Methods, devices and storage media for jumping control of single-legged robots

Abstract

This application provides a jumping control method, device, and storage medium for a single-legged robot, relating to the field of robotics. The method includes: if the single-legged robot's state changes from jumping to landing, controlling the robot's torso to decelerate according to a preset deceleration algorithm; if the torso's velocity is determined to be zero, controlling the knee joint to remain in its current position, and acquiring the positions of the torso and knee joints; and based on the torso and knee positions, performing position compensation on the landing foot to ensure that the straight line determined by the center point of the foot and the center point of the torso is perpendicular to the landing surface. By applying this application, landing control of the single-legged robot can be achieved without pre-planning a jumping trajectory, thus simplifying the control process and exhibiting the characteristics of simple control method and high control efficiency.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a method, apparatus, and storage medium for controlling the jumping of a single-legged robot. Background Technology

[0002] Robots are a type of control system that uses discrete footholds to adapt to varied terrains. Their multi-limb, multi-degree-of-freedom design allows them to "actively" adjust their body height according to operational requirements to ensure balance and stability. They are widely used in scenarios such as security checks, express delivery, and disaster relief.

[0003] Existing jump control methods generally involve pre-planning the jump trajectory and then tracking and controlling the jump trajectory based on the pre-planned force or position trajectory of the joints.

[0004] It can be seen that the existing jump control methods are relatively complex. They are effective when controlling the whole machine, but when conducting single-leg control experiments on the robot, they often have poor control efficiency. Summary of the Invention

[0005] The purpose of this application is to address the shortcomings of the prior art by providing a jumping control method, device, and storage medium for a single-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 jumping control method for a single-legged robot, comprising:

[0008] If the state of the single-legged robot is detected to change from jumping to landing, the torso of the single-legged robot is controlled to perform deceleration movement according to the preset deceleration algorithm.

[0009] If it is determined that the speed of the torso in the single-leg robot is zero, the knee joint of the single-leg robot is controlled to remain in the current position, and the positions of the torso and knee joints in the single-leg robot are obtained respectively.

[0010] Based on the position of the torso and knee joint of the single-leg robot, position compensation is performed on the landing foot of the single-leg robot so that the straight line determined based on the center point of the foot and the center point of the torso of the single-leg robot is perpendicular to the ground.

[0011] In an optional implementation, the method further includes:

[0012] In response to a jumping command for the single-legged robot, the single-legged robot is controlled to perform a jumping action.

[0013] In an optional implementation, controlling the single-legged robot to perform a jumping action in response to a jumping command for the single-legged robot includes:

[0014] In response to a jumping command for the single-legged robot, the single-legged robot is controlled to perform a knee-bending motion;

[0015] Based on the knee flexion action, the knee joint of the single-leg robot is controlled to accelerate straightening so that the single-leg robot performs a jumping action.

[0016] In an optional implementation, controlling the knee joint of the single-leg robot to accelerate its straightening based on the knee flexion action to enable the single-leg robot to perform a jumping action includes:

[0017] The jumping height of the single-leg robot is determined based on a preset knee joint speed threshold and / or a preset knee joint position threshold.

[0018] Based on the knee flexion action, the knee joint of the single-leg robot is controlled to accelerate straighten and bounce to the jump height.

[0019] In an optional implementation, after controlling the knee joint of the single-leg robot to accelerate straighten and bounce to the jump height based on the knee flexion action, the method further includes:

[0020] The position and velocity of the knee joint in the single-legged robot were monitored respectively;

[0021] If the position of the knee joint of the single-leg robot meets a preset knee joint position threshold or the speed of the knee joint meets a preset knee joint speed threshold, control the knee joint of the single-leg robot to maintain the current position, and obtain the position of the torso and the position of the knee joint in the single-leg robot respectively.

[0022] Based on the position of the torso and knee joint of the single-leg robot, position compensation is performed on the landing foot of the single-leg robot so that the straight line determined based on the center point of the foot and the center point of the torso of the single-leg robot is perpendicular to the ground.

