Control method, device and storage medium of jumping robot

Abstract

The present application provides a control method, device and storage medium for a bouncing robot, and relates to the field of robot technology. The method includes: obtaining the dumping time parameter of the bouncing robot at the current moment, the dumping time parameter is used to characterize the speed of the bouncing robot falling; calculating the landing angle of the landing foot at the current moment according to the dumping time parameter, the center of mass speed of the bouncing robot at the current moment, and the distance between the center of mass of the bouncing robot and the landing foot at the current moment, the landing angle is used to characterize the angle between the straight line determined by the center point of the sole of the landing foot and the center point of the torso of the bouncing robot and the landing ground in the vertical direction; controlling the bouncing robot according to the landing angle of the landing foot at the current moment, in this process, since the requirement for trajectory tracking accuracy is relatively low, the control cost of the bouncing robot can be reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a control method, device and storage medium for a bouncing robot. Background Art

[0002] The robot is a discrete foothold position control method that can adapt to changing terrain. Its multi-limb, multi-degree-of-freedom design allows it to "actively" adjust its body height according to job requirements to ensure the balance and stability of the body. It is widely used in security inspections, express delivery, disaster relief and other scenarios.

[0003] Existing jumping robots are generally controlled to jump in situ or to jump forward and backward according to a predetermined landing angle.

[0004] It can be seen that the existing control method of the bouncing robot often requires a higher trajectory tracking accuracy. Therefore, the existing control method has high requirements on hardware, resulting in a higher control cost of the bouncing robot. Summary of the invention

[0005] The purpose of the present application is to provide a control method, device and storage medium for a bouncing robot to address the deficiencies in the above-mentioned prior art, which can reduce the control cost of the bouncing robot.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

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

[0008] Obtaining a falling time parameter of the bouncing robot at the current moment, wherein the falling time parameter is used to characterize the speed at which the bouncing robot falls;

[0009] According to the dumping time parameter, the velocity of the center of mass of the bouncing robot at the current moment, and the distance between the center of mass of the bouncing robot and the landing foot at the current moment, the landing angle of the landing foot at the current moment is calculated, and the landing angle is used to represent the angle between the straight line determined by the center point of the sole of the landing foot and the center point of the trunk of the bouncing robot and the landing ground in the direction perpendicular to the landing ground;

[0010] The bouncing robot is motion-controlled according to the landing angle of the landing foot at the current moment.

[0011] In an optional implementation, the calculating the landing angle of the landing foot at the current moment according to the dumping time parameter, the center of mass speed of the bouncing robot at the current moment, and the distance between the center of mass of the bouncing robot and the landing foot at the current moment includes:

[0012] Based on the robot world coordinate system, respectively obtaining a first center of mass velocity of the center of mass of the bouncing robot in a first preset direction and a second center of mass velocity in a second preset direction at a current moment;

[0013] The landing angle of the landing foot at the current moment is calculated according to the dumping time parameter, the first center of mass speed, the second center of mass speed and the distance between the center of mass of the bouncing robot and the landing foot at the current moment.

[0014] In an optional implementation, the calculating the landing angle of the landing foot at the current moment according to the dumping time parameter, the first center of mass speed, the second center of mass speed, and the distance between the center of mass of the bouncing robot and the landing foot at the current moment includes:

[0015] Based on the robot world coordinate system, respectively obtain a first center of mass position of the center of mass of the bouncing robot in a first preset direction and a second center of mass position in a second preset direction at a current moment;

[0016] The bouncing robot is motion controlled according to the first center of mass position, the second center of mass position and the landing angle.

[0017] In an optional embodiment, the performing motion control on the bouncing robot according to the first center of mass position, the second center of mass position and the landing angle includes:

[0018] According to the first centroid position and the landing angle, obtaining a first target position of the landing foot in the first preset direction at a current moment;

[0019] According to the second center of mass position and the landing angle, obtaining a second target position of the landing foot in the second preset direction at the current moment;

[0020] The bouncing robot is motion controlled according to the first target position and the second target position.

