is specifically used to obtain the angular acceleration of the torso of the legged robot in the preset motion direction;

[0034] Based on the angular acceleration of the torso in the preset motion direction, the target inertia coefficient, and the preset inertia coefficient, the inertia compensation parameters of each foot in the legged robot are determined.

[0035] In an optional implementation, the determining module is specifically used to obtain the angular velocity of the torso in the preset motion direction of the legged robot; and to determine the damping compensation parameters of each foot in the legged robot based on the angular velocity of the torso in the preset motion direction, the target damping coefficient, and the preset damping coefficient.

[0036] In an optional implementation, the control module is specifically used to compensate and control the planned foot tilt angle of each foot according to the pose relationship between each foot and the inertial compensation parameters of the legged robot.

[0037] In an optional implementation, the control module is specifically used to compensate and control the planned foot position of each foot according to the pose relationship between each foot, the inertial compensation parameters of the legged robot, and the damping compensation parameters.

[0038] In an optional implementation, the preset motion direction includes: pitch angle direction and / or roll angle direction.

[0039] Thirdly, the present invention provides an electronic device, comprising: a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the motion control method for a legged robot as described in any of the foregoing embodiments.

[0040] Fourthly, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, performs the steps of the motion control method for a legged robot as described in any of the foregoing embodiments.

[0041] The beneficial effects of this application are:

[0042] The motion control method, device, and storage medium for legged robots provided in this application embodiment obtain the target inertia coefficient of the legged robot, which characterizes the magnitude of the legged robot's motion inertia in a preset motion direction; based on the target inertia coefficient, the inertia compensation parameters of the legged robot are determined; based on the inertia compensation parameters of the legged robot, the planned foot tilt angle of each foot of the legged robot is compensated and controlled. By applying this application embodiment, the planned foot tilt angle of each foot of the legged robot can be compensated and controlled in real time in conjunction with the target inertia coefficient corresponding to the legged robot. This allows the motion inertia of the legged robot in the preset motion direction to be taken into account through compensation. Compared with the prior art, this can avoid the jitter phenomenon caused by inappropriate feedback gain in the prior art, effectively reduce control error, improve the accuracy of trajectory tracking control of the legged robot, and enhance the stability of the legged robot's motion. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A flowchart illustrating a motion control method for a legged robot provided in an embodiment of this application;

[0045] Figure 2 A flowchart illustrating another motion control method for a legged robot provided in an embodiment of this application;

[0046] Figure 3A flowchart illustrating another motion control method for a legged robot provided in an embodiment of this application;

[0047] Figure 4 A flowchart illustrating another motion control method for a legged robot provided in an embodiment of this application;

[0048] Figure 5 A flowchart illustrating another motion control method for a legged robot provided in an embodiment of this application;

[0049] Figure 6 A schematic diagram of the functional modules of a motion control device for a legged robot provided in an embodiment of this application;

[0050] Figure 7 This is a schematic diagram of an electronic device structure provided in an embodiment of this application. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0052] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0053] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0054] Existing robot feedback control generally uses joint position for feedback control, and sets a large feedback gain to reduce feedback tracking error and improve tracking performance. However, when using existing robot feedback control methods to control robots, if the robot's control system has a large delay, it is easy to cause system oscillation. Therefore, the feedback gain can only be reduced, but this will lead to a larger feedback tracking error.

[0055] In view of this, embodiments of this application provide a motion control method for a legged robot. By applying this method, tracking errors can be reduced and the accuracy of trajectory tracking control of the legged robot can be improved.

[0056] Figure 1 This is a flowchart illustrating a motion control method for a legged robot provided in an embodiment of this application. The execution entity of this method can be a legged robot, specifically a processor within the legged robot. The legged robot can be a monopodial robot or a multipodial robot (e.g., a bipod robot, a quadruped robot, etc.), and is not limited thereto. Figure 1 As shown, the method may include:

[0057] S101. Obtain the target inertia coefficient of the legged robot. The target inertia coefficient is used to characterize the magnitude of the inertia of the legged robot in the preset motion direction.

[0058] Among them, the magnitude of motion inertia can characterize the difficulty of motion; in other words, the target inertia coefficient can characterize the difficulty of a legged robot moving in a preset motion direction. The larger the target inertia coefficient, the easier it is for the legged robot to shift displacement when subjected to force in the preset motion direction; conversely, the smaller the target inertia coefficient, the less likely the legged robot is to shift displacement when subjected to force in the preset motion direction.

[0059] In some embodiments, the target inertia coefficient can be obtained by systematically measuring the legged robot, for example, by measuring the legged robot based on parameter identification technology, without limitation.