[0023] In an optional implementation, the method further includes:

[0024] In response to an adjustment command for the preset knee joint velocity threshold and / or the preset knee joint position threshold, the adjusted preset knee joint velocity threshold and / or the adjusted preset knee joint position threshold are obtained.

[0025] In an optional implementation, the step of position compensation for the landing foot of the single-legged robot based on the positions of the torso and knee joints includes:

[0026] Position compensation is performed on the hip joint position and / or ankle joint position of the foot on the ground based on the position of the torso and knee joint in the single-legged robot.

[0027] In a second aspect, the present invention provides a jumping control device for a single-legged robot, comprising:

[0028] The monitoring module is used to control the torso of the single-legged robot to perform deceleration movement according to a preset deceleration algorithm if the robot's state changes from jumping to landing.

[0029] The first control module is used to control the knee joint of the single-leg robot to remain in the current position when it is determined that the speed of the torso in the single-leg robot is zero, and to obtain the position of the torso and the position of the knee joint in the single-leg robot respectively.

[0030] The compensation module is used to perform position compensation on the landing foot of the single-leg robot based on the position of the torso and the knee joint, so that the straight line determined based on the center point of the foot and the center point of the torso of the single-leg robot is perpendicular to the landing ground.

[0031] In an optional embodiment, the jumping control device further includes a second control module for controlling the single-legged robot to perform a jumping action in response to a jumping command for the single-legged robot.

[0032] In an optional implementation, the second control module is specifically configured to control the single-leg robot to perform a knee-bending action in response to a jumping command for the single-leg robot.

[0033] Based on the knee flexion action, the knee joint of the single-leg robot is controlled to accelerate straightening so that the single-leg robot performs a jumping action.

[0034] In an optional implementation, the second control module is specifically used to determine the jumping height of the single-leg robot based on a preset knee joint speed threshold and / or a preset knee joint position threshold.

[0035] Based on the knee flexion action, the knee joint of the single-leg robot is controlled to accelerate straighten and bounce to the jump height.

[0036] In an optional implementation, the second control module is further configured to monitor the position and velocity of the knee joint in the single-legged robot, respectively.

[0037] If the position of the knee joint of the single-leg robot meets a preset knee joint position threshold or the speed of the knee joint meets a preset knee joint speed threshold, control the knee joint of the single-leg robot to maintain the current position, and obtain the position of the torso and the position of the knee joint in the single-leg robot respectively.

[0038] Based on the position of the torso and knee joint of the single-leg robot, position compensation is performed on the landing foot of the single-leg robot so that the straight line determined based on the center point of the foot and the center point of the torso of the single-leg robot is perpendicular to the ground.

[0039] In an optional implementation, the second control module is further configured to obtain the adjusted preset knee joint speed threshold and / or the adjusted preset knee joint position threshold in response to an adjustment command for the preset knee joint speed threshold and / or the preset knee joint position threshold.

[0040] In an optional implementation, the compensation module is specifically used to perform position compensation on the hip joint position and / or ankle joint position of the foot on the ground based on the position of the torso and the knee joint in the single-legged robot.

[0041] 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 jumping control method for a single-legged robot as described in any of the foregoing embodiments.

[0042] Fourthly, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the jumping control method for a single-legged robot as described in any of the foregoing embodiments.

[0043] The jumping control method, device, and storage medium for a single-legged robot provided in this application include: if the state of the single-legged robot is detected to switch from jumping to landing, controlling the torso of the single-legged robot to perform deceleration motion according to a preset deceleration algorithm; if it is determined that the velocity of the torso in the single-legged robot is zero, controlling the knee joint of the single-legged robot to maintain the current position, and obtaining the position of the torso and the knee joint of the single-legged robot respectively; and performing position compensation on the landing foot of the single-legged robot according to the position of the torso and the knee joint, so that the straight line determined based on the center point of the foot and the center point of the torso of the single-legged robot is perpendicular to the landing ground. By applying this application embodiment, since the landing control of the single-legged robot can be achieved without pre-planning the jumping trajectory, the control process of the single-legged robot can be simplified, and it has the characteristics of simple control method and high control efficiency. Attached Figure Description

[0044] 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.