[0021] In an optional embodiment, the performing motion control on the bouncing robot according to the first target position and the second target position includes:

[0022] According to the first target position, the second target position, the first center of mass position, and the second center of mass position, obtaining the joint angles of the joints of the landing foot of the jumping robot at the current moment based on an inverse solution algorithm;

[0023] The bouncing robot is motion controlled according to the joint angles of the joints in the ground-standing foot.

[0024] In an optional implementation, the first preset direction is the x-axis or y-axis direction in the robot world coordinate system, and the second preset direction is the z-axis direction in the robot world coordinate system.

[0025] In an optional implementation manner, the step of obtaining the dumping time parameter of the bouncing robot at the current moment includes:

[0026] Respectively obtain the mass parameter of the bouncing robot and the distance between the center of mass of the bouncing robot and the grounding foot at the current moment;

[0027] According to the mass parameter, the distance between the center of mass of the bouncing robot and the grounded foot at the current moment, and the system inertia of the bouncing robot, the tipping time parameter of the bouncing robot at the current moment is obtained. The system inertia of the bouncing robot is used to characterize the difficulty of the bouncing robot's movement.

[0028] In a second aspect, the present invention provides a control device for a jumping robot, comprising:

[0029] An acquisition module, used to acquire a falling time parameter of the bouncing robot at the current moment, wherein the falling time parameter is used to characterize the speed at which the bouncing robot falls;

[0030] A calculation module, used to calculate the landing angle of the landing foot at the current moment according to the dumping time parameter, the center of mass speed of the bouncing robot at the current moment, and the distance between the center of mass of the bouncing robot and the landing foot at the current moment, wherein the landing angle is used to represent the angle between the straight line determined by the center point of the sole of the landing foot and the center point of the trunk of the bouncing robot and the landing ground in the direction perpendicular to the landing ground;

[0031] The control module is used to control the movement of the bouncing robot according to the landing angle of the landing foot at the current moment.

[0032] In an optional embodiment, the calculation module is specifically used to obtain, based on the robot world coordinate system, a first center of mass velocity of the center of mass of the bouncing robot in a first preset direction and a second center of mass velocity in a second preset direction at a current moment;

[0033] The landing angle of the landing foot at the current moment is calculated according to the dumping time parameter, the first center of mass speed, the second center of mass speed and the distance between the center of mass of the bouncing robot and the landing foot at the current moment.

[0034] In an optional embodiment, the calculation module is specifically used to obtain, based on the robot world coordinate system, a first center of mass position of the jumping robot in a first preset direction and a second center of mass position in a second preset direction at a current moment;

[0035] The bouncing robot is motion controlled according to the first center of mass position, the second center of mass position and the landing angle.

[0036] In an optional implementation, the calculation module is specifically used to obtain a first target position of the landing foot in the first preset direction at the current moment according to the first center of mass position and the landing angle;

[0037] According to the second center of mass position and the landing angle, obtaining a second target position of the landing foot in the second preset direction at the current moment;

[0038] The bouncing robot is motion controlled according to the first target position and the second target position.

[0039] In an optional embodiment, the calculation module is specifically used to obtain the joint angles of each joint of the landing foot of the jumping robot at the current moment based on the inverse solution algorithm according to the first target position, the second target position, the first center of mass position and the second center of mass position;

[0040] The bouncing robot is motion controlled according to the joint angles of the joints in the ground-standing foot.

[0041] In an optional implementation, the first preset direction is the x-axis or y-axis direction in the robot world coordinate system, and the second preset direction is the z-axis direction in the robot world coordinate system.