[0060] S102. Determine the inertial compensation parameters of the legged robot based on the target inertia coefficient.

[0061] The inertial compensation parameters of a legged robot characterize the angular compensation parameters of the robot's torso under different angular accelerations. It should be noted that the inertial compensation parameters of the legged robot, determined based on the target inertia coefficient, can differ under different angular accelerations. Generally, the greater the angular acceleration of the robot's torso, the greater the corresponding inertial compensation parameters will be.

[0062] S103. Based on the inertial compensation parameters of the legged robot, compensate and control the planned foot tilt angle of each foot of the legged robot.

[0063] After determining the inertial compensation parameters of the legged robot, angle compensation can be performed on the planned foot tilt angles corresponding to each foot. This compensation reduces tracking errors, avoids the jitter caused by inappropriate feedback gain in existing technologies, improves the accuracy of trajectory tracking control, and enhances the stability of the legged robot's motion. It is worth noting that after obtaining the compensated planned foot tilt angles, the legged robot can be controlled based on inverse kinematics.

[0064] In this process, the planned foot inclination angle for each foot in the legged robot can be determined based on the robot's planned walking trajectory. Furthermore, it's worth noting that the aforementioned compensation control process can be real-time, thus improving the accuracy of the legged robot's trajectory tracking control.

[0065] In summary, the motion control method for a legged robot provided in this application includes: obtaining the target inertia coefficient of the legged robot, which characterizes the magnitude of the legged robot's motion inertia in a preset motion direction; determining the inertia compensation parameters of the legged robot based on the target inertia coefficient; and compensating for the planned foot tilt angle of each foot of the legged robot based on the inertia compensation parameters. By applying this application, the planned foot tilt angle of each foot of the legged robot can be compensated and controlled in real time in conjunction with the target inertia coefficient corresponding to the legged robot. This allows the motion inertia of the legged robot in the preset motion direction to be taken into account through compensation. Compared with the prior art, this avoids the jitter phenomenon caused by inappropriate feedback gain in the prior art, effectively reduces control error, improves the accuracy of trajectory tracking control of the legged robot, and enhances the stability of the legged robot's motion.

[0066] Figure 2 This is a flowchart illustrating another motion control method for a legged robot provided in an embodiment of this application. Optionally, as... Figure 2 As shown, the above-mentioned compensation control of the planned foot tilt angle of each foot of the legged robot based on the inertial compensation parameters of the legged robot includes:

[0067] S201. Obtain the target damping coefficient of the legged robot. The target damping coefficient is used to characterize the resistance of the legged robot's motion speed in the preset motion direction to the motion displacement.

[0068] The larger the target damping coefficient, the greater the resistance of the legged robot's motion speed to its displacement in the preset motion direction; otherwise, the smaller the resistance of the legged robot's motion speed to its displacement in the preset motion direction.

[0069] In some embodiments, the target damping coefficient can be obtained by systematically measuring the legged robot, for example, by measuring the legged robot based on parameter identification technology, without limitation.

[0070] S202. Determine the damping compensation parameters of the legged robot based on the target damping coefficient.

[0071] The damping compensation parameters of a legged robot can characterize the angular compensation parameters of the robot's torso at different angular velocities. It should be noted that the damping compensation parameters of the legged robot, determined based on the target damping coefficient, can differ at different angular velocities. Generally, the higher the angular velocity of the robot's torso, the higher the corresponding damping compensation parameters will be.

[0072] S203. Based on the inertial compensation parameters and damping compensation parameters of the legged robot, the planned foot tilt angle of each foot of the legged robot is compensated and controlled.

[0073] In some embodiments, the inertial compensation parameters and damping compensation parameters of the legged robot can be combined to comprehensively compensate the planned foot tilt angle of each foot in the legged robot in multiple dimensions. This compensation can further avoid the jitter phenomenon caused by inappropriate feedback gain in the prior art, improve the accuracy of trajectory tracking control of the legged robot, and enhance the stability of the legged robot's movement.

[0074] In some embodiments, the inertial compensation parameters for each foot in a legged robot may include: the inertial compensation tilt angle Δθ corresponding to each foot. foot1 The damping compensation parameters for each foot in a legged robot may include: the damping compensation tilt angle Δθ corresponding to each foot. foot2 The planned foot inclination angle for each foot of the legged robot is Δθ. foot ref The planned foot tilt angle after compensation for each foot of the legged robot is Δθ. foot d Then Δθ foot d =Δθ foot ref +Δθ foot1 +Δθ foot2 .