[0045] Figure 1 A flowchart illustrating a jumping control method for a single-legged robot provided in an embodiment of this application;

[0046] Figure 2 A flowchart illustrating another method for controlling the jumping of a single-legged robot provided in an embodiment of this application;

[0047] Figure 3 A flowchart illustrating another method for controlling the jumping of a single-legged robot provided in an embodiment of this application;

[0048] Figure 4 A flowchart illustrating another method for controlling the jumping of a single-legged robot provided in an embodiment of this application;

[0049] Figure 5 A flowchart illustrating another method for controlling the jumping of a single-legged robot provided in an embodiment of this application;

[0050] Figure 6 A functional module diagram of a jumping control device for a single-legged robot provided in an embodiment of this application;

[0051] Figure 7 This is a schematic diagram of an electronic device structure provided in an embodiment of this application. Detailed Implementation

[0052] 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.

[0053] 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.

[0054] 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.

[0055] Existing jump control methods are relatively complex, and often suffer from poor control efficiency when conducting single-leg control experiments on robots. This application provides a jump control method for a single-leg robot, which can improve the control efficiency of the single-leg robot.

[0056] Figure 1 This is a flowchart illustrating a jumping control method for a single-legged robot provided in an embodiment of this application. The execution entity of this method can be a single-legged robot, specifically a processor within the single-legged robot. A single-legged robot, also known as a monopodial robot, has only one type of gait compared to multi-legged robots: jumping. During the jump, flight and standing phases alternate. Figure 1 As shown, the method may include:

[0057] S101. If the single-legged robot is detected to switch from jumping to landing, the torso of the single-legged robot is controlled to perform deceleration movement according to the preset deceleration algorithm.

[0058] Optionally, force sensors can be installed on the soles of the feet of the single-legged robot, and inertial sensors can be installed on the torso. In some embodiments, the motion state of the single-legged robot can be determined by these force sensors and / or inertial sensors. The motion state of the single-legged robot can be divided into a grounded state and a free-flying state based on whether its single foot is on the ground. It can be understood that when the single-legged robot's single foot is in the air, it is in a jumping state. Of course, it should be noted that this application does not limit the method of monitoring the motion state of the single-legged robot.

[0059] The preset deceleration algorithm can be a uniform deceleration algorithm or a variable deceleration algorithm, and is not limited here. It can be understood that if the single-legged robot is detected to switch from a jumping state to a landing state, the landing buffer control of the single-legged robot can be achieved by controlling the single-legged robot to perform deceleration movement according to the preset deceleration algorithm. Specifically, the deceleration control can be achieved by controlling the drive motor of the torso.

[0060] S102. If it is determined that the velocity of the torso in the single-leg robot is zero, control the knee joint of the single-leg robot to maintain the current position, and obtain the position of the torso and the position of the knee joint in the single-leg robot respectively.

[0061] Optionally, a speed sensor can be installed on the torso of the single-legged robot. The speed sensor can collect the speed of the torso in real time. If the speed of the torso is zero, it means that the speed of the torso has been reduced to the minimum. At this time, the knee joint can be controlled to keep the current position, that is, keep the position of the knee joint unchanged. This can avoid unnecessary movement of the knee joint. At the same time, the positions of the torso and the knee joint can be acquired separately so that the single-legged robot can be compensated and controlled in a timely manner.

[0062] S103. Based on the position of the torso and knee joint in the single-leg robot, perform position compensation on the landing foot of the single-leg robot so that the straight line determined based on the center point of the foot and the center point of the torso of the single-leg robot is perpendicular to the landing ground.

[0063] Understandably, the impact of a single-legged robot landing is generally quite large. Therefore, without cushioning control during landing, it will not only cause serious damage to the robot but also prevent it from fully utilizing its jumping performance in the next jump. Therefore, based on the obtained positions of the torso and knee joints of the single-legged robot, it is necessary to perform position compensation on the landing foot. During compensation, the compensation parameters for the landing foot can be determined based on the angle between the line connecting the center point of the foot and the center point of the torso and the landing surface. This ensures that the straight line determined by the center points of the foot and torso is perpendicular to the landing surface, thus preparing the robot for the next jump and allowing it to fully utilize its jumping performance.