[0042] In an optional implementation, the acquisition module is used to respectively acquire the mass parameter of the bouncing robot and the distance between the center of mass of the bouncing robot and the grounding foot at the current moment;

[0043] According to the mass parameter, the distance between the center of mass of the bouncing robot and the grounded foot at the current moment, and the system inertia of the bouncing robot, the tipping time parameter of the bouncing robot at the current moment is obtained. The system inertia of the bouncing robot is used to characterize the difficulty of the bouncing robot's movement.

[0044] In a third aspect, 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 control method of a jumping robot as described in any of the aforementioned embodiments.

[0045] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the control method of a bouncing robot as described in any of the aforementioned embodiments are executed.

[0046] The beneficial effects of this application are:

[0047] In the control method, device and storage medium of the bouncing robot provided in the embodiments of the present application, by obtaining the tipping time parameter of the bouncing robot at the current moment, the tipping time parameter is used to characterize the speed of the bouncing robot falling; according to the tipping time parameter, the center of mass speed of the bouncing robot at the current moment and the distance from the center of mass of the bouncing robot to the landing foot at the current moment, the landing angle of the landing foot at the current moment is calculated, and the landing angle is used to characterize the angle between the straight line determined by the center point of the sole of the landing foot and the center point of the torso of the bouncing robot and the landing ground in the perpendicular direction; the bouncing robot is motion-controlled according to the landing angle of the landing foot at the current moment. By applying the embodiments of the present application, the control cost of the bouncing robot can be reduced due to the low requirement on trajectory tracking accuracy. In addition, the bouncing robot can also be motion-controlled according to the landing angle of the landing foot at the moment of landing, which can enhance the landing stability and improve the success rate of continuous jumping of the bouncing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A schematic flow chart of a control method for a bouncing robot provided in an embodiment of the present application;

[0050] Figure 2 A schematic flow chart of another control method of a bouncing robot provided in an embodiment of the present application;

[0051] Figure 3 A schematic flow chart of another control method of a bouncing robot provided in an embodiment of the present application;

[0052] Figure 4 A schematic flow chart of another control method of a bouncing robot provided in an embodiment of the present application;

[0053] Figure 5 A schematic flow chart of another control method of a bouncing robot provided in an embodiment of the present application;

[0054] Figure 6 A schematic flow chart of another control method of a bouncing robot provided in an embodiment of the present application;

[0055] Figure 7 A schematic diagram of functional modules of a control device for a bouncing robot provided in an embodiment of the present application;

[0056] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0058] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0059] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0060] Conventionally, when a jumping robot is controlled to jump, a high trajectory tracking accuracy is generally required. Therefore, the existing control method has high requirements on hardware, which will result in a high control cost of the jumping robot.

[0061] In view of this, an embodiment of the present application provides a control method for a bouncing robot. Application of this method can reduce the control cost of the bouncing robot.

[0062] Figure 1 The flowchart of a control method of a bouncing robot provided in an embodiment of the present application is shown in FIG. The execution subject of the method may be a bouncing robot, specifically a processor in the bouncing robot. Optionally, the bouncing robot may be a single-leg bouncing robot or a multi-legged bouncing robot, which is not limited here and may vary according to the actual application scenario. Figure 1 As shown, the method may include:

[0063] S101. Obtain a falling time parameter of the bouncing robot at the current moment. The falling time parameter is used to characterize how fast the bouncing robot falls.

[0064] Optionally, the falling time parameter of the bouncing robot can be obtained by performing a falling test on the bouncing robot, or can be obtained by querying the falling attribute information of the bouncing robot, which is not limited here.

[0065] Among them, the larger the tipping time parameter is, the longer it takes for the bouncing robot to fall, that is, the slower the falling action is; the smaller the tipping time parameter is, the shorter it takes for the bouncing robot to fall, that is, the faster the falling action is.

[0066] S102, calculating the landing angle of the landing foot at the current moment according to the dumping time parameter, the center of mass speed of the bouncing robot at the current moment, and the distance between the center of mass of the bouncing robot and the landing foot at the current moment.