[0075] Figure 3 This is a flowchart illustrating another motion control method for a legged robot provided in an embodiment of this application. Optionally, as... Figure 3 As shown, the inertial compensation parameters for the legged robot, determined based on the target inertia coefficient, include:

[0076] S301. Obtain the angular acceleration of the legged robot's torso in the preset motion direction.

[0077] The angular acceleration of the torso in the preset motion direction can be calculated based on the angular velocity of the torso in the preset motion direction. For example, it can be obtained by differentiating the angular velocity. The angular velocity of the torso in the preset motion direction can be measured in real time by the corresponding angular motion detection device of the torso, which is not limited here. For example, it can be measured by a gyroscope. Optionally, the gyroscope can be a fiber optic gyroscope, a laser gyroscope, a MEMS gyroscope, etc., which is not limited here and can vary depending on the actual application scenario. Of course, it should be noted that in some embodiments, the angular acceleration of the torso in the preset motion direction can also be measured in real time by the corresponding inertial measurement unit of the torso, which is not limited here.

[0078] S302. Determine the inertial compensation parameters of each foot in the legged robot based on the angular acceleration of the torso in the preset motion direction, the target inertial coefficient, and the preset inertial coefficient.

[0079] In some embodiments, during the calculation, the difference in inertia coefficient between the target inertia coefficient and the preset inertia coefficient can be calculated first. Based on this difference in inertia coefficient and the angular acceleration corresponding to the torso in the preset motion direction, the inertia compensation parameters of each foot in the legged robot can be further calculated. The inertia compensation parameters of each foot in the legged robot may include the inertia compensation tilt angle corresponding to each foot.

[0080] Here, the angular acceleration of the torso in the preset motion direction is denoted as . The target inertia coefficient is k m The preset inertia coefficient is The inertial compensation tilt angle corresponding to each foot in a legged robot is Δθ. foot1 Then, the inertial compensation tilt angle corresponding to each foot in a legged robot can be expressed as:

[0081] Figure 4 This is a flowchart illustrating another motion control method for a legged robot provided in an embodiment of this application. Optionally, as... Figure 4 As shown, the steps described above for determining the damping compensation parameters of a legged robot based on the target damping coefficient may include:

[0082] S401. Obtain the angular velocity of the torso in the preset motion direction of the legged robot.

[0083] S402. Determine the damping compensation parameters of each foot in the legged robot based on the angular velocity of the torso in the preset motion direction, the target damping coefficient, and the preset damping coefficient.

[0084] The angular velocity of the torso in the preset motion direction can be calculated using the method described above, and will not be repeated here. In some embodiments, during the calculation, the damping coefficient difference between the target damping coefficient and the preset damping coefficient can be calculated first. Based on this damping coefficient difference and the angular velocity of the torso in the preset motion direction, the damping compensation parameters of each foot in the legged robot can be further calculated. The damping compensation parameters of each foot in the legged robot may include the damping compensation tilt angle corresponding to each foot.

[0085] In some embodiments, the angular velocity of the torso in a preset direction of motion is denoted as... The target damping coefficient is k dam Preset damping coefficient The damping compensation tilt angle for each foot in a legged robot is Δθ. foot2 Then, the damping compensation tilt angle corresponding to each foot in the legged robot can be expressed as:

[0086] Optionally, obtaining the target inertia coefficient of the legged robot includes:

[0087] The target inertial coefficient of the legged robot is obtained through an identification system, which is constructed based on parameter identification technology.

[0088] Among them, parameter identification technology is a technique that combines theoretical models with experimental data for prediction. When applied to the embodiments of this application, parameter identification technology can be used to model a legged robot to obtain a legged robot model, and then the target inertia coefficient of the legged robot can be fitted based on the legged robot model. Of course, it should be noted that the target damping coefficient of the legged robot can also be obtained through the identification system. The method for obtaining the target damping coefficient is similar to that for obtaining the target inertia coefficient, and will not be described in detail here.

[0089] Furthermore, based on the above description, it should also be noted that the preset inertia coefficient and preset damping coefficient in the embodiments of this application can be obtained by adjusting the legged robot. The preset inertia coefficient and preset damping coefficient can be test parameters when the stability of the legged robot reaches the preset stability parameters.

[0090] Figure 5 This is a flowchart illustrating another motion control method for a legged robot provided in an embodiment of this application. Optionally, as... Figure 5 As shown, the above-mentioned compensation control of the planned foot tilt angle of each foot of the legged robot based on the inertial compensation parameters of the legged robot includes:

[0091] S501. Based on the positional relationship between each foot and the inertial compensation parameters of the legged robot, the planned foot tilt angle of each foot is compensated and controlled.