[0064] Furthermore, it can be seen from the above-mentioned jump control method that when controlling a single-legged robot, the landing control of the single-legged robot can be achieved without pre-planning the jump trajectory. Therefore, it has the characteristics of simple control method and high control efficiency.

[0065] In summary, the jumping control method for a single-legged robot provided in this application includes: if the state of the single-legged robot is detected to change from jumping to landing, controlling the torso of the single-legged robot to perform deceleration motion according to a preset deceleration algorithm; if it is determined that the velocity of the torso in the single-legged robot is zero, controlling the knee joint of the single-legged robot to remain in the current position, and obtaining the position of the torso and the knee joint in the single-legged robot respectively; and performing position compensation on the landing foot of the single-legged robot according to the position of the torso and the knee joint, so that the straight line determined based on the center point of the foot and the center point of the torso of the single-legged robot is perpendicular to the landing ground. By applying this application embodiment, since the landing control of the single-legged robot can be achieved without pre-planning the jumping trajectory, the control process of the single-legged robot can be simplified, and it has the characteristics of simple control method and high control efficiency.

[0066] It is worth noting that the method provided in this application is not limited to single-legged robots, but can also be applied to testing the jumping performance of each leg in multi-legged robots, thereby improving the applicability of the method in this application.

[0067] Optionally, the method further includes: controlling the single-legged robot to perform a jumping action in response to a jumping command for the single-legged robot.

[0068] In some embodiments, a jump button may be provided on a preset part (e.g., the torso) of the single-leg robot. The user can activate the jump button by pressing and holding or flicking it to generate a jumping command for the single-leg robot. In response to the jumping command, the single-leg robot can be controlled to perform a jumping action.

[0069] Furthermore, it should be noted that this application does not limit the number of jump actions corresponding to a single jump command. In some embodiments, if no stop jump command is received for the single-legged robot, the single-legged robot can be controlled to switch back and forth between a jumping state and a landing state. If a stop jump command is received for the single-legged robot, the landing foot of the single-legged robot can be compensated for position according to the steps of S101-S103 above, and then remain at the current landing point. In addition, when the single-legged robot switches back and forth between the jumping state and the landing state, this application does not limit the switching frequency, and it can switch once every 1 second, 3 seconds, 5 seconds, etc., without limitation. For example, at the first moment, the single-legged robot can be controlled to switch from the landing state to the jumping state, and after 3 seconds, the single-legged robot can be controlled to switch from the jumping state to the landing state.

[0070] Of course, it should be noted that the method of generating the jump command is not limited to this. For example, the user can also send a wireless signal to the single-legged robot; the single-legged robot can generate a jump command based on the wireless signal; or, if the user's force and direction of the push on the single-legged robot meet the preset requirements, a jump command can be generated, and in response to the jump command, the single-legged robot can be controlled to perform a jumping action. There are no limitations on this.

[0071] Figure 2 This is a flowchart illustrating another method for controlling the jumping of a single-legged robot provided in an embodiment of this application. Optionally, as... Figure 2 As shown, the steps described above for controlling a single-legged robot to perform a jumping motion in response to a jumping command for the single-legged robot may include:

[0072] S201, In response to a jumping command for the single-legged robot, control the single-legged robot to perform a knee-bending motion.

[0073] S202. Based on the knee flexion action, control the knee joint of the single-leg robot to accelerate and straighten so that the single-leg robot can perform a jumping action.

[0074] In response to a jump command, the single-legged robot can be controlled to perform a knee flexion movement to maintain a semi-squatting posture and enter the jump preparation phase. It can be understood that by controlling the single-legged robot to perform a knee flexion movement before jumping, the robot can accumulate power through this movement. Based on this knee flexion, the robot's knee joint can be controlled to output full load, accelerating knee extension. During the accelerated extension of the knee joint, through interaction with the ground, the robot can be controlled to move away from the ground, thus achieving the jump. Using this embodiment, since the jump control of the single-legged robot can be achieved without pre-planning the jump trajectory, the control process can be simplified, resulting in a simple control method and high control efficiency.