[0067] The landing angle is used to characterize the angle between the straight line determined by the center point of the sole of the landing foot and the center point of the torso of the bouncing robot and the vertical direction of the landing ground.

[0068] The distance between the center of mass of the bouncing robot and the grounded foot at the current moment may specifically be the distance between the center of mass of the bouncing robot and the center point of the sole of the grounded foot at the current moment. Optionally, the distance between the center of mass of the bouncing robot and the grounded foot at the current moment may be obtained by calculating in real time the position difference between the center of mass position of the bouncing robot and the grounded foot position.

[0069] The center of mass velocity of the bouncing robot at the current moment can be acquired in real time by an inertial sensor, or can be acquired by real-time calculation based on the motion parameters of each connecting rod in the bouncing robot, which is not limited here.

[0070] Based on the above description, the landing angle of the landing foot at the current moment can be calculated according to a preset algorithm based on the dumping time parameter, the center of mass speed of the bouncing robot at the current moment, and the distance between the center of mass of the bouncing robot and the landing foot at the current moment.

[0071] It can be seen that the landing angle of the landing foot can be calculated before landing, that is, it can be completed in the air stage. Therefore, the control method of the bouncing robot provided in the embodiment of the present application can cope with the control scenarios of early or delayed landing under unknown height ground conditions, and can enhance the robustness of the bouncing motion of the bouncing robot and improve the success rate of continuous bouncing of the bouncing robot. In addition, since the landing foot of the bouncing robot can be controlled based on the accurate landing angle at the moment of landing, the stability of landing can be enhanced.

[0072] S103, controlling the movement of the bouncing robot according to the landing angle of the foot at the current moment.

[0073] Based on the above description, it can be understood that if the current moment is the landing moment, the landing angle of the grounding foot at the landing moment can be calculated, and then the bouncing robot can be controlled according to the landing angle of the grounding foot at the landing moment, so that the landing stability can be enhanced and the success rate of the bouncing robot's continuous bouncing success can be improved. In addition, it can be seen that the control method of the present application is simple and does not require high trajectory tracking accuracy, so the control cost of the bouncing robot can be reduced.

[0074] It should be noted that when the bouncing robot is subjected to motion control, it may be specifically subjected to motion control of the bouncing robot or subjected to take-off control of the bouncing robot, which is not limited here.

[0075] In summary, the control method of the bouncing robot provided in the embodiment of the present application includes: obtaining the tipping time parameter of the bouncing robot at the current moment, the tipping time parameter is used to characterize the speed of the bouncing robot falling; calculating the landing angle of the landing foot at the current moment according to the tipping time parameter, the center of mass speed of the bouncing robot at the current moment, and the distance between the center of mass of the bouncing robot and the landing foot at the current moment, the landing angle is used to characterize the angle between the straight line determined by the center point of the sole of the landing foot and the center point of the torso of the bouncing robot and the landing ground in the perpendicular direction; controlling the bouncing robot in motion according to the landing angle of the landing foot at the current moment. By applying the embodiment of the present application, the control cost of the bouncing robot can be reduced due to the low requirement on trajectory tracking accuracy. In addition, the bouncing robot can also be controlled in motion according to the landing angle of the landing foot at the moment of landing, which can enhance the landing stability and improve the success rate of continuous jumping of the bouncing robot.

[0076] Figure 2 A flowchart of another control method of a bouncing robot provided in an embodiment of the present application. Figure 2 As shown, the above method calculates the landing angle of the landing foot at the current moment according to the dumping time parameter, the center of mass speed of the bouncing robot at the current moment, and the distance between the center of mass of the bouncing robot and the landing foot at the current moment, including:

[0077] S201. Based on the robot world coordinate system, respectively obtain a first center of mass velocity of the center of mass of the bouncing robot in a first preset direction and a second center of mass velocity in a second preset direction at a current moment.