[0092] It is worth noting that when a legged robot has multiple legs, if all the feet are aligned on the same horizontal plane, meaning each foot has the same angle of inclination relative to the ground and is parallel to the others, then each foot can be compensated and controlled separately using the compensation method described above. Otherwise, it is necessary to adjust the inertial compensation parameters of the legged robot obtained above based on the pose relationship between the feet to obtain the corresponding inertial compensation parameters for each foot. Then, based on these parameters, the planned foot inclination angle for each foot can be compensated to obtain the compensated planned foot inclination angle. The displacement of each foot can then be controlled based on this compensated planned foot inclination angle.

[0093] Optionally, the above-mentioned compensation control of the planned foot position corresponding to each foot based on the inertial compensation parameters and damping compensation parameters corresponding to the legged robot includes:

[0094] The planned foot position of each foot is compensated and controlled based on the positional relationship between the feet, the inertial compensation parameters of the legged robot, and the damping compensation parameters.

[0095] It should also be noted that in some embodiments, the planned foot inclination angle of each foot can be compensated and controlled based on the damping compensation parameters of the legged robot. In other words, depending on the actual application scenario, the user can choose either the inertial compensation parameters or the damping compensation parameters of the legged robot to compensate and control the planned foot inclination angle of each foot. Alternatively, a combination of the inertial compensation parameters and damping compensation parameters can be used for comprehensive compensation and control of the planned foot inclination angle of each foot. This is not limited here; the compensation method can be flexibly selected based on the actual application scenario.

[0096] Optionally, the above-mentioned preset method includes: pitch angle direction and / or roll angle direction.

[0097] Among them, pitch angle is also known as pitch angle, and roll angle is also known as roll angle. In some embodiments, the size of pitch angle and / or roll angle can be determined based on the world coordinate system of the legged robot. In the world coordinate system, the origin is the intersection of the vertical line from the origin of the robot's waist coordinate system when the legged robot is in the initial state and the ground. According to the right-hand coordinate system, the x-axis points forward of the robot, the y-axis points to the left of the robot, and the z-axis points upward of the robot.

[0098] Based on the definition of the world coordinate system above, the pitch angle is the angle of rotation around the y-axis in the world coordinate system, and the roll angle is the angle of rotation around the x-axis in the world coordinate system.

[0099] Figure 6This is a functional module diagram of a motion control device for a legged robot provided in an embodiment of this application. The basic principle and technical effects of this device are the same as those in the corresponding method embodiments described above. For the sake of brevity, parts not mentioned in this embodiment can be referred to the corresponding content in the method embodiments. Figure 6 As shown, the motion control device 100 of the legged robot includes:

[0100] The acquisition module 110 is used to acquire the target inertia coefficient of the legged robot, which is used to characterize the magnitude of the motion inertia of the legged robot in a preset motion direction.

[0101] The determination module 120 is used to determine the inertial compensation parameters of the legged robot based on the target inertia coefficient.

[0102] The control module 130 is used to compensate and control the planned foot tilt angle of each foot of the legged robot according to the inertial compensation parameters of the legged robot.

[0103] In an optional implementation, the control module 130 is specifically used to obtain the target damping coefficient of the legged robot, which is used to characterize the resistance of the legged robot's motion speed in a preset motion direction to the motion displacement.

[0104] Determine the damping compensation parameters of the legged robot based on the target damping coefficient;

[0105] Based on the inertial compensation parameters and damping compensation parameters of the legged robot, the planned foot tilt angle of each foot of the legged robot is compensated and controlled.

[0106] In an optional implementation, the determining module 120 is specifically used to obtain the angular acceleration of the torso of the legged robot in a preset motion direction;

[0107] Based on the angular acceleration of the torso in the preset motion direction, the target inertia coefficient, and the preset inertia coefficient, the inertia compensation parameters of each foot in the legged robot are determined.

[0108] In an optional implementation, the determining module 120 is specifically used to obtain the angular velocity of the torso in the preset motion direction of the legged robot; and to determine the damping compensation parameters of each foot in the legged robot based on the angular velocity of the torso in the preset motion direction, the target damping coefficient, and the preset damping coefficient.

[0109] In an optional implementation, the control module 130 is specifically used to compensate and control the planned foot tilt angle of each foot according to the pose relationship between each foot and the inertial compensation parameters of the legged robot.

[0110] In an optional implementation, the control module 130 is specifically used to compensate and control the planned foot position of each foot according to the pose relationship between each foot, the inertial compensation parameters of the legged robot, and the damping compensation parameters.