[0075] It is worth noting that controlling the knee joint of the single-leg robot to output at full load means controlling the drive motor of the knee joint to output a preset maximum current to drive the knee joint. Of course, this application does not limit the value of the preset maximum current, and it may vary depending on the actual application scenario.

[0076] Figure 3 This is a flowchart illustrating another method for controlling the jumping of a single-legged robot provided in an embodiment of this application. Optionally, as... Figure 3 As shown, the steps described above, which control the knee joint of a single-leg robot to accelerate its extension based on a knee flexion motion, to enable the single-leg robot to perform a jumping motion, include:

[0077] S301. Determine the jumping height of the single-leg robot based on the preset knee joint speed threshold and / or preset knee joint position threshold.

[0078] S302. Based on the knee flexion action, control the knee joint of the single-leg robot to accelerate straighten and bounce to the jump height.

[0079] The preset knee joint velocity threshold and preset knee joint position threshold can be pre-set, and each can have a pre-defined mapping relationship with the jump height of the single-leg robot. Taking the preset knee joint velocity threshold as an example, the jump height of the single-leg robot can be determined based on this preset knee joint velocity threshold and the pre-defined mapping relationship.

[0080] Referring to the foregoing embodiments, when the knee joint is accelerated and straightened, the single leg of the single-leg robot will move away from the ground. At this time, the single-leg robot can be controlled to jump to the jump height corresponding to the preset knee joint speed threshold or the preset knee joint position threshold.

[0081] Of course, it should be noted that the preset knee joint speed threshold and preset knee joint position threshold can be set according to the size parameters of the single-leg robot and the actual application scenario, and are not limited here.

[0082] Figure 4 This is a flowchart illustrating another method for controlling the jumping of a single-legged robot provided in an embodiment of this application. Optionally, as... Figure 4 As shown, after controlling the knee joint of the single-leg robot to accelerate straighten and bounce to the jump height based on the knee flexion action, the following steps are also included:

[0083] S401, monitor the position and velocity of the knee joint in the single-legged robot.

[0084] In this single-legged robot, a position sensor and a velocity sensor can be installed at a preset position on the knee joint to monitor the knee joint's position and velocity, respectively. Of course, this application does not limit the monitoring frequency; real-time monitoring can be implemented depending on the actual application scenario.

[0085] S402. If the position of the knee joint of the single-leg robot meets the preset knee joint position threshold or the speed of the knee joint meets the preset knee joint speed threshold, control the knee joint of the single-leg robot to maintain the current position, and obtain the position of the torso and the position of the knee joint in the single-leg robot respectively.

[0086] S403. Based on the position of the torso and knee joint in the single-leg robot, perform position compensation on the landing foot of the single-leg robot so that the straight line determined based on the center point of the foot and the center point of the torso of the single-leg robot is perpendicular to the ground.

[0087] In some embodiments, if the position of the knee joint meets a preset knee joint position threshold or the speed of the knee joint meets a preset knee joint speed threshold, it means that the single-leg robot has jumped to the jump height. At this time, the knee joint can be controlled to remain in the current position. It can be understood that controlling the knee joint to remain in the current position means controlling the knee joint to remain straight and still.

[0088] Furthermore, to prevent the single-leg robot from being severely damaged due to its landing posture not conforming to the preset posture, the positions of the torso and knee joints of the single-leg robot can be obtained while maintaining the knee joint in its current position. Based on these positions, position compensation can be performed on the landing foot of the single-leg robot. The compensation principle is that the straight line determined by the center point of the foot and the center point of the torso is perpendicular to the ground. The center point of the foot can be the geometric center point of the geometric shape corresponding to the sole of the foot, and the center point of the torso can be the geometric center point of the geometric shape corresponding to the front of the torso.

[0089] Optionally, the above method further includes:

[0090] In response to an adjustment command for a preset knee joint velocity threshold and / or a preset knee joint position threshold, the adjusted preset knee joint velocity threshold and / or the adjusted preset knee joint position threshold are obtained.