[0078] Among them, the origin of the robot world coordinate system is the intersection of the plumb line of the origin of the robot waist coordinate system and the ground when the robot is in the initial state. According to the right-hand coordinate system, the x-axis in the robot world coordinate system points to the front of the robot, the y-axis points to the left of the robot, and the z-axis points to the top of the robot.

[0079] In some embodiments, when the bouncing robot is controlled to jump, the jumping mode of the bouncing robot is generally jumping in place, or jumping forward or backward of the robot. Of course, it should be noted that the specific jumping mode is not limited to this. According to the actual application scenario, the jumping mode of the bouncing robot can also be jumping to the left or right of the robot.

[0080] Optionally, the first preset direction may be the x-axis or y-axis direction in the robot world coordinate system, and the second preset direction may be the z-axis direction in the robot world coordinate system.

[0081] S202, calculating the landing angle of the landing foot at the current moment according to the dumping time parameter, the first center of mass speed, the second center of mass speed, and the distance from the center of mass of the bouncing robot to the landing foot at the current moment.

[0082] Among them, during the specific calculation, the product of the tipping time parameter and the first center of mass velocity can be calculated to obtain the first calculation result; the product of the tipping time parameter and the second center of mass velocity can be calculated to obtain the second calculation result; the difference between the distance between the center of mass of the bouncing robot to the landing foot at the current moment and the second calculation result is calculated; according to the ratio between the first calculation result and the difference, the landing angle calculation result of the landing foot can be calculated.

[0083] In some embodiments, taking the first preset direction as the x-axis direction in the robot world coordinate system and the second preset direction as the z-axis direction in the robot world coordinate system as an example, when the bouncing robot is controlled to jump in place, or to jump forward or backward of the robot, the landing angle of the foot at the current moment can be calculated by referring to the following formula:

[0084]

[0085] Among them, θ c Indicates the landing angle of the foot at the current moment, T c represents the dumping time parameter, v x represents the first mass center velocity of the jumping robot in the first preset direction at the current moment, v c represents the second center of mass speed of the bouncing robot in the second preset direction at the current moment, and r represents the distance between the center of mass of the bouncing robot and the landing foot at the current moment.

[0086] It is worth noting that when controlling the bouncing robot to jump to the left or right of the robot, you can also refer to the above formula and replace v in the formula with x Replace with v y , and get the corresponding landing angle of the foot at the current moment.

[0087] In summary, it can be seen that the control method provided in the embodiment of the present application can be applied to the jumping movement of the bouncing robot in any direction, which can improve the applicability of the method of the present application.

[0088] Figure 3 A flowchart of another control method of a bouncing robot provided in an embodiment of the present application. Figure 3 As shown, the above method calculates the landing angle of the landing foot at the current moment according to the dumping time parameter, the first center of mass speed, the second center of mass speed, and the distance between the center of mass of the bouncing robot and the landing foot at the current moment, including:

[0089] S301. Based on the robot world coordinate system, respectively obtain a first center of mass position of the jumping robot in a first preset direction and a second center of mass position in a second preset direction at the current moment.

[0090] Among them, the robot world coordinate system, the first preset direction, and the second preset direction can refer to the above-mentioned related instructions, which will not be repeated here.

[0091] S302: Control the bouncing robot in motion according to the first center of mass position, the second center of mass position and the landing angle.

[0092] Optionally, when performing calculations, the first center of mass position of the jumping robot in the first preset direction and the second center of mass position in the second preset direction can be measured by a state estimation algorithm according to the jumping mode of the jumping robot. Optionally, taking the first center of mass position of the jumping robot in the first preset direction at the current moment as an example, when performing calculations, the trunk inclination angle and trunk position of the jumping robot at the current moment can be acquired by an inertial sensor, and the joint angles of each joint in the jumping robot at the current moment can be acquired by a joint encoder. According to the acquired trunk inclination angle, trunk position and joint angles of each joint, the initial center of mass position in the first preset direction can be estimated based on a kinematic forward solution algorithm; the initial center of mass position can be subjected to Kalman filtering to obtain the first center of mass position. The calculation process of the second center of mass position can refer to the calculation process of the first center of mass position mentioned above, which will not be repeated here.