[0111] In an optional implementation, the preset motion direction includes: pitch angle direction and / or roll angle direction.

[0112] The above-described device is used to execute the method provided in the foregoing embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0113] These modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more microprocessors, or one or more Field Programmable Gate Arrays (FPGAs). Alternatively, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a system-on-a-chip (SOC).

[0114] Figure 7 This application provides a schematic diagram of an electronic device structure, which can be integrated into a control chip in a legged robot. For example... Figure 7 As shown, the electronic device may include a processor 210, a storage medium 220, and a bus 230. The storage medium 220 stores machine-readable instructions executable by the processor 210. When the electronic device is running, the processor 210 communicates with the storage medium 220 via the bus 230, and the processor 210 executes the machine-readable instructions to perform the steps of the above method embodiment. The specific implementation and technical effects are similar and will not be described in detail here.

[0115] Optionally, this application also provides a storage medium storing a computer program, which, when run by a processor, executes the steps of the above-described method embodiments. The specific implementation and technical effects are similar and will not be repeated here.

[0116] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0117] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0118] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0119] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0120] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0121] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need further definition and explanation in subsequent figures. The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A motion control method for a legged robot, characterized in that, include: Obtain the target inertia coefficient of the legged robot, which is used to characterize the magnitude of the inertia of the legged robot in a preset motion direction, including: pitch angle direction and / or roll angle direction; Based on the target inertia coefficient, determine the inertia compensation parameters of the legged robot; Based on the inertial compensation parameters of the legged robot, the planned foot tilt angle of each foot of the legged robot is compensated and controlled. The step of compensating for the planned foot tilt angle of each foot of the legged robot based on the inertial compensation parameters of the legged robot includes: Obtain the target damping coefficient of the legged robot, which is used to characterize the resistance of the legged robot's motion velocity in a preset motion direction to the motion displacement; Based on the target damping coefficient, determine the damping compensation parameters of the legged robot; Based on the inertial compensation parameters and damping compensation parameters of the legged robot, the planned foot tilt angle of each foot of the legged robot is compensated and controlled.

2. The method according to claim 1, characterized in that, The step of determining the inertial compensation parameters of the legged robot based on the target inertia coefficient includes: The angular acceleration of the torso of the legged robot in the preset direction of motion is obtained; Based on the angular acceleration of the torso in the preset motion direction, the target inertia coefficient, and the preset inertia coefficient, the inertia compensation parameters of each foot in the legged robot are determined.

3. The method according to claim 1, characterized in that, The step of determining the damping compensation parameters of the legged robot based on the target damping coefficient includes: Obtain the angular velocity of the torso in the preset motion direction of the legged robot; Based on the angular velocity of the torso in the preset motion direction, the target damping coefficient, and the preset damping coefficient, the damping compensation parameters of each foot in the legged robot are determined.

4. The method according to claim 1, characterized in that, The step of compensating for the planned foot tilt angle of each foot of the legged robot based on the inertial compensation parameters of the legged robot includes: Based on the positional relationship between each foot and the inertial compensation parameters of the legged robot, the planned foot tilt angle of each foot is compensated and controlled.

5. The method according to claim 1, characterized in that, The step of compensating and controlling the planned foot tilt angle of each foot of the legged robot based on the inertial compensation parameters and damping compensation parameters includes: Based on the positional relationship between each foot, the inertial compensation parameters of the legged robot, and the damping compensation parameters, the planned foot tilt angle of each foot of the legged robot is compensated and controlled.

6. A motion control device for a legged robot, characterized in that, include: The acquisition module is used to acquire the target inertia coefficient of the legged robot. The target inertia coefficient is used to characterize the magnitude of the inertia of the legged robot in a preset motion direction, which includes: the pitch angle direction and / or the roll angle direction. The determination module is used to determine the inertial compensation parameters of the legged robot based on the target inertia coefficient. The control module is used to compensate and control the planned foot tilt angle of each foot of the legged robot according to the inertial compensation parameters of the legged robot. The control module is specifically used to obtain the target damping coefficient of the legged robot, which is used to characterize the resistance of the legged robot's motion speed to its motion displacement in a preset motion direction; determine the damping compensation parameters of the legged robot based on the target damping coefficient; and perform compensation control on the planned foot inclination angle of each foot of the legged robot based on the inertia compensation parameters and damping compensation parameters of the legged robot.

7. An electronic device, characterized in that, include: The device includes a processor, a storage medium, and a bus. The storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the motion control method for the legged robot as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the motion control method for the legged robot as described in any one of claims 1-5.

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