[0091] In some embodiments, depending on the actual application scenario, the preset knee joint speed threshold and / or preset knee joint position threshold can also be adjusted locally or remotely based on the control device (e.g., mobile phone, tablet, laptop, etc.) to obtain the adjusted preset knee joint speed threshold and / or adjusted preset knee joint position threshold.

[0092] Of course, in some embodiments, preset knee joint speed thresholds and / or preset knee joint position thresholds can also be adjusted based on the display screen or physical buttons of the single-legged robot, which is not limited here.

[0093] It is worth noting that for the adjusted preset knee joint speed threshold and / or the adjusted preset knee joint position threshold, the jump height of the corresponding single-leg robot can be determined by referring to the aforementioned method, which will not be repeated here.

[0094] Figure 5 This is a flowchart illustrating another method for controlling the jumping of a single-legged robot provided in an embodiment of this application. Optionally, as... Figure 5 As shown, the steps described above for position compensation of the landing foot of a single-legged robot based on the positions of the torso and knee joints can include:

[0095] S501. Based on the position of the torso and knee joint in the single-legged robot, perform position compensation for the position of the hip joint and / or ankle joint of the foot on the ground.

[0096] The landing foot can be divided into two compensation parts: the hip joint and the ankle joint. When compensating the landing foot, in some embodiments, the position compensation can be performed on the hip joint based on the position of the torso and the knee joint in the single-leg robot. Alternatively, the position compensation can be performed on the ankle joint. Or, the position compensation can be performed on the hip joint and / or the ankle joint at the same time. There is no limitation here, and different compensation parts can be selected according to the actual application scenario.

[0097] Figure 6 This is a functional module diagram of a jumping control device for a single-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 jumping control device 100 of the single-legged robot may include:

[0098] The monitoring module 110 is used to control the torso of the single-leg robot to perform deceleration movement according to a preset deceleration algorithm if the state of the single-leg robot is detected to change from jumping state to landing state.

[0099] The first control module 120 is used to control the knee joint of the single-leg robot to remain in the current position when it is determined that the speed of the torso in the single-leg robot is zero, and to obtain the position of the torso and the position of the knee joint in the single-leg robot respectively.

[0100] The compensation module 130 is used to perform position compensation on the landing foot of the single-leg robot based on the position of the torso and the knee joint, so that the straight line determined based on the center point of the foot and the center point of the torso of the single-leg robot is perpendicular to the landing ground.

[0101] In an optional embodiment, the jumping control device further includes a second control module for controlling the single-legged robot to perform a jumping action in response to a jumping command for the single-legged robot.

[0102] In an optional implementation, the second control module is specifically configured to control the single-leg robot to perform a knee-bending action in response to a jumping command for the single-leg robot.

[0103] Based on the knee flexion action, the knee joint of the single-leg robot is controlled to accelerate straightening so that the single-leg robot performs a jumping action.

[0104] In an optional implementation, the second control module is specifically used to determine the jumping height of the single-leg robot based on a preset knee joint speed threshold and / or a preset knee joint position threshold.

[0105] Based on the knee flexion action, the knee joint of the single-leg robot is controlled to accelerate straighten and bounce to the jump height.

[0106] In an optional implementation, the second control module is further configured to monitor the position and velocity of the knee joint in the single-legged robot, respectively.

[0107] If the position of the knee joint of the single-leg robot meets a preset knee joint position threshold or the speed of the knee joint meets a preset knee joint speed threshold, control the knee joint of the single-leg robot to maintain the current position, and obtain the position of the torso and the position of the knee joint in the single-leg robot respectively.

[0108] Based on the position of the torso and knee joint of the single-leg robot, position compensation is performed on the landing foot of the single-leg robot so that the straight line determined based on the center point of the foot and the center point of the torso of the single-leg robot is perpendicular to the ground.

[0109] In an optional implementation, the second control module is further configured to obtain the adjusted preset knee joint speed threshold and / or the adjusted preset knee joint position threshold in response to an adjustment command for the preset knee joint speed threshold and / or the preset knee joint position threshold.