[0093] Among them, based on the acquired first center of mass position, second center of mass position and landing angle, the joint angles of each joint in the landing foot of the bouncing robot can be calculated based on inverse kinematics, and then the bouncing robot can be motion controlled accordingly.

[0094] Figure 4 A flowchart of another control method of a bouncing robot provided in an embodiment of the present application. Figure 4 As shown, the above-mentioned motion control of the bouncing robot according to the first center of mass position, the second center of mass position and the landing angle includes:

[0095] S401. Obtain a first target position of the landing foot in a first preset direction at a current moment according to the first centroid position and the landing angle.

[0096] S402: Obtain a second target position of the landing foot in a second preset direction at the current moment according to the second center of mass position and the landing angle.

[0097] S403: Control the bouncing robot in motion according to the first target position and the second target position.

[0098] Optionally, taking the first preset direction as the x-axis direction in the robot world coordinate system and the second preset direction as the z-axis direction in the robot world coordinate system as an example for explanation, the calculation process of the first target position of the grounded foot in the first preset direction at the current moment and the second target position of the grounded foot in the second preset direction at the current moment can refer to the following formula:

[0099]

[0100]

[0101] in, Indicates the first target position of the landing foot in the x-axis direction in the world coordinate system at the current moment, CoM x Indicates the first center of mass position of the bouncing robot in the x-axis direction of the world coordinate system at the current moment. Indicates the second target position of the foot on the z-axis in the world coordinate system at the current moment, CoM z Indicates the second center of mass position of the bouncing robot in the z-axis direction in the world coordinate system at the current moment, θ c It represents the landing angle of the landing foot at the current moment, and r represents the distance between the center of mass of the bouncing robot and the landing foot at the current moment.

[0102] Figure 5 A flowchart of another control method of a bouncing robot provided in an embodiment of the present application. Figure 5 As shown, the above-mentioned motion control of the bouncing robot according to the first target position and the second target position includes:

[0103] S501. According to the first target position, the second target position, the first center of mass position and the second center of mass position, the joint angles of the joints of the landing foot of the jumping robot at the current moment are obtained based on an inverse solution algorithm.

[0104] The joints in the landing foot may include: knee joints, hip joints, ankle joints, etc., which are not limited here. Based on the above description, the joint angles of the knee joints, hip joints, ankle joints, etc. in the landing foot of the bouncing robot at the current moment are obtained based on the inverse solution algorithm, and then based on the joint angles of each joint, the bouncing robot can be controlled to land, take off, and move in the air, etc., which are not limited here.

[0105] Based on the above example, we can further explain that CoM x , CoM z The inverse solution module of the jumping robot is input, and the joint angles of each joint of the landing foot of the jumping robot at the current moment are obtained based on the inverse solution algorithm.

[0106] S502: Control the movement of the jumping robot according to the joint angles of the joints of the grounded foot.

[0107] Based on the above description, after obtaining the joint angles of each joint in the landing foot, the bouncing robot can be motion controlled accordingly to meet different jumping scenarios. During the jumping process, not only the landing stability can be enhanced, but also the success rate of continuous jumping of the bouncing robot can be improved.

[0108] Figure 6 A flowchart of another control method of a bouncing robot provided in an embodiment of the present application. Figure 6 As shown, the above method of obtaining the dumping time parameters of the bouncing robot at the current moment includes:

[0109] S601, respectively obtaining the mass parameters of the bouncing robot and the distance between the center of mass of the bouncing robot and the grounding foot at the current moment.

[0110] Optionally, the mass parameter of the bouncing robot can be obtained by reading the mass attribute parameter of the bouncing robot, or can be sent by other devices, which is not limited here. The distance between the center of mass of the bouncing robot and the grounded foot at the current moment can be referred to the above-mentioned related content, which will not be repeated here.

[0111] S602: Obtain the tipping time parameter of the bouncing robot at the current moment according to the mass parameter, the distance between the center of mass of the bouncing robot and the grounded foot at the current moment, and the system inertia of the bouncing robot.

[0112] The system inertia of the bouncing robot is used to characterize the difficulty of the bouncing robot's movement. Optionally, it can be obtained by measuring the bouncing robot through a movement test.

[0113] Optionally, during the specific calculation, the product of the mass parameter, the distance from the center of mass of the bouncing robot to the grounded foot at the current moment, and the gravitational acceleration can be calculated to obtain the fifth calculation parameter. Based on the fifth calculation parameter and the system inertia of the bouncing robot, the tipping time parameter of the bouncing robot at the current moment can be obtained.

[0114] In some embodiments, the dumping time parameter of the bouncing robot at the current moment can be calculated by the following calculation formula:

[0115]

[0116] Among them, T c represents the tipping time parameter of the bouncing robot at the current moment, I represents the system inertia of the bouncing robot, m represents the mass parameter of the bouncing robot, r represents the distance between the center of mass of the bouncing robot and the landing foot at the current moment, and g represents the gravitational acceleration.

[0117] Figure 7 A functional module diagram of a control device for a jumping robot provided in an embodiment of the present application. The basic principles of the device and the technical effects produced are the same as those of the corresponding method embodiments described above. For the sake of brief description, parts not mentioned in this embodiment may refer to the corresponding contents in the method embodiments.

[0118] like Figure 7 As shown, the control device 100 includes:

[0119] An acquisition module 110 is used to acquire a falling time parameter of the bouncing robot at the current moment, wherein the falling time parameter is used to characterize the speed at which the bouncing robot falls;

[0120] A calculation module 120 is used to calculate the landing angle of the landing foot at the current moment according to the dumping time parameter, the center of mass speed of the bouncing robot at the current moment, and the distance between the center of mass of the bouncing robot and the landing foot at the current moment, wherein the landing angle is used to represent the angle between the straight line determined by the center point of the sole of the landing foot and the center point of the trunk of the bouncing robot and the landing ground in the direction perpendicular to the landing ground;

[0121] The control module 130 is used to control the movement of the bouncing robot according to the landing angle of the landing foot at the current moment.

[0122] In an optional embodiment, the calculation module 120 is specifically used to obtain, based on the robot world coordinate system, a first center of mass velocity of the center of mass of the bouncing robot in a first preset direction and a second center of mass velocity in a second preset direction at a current moment;

[0123] The landing angle of the landing foot at the current moment is calculated according to the dumping time parameter, the first center of mass speed, the second center of mass speed and the distance between the center of mass of the bouncing robot and the landing foot at the current moment.

[0124] In an optional embodiment, the calculation module 120 is specifically used to obtain, based on the robot world coordinate system, a first center of mass position of the jumping robot in a first preset direction and a second center of mass position in a second preset direction at a current moment;

[0125] The bouncing robot is motion controlled according to the first center of mass position, the second center of mass position and the landing angle.

[0126] In an optional implementation, the calculation module 120 is specifically configured to obtain a first target position of the landing foot in the first preset direction at a current moment according to the first centroid position and the landing angle;

[0127] According to the second center of mass position and the landing angle, obtaining a second target position of the landing foot in the second preset direction at the current moment;

[0128] The bouncing robot is motion controlled according to the first target position and the second target position.

[0129] In an optional embodiment, the calculation module 120 is specifically used to obtain the joint angles of each joint of the landing foot of the jumping robot at the current moment based on the inverse solution algorithm according to the first target position, the second target position, the first center of mass position and the second center of mass position;

[0130] The bouncing robot is motion controlled according to the joint angles of the joints in the ground-standing foot.

[0131] In an optional implementation, the first preset direction is the x-axis or y-axis direction in the robot world coordinate system, and the second preset direction is the z-axis direction in the robot world coordinate system.

[0132] In an optional implementation, the acquisition module 110 is used to respectively acquire the mass parameter of the bouncing robot and the distance between the center of mass of the bouncing robot and the grounding foot at the current moment;

[0133] According to the mass parameter, the distance between the center of mass of the bouncing robot and the grounded foot at the current moment, and the system inertia of the bouncing robot, the tipping time parameter of the bouncing robot at the current moment is obtained. The system inertia of the bouncing robot is used to characterize the difficulty of the bouncing robot's movement.

[0134] The above-mentioned device is used to execute the method provided by the aforementioned embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0135] The above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASICs), or one or more microprocessors, or one or more field programmable gate arrays (FPGAs). For another example, when a module is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0136] Figure 8 An embodiment of the present application provides a schematic diagram of the structure of an electronic device, which can be integrated into a control unit in a jumping robot. Figure 8 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 and the storage medium 220 communicate through the bus 230, and the processor 210 executes the machine-readable instructions to perform the steps of the above method embodiment. The specific implementation method and technical effect are similar and will not be repeated here.

[0137] Optionally, the present application further provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method embodiment are executed. The specific implementation method and technical effect are similar and will not be repeated here.

[0138] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0139] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0140] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0141] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some steps of the methods of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, abbreviated: ROM), random access memory (English: Random Access Memory, abbreviated: RAM), disk or optical disk and other media that can store program codes.

[0142] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0143] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A control method for a bouncing robot, It is characterized in that include: Obtaining a falling time parameter of the bouncing robot at the current moment, wherein the falling time parameter is used to characterize the speed at which the bouncing robot falls; According to the dumping time parameter, the velocity of the center of mass of the bouncing robot at the current moment, and the distance between the center of mass of the bouncing robot and the landing foot at the current moment, the landing angle of the landing foot at the current moment is calculated, and the landing angle is used to represent the angle between the straight line determined by the center point of the sole of the landing foot and the center point of the trunk of the bouncing robot and the landing ground in the direction perpendicular to the landing ground; Controlling the movement of the bouncing robot according to the landing angle of the landing foot at the current moment; The calculating the landing angle of the landing foot at the current moment according to the dumping time parameter, the center of mass speed of the bouncing robot at the current moment, and the distance between the center of mass of the bouncing robot and the landing foot at the current moment comprises: Based on the robot world coordinate system, respectively obtaining a first center of mass velocity of the center of mass of the bouncing robot in a first preset direction and a second center of mass velocity in a second preset direction at a current moment; The landing angle of the landing foot at the current moment is calculated according to the dumping time parameter, the first center of mass speed, the second center of mass speed and the distance between the center of mass of the bouncing robot and the landing foot at the current moment.

2. The method according to claim 1, It is characterized in that The calculating the landing angle of the landing foot at the current moment according to the dumping time parameter, the first center of mass speed, the second center of mass speed, and the distance between the center of mass of the bouncing robot and the landing foot at the current moment includes: Based on the robot world coordinate system, respectively obtain a first center of mass position of the center of mass of the bouncing robot in a first preset direction and a second center of mass position in a second preset direction at a current moment; The bouncing robot is motion controlled according to the first center of mass position, the second center of mass position and the landing angle.

3. The method according to claim 2, It is characterized in that The step of controlling the bouncing robot in motion according to the first mass center position, the second mass center position, and the landing angle includes: According to the first centroid position and the landing angle, obtaining a first target position of the landing foot in the first preset direction at the current moment; According to the second center of mass position and the landing angle, obtaining a second target position of the landing foot in the second preset direction at the current moment; The bouncing robot is motion controlled according to the first target position and the second target position.

4. The method according to claim 3, It is