[0110] In an optional implementation, the compensation module 130 is specifically used to perform position compensation on the hip joint position and / or ankle joint position of the foot on the ground based on the position of the torso and the knee joint in the single-leg robot.

[0111] 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.

[0112] 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).

[0113] Figure 7 This application provides a schematic diagram of an electronic device structure, which can be integrated into the control chip of a single-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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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 method for controlling the jumping of a single-legged robot, characterized in that, include: If the state of the single-legged robot is detected to change from jumping to landing, the torso of the single-legged robot is controlled to perform deceleration movement according to the preset deceleration algorithm. If it is determined that the speed of the torso in the single-leg robot is zero, the knee joint of the single-leg robot is controlled to remain in the current position, and the positions of the torso and knee joints in the single-leg robot are obtained respectively. Based on the position of the torso and knee joint in the single-leg robot, position compensation is performed on the landing foot of the single-leg robot so that the straight line determined based on the center point of the foot and the center point of the torso of the single-leg robot is perpendicular to the landing ground. The step of position compensation for the landing foot of the single-legged robot based on the positions of the torso and knee joints includes: Position compensation is performed on the hip joint position and / or ankle joint position of the foot on the ground based on the position of the torso and knee joint in the single-legged robot.

2. The method according to claim 1, characterized in that, The method further includes: In response to a jumping command for the single-legged robot, the single-legged robot is controlled to perform a jumping action.

3. The method according to claim 2, characterized in that, The step of controlling the single-legged robot to perform a jumping action in response to a jumping command for the single-legged robot includes: In response to a jumping command for the single-legged robot, the single-legged robot is controlled to perform a knee-bending motion; Based on the knee flexion action, the knee joint of the single-leg robot is controlled to accelerate straightening so that the single-leg robot performs a jumping action.

4. The method according to claim 3, characterized in that, The step of controlling the knee joint of the single-leg robot to accelerate its straightening based on the knee flexion action to enable the single-leg robot to perform a jumping action includes: The jumping height of the single-leg robot is determined based on a preset knee joint speed threshold and / or a preset knee joint position threshold. Based on the knee flexion action, the knee joint of the single-leg robot is controlled to accelerate straighten and bounce to the jump height.

5. The method according to claim 4, characterized in that, After controlling the knee joint of the single-leg robot to accelerate straighten and bounce to the jump height based on the knee flexion action, the method further includes: The position and velocity of the knee joint in the single-legged robot were monitored respectively; If the position of the knee joint of the single-leg robot meets a preset knee joint position threshold or the speed of the knee joint meets a preset knee joint speed threshold, control the knee joint of the single-leg robot to maintain the current position, and obtain the position of the torso and the position of the knee joint in the single-leg robot respectively. Based on the position of the torso and knee joint of the single-leg robot, position compensation is performed on the landing foot of the single-leg robot so that the straight line determined based on the center point of the foot and the center point of the torso of the single-leg robot is perpendicular to the ground.

6. The method according to claim 4, characterized in that, The method further includes: In response to an adjustment command for the preset knee joint velocity threshold and / or the preset knee joint position threshold, the adjusted preset knee joint velocity threshold and / or the adjusted preset knee joint position threshold are obtained.

7. A jumping control device for a single-legged robot, characterized in that, include: The monitoring module is used to control the torso of the single-legged robot to perform deceleration movement according to a preset deceleration algorithm if the robot's state changes from jumping to landing. The control module is used to control the knee joint of the single-leg robot to remain in the current position when it is determined that the speed of the torso in the single-leg robot is zero, and to obtain the position of the torso and the position of the knee joint in the single-leg robot respectively. The compensation module is used to perform position compensation on the landing foot of the single-leg robot based on the position of the torso and the knee joint, so that the straight line determined based on the center point of the foot and the center point of the torso of the single-leg robot is perpendicular to the landing ground. The compensation module is specifically used to perform position compensation on the hip joint position and / or ankle joint position of the foot on the ground based on the position of the torso and the knee joint in the single-leg robot.

8. 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 jumping control method for a single-legged robot as described in any one of claims 1-6.

9. 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 jumping control method for the single-legged robot as described in any one of claims 1-6.

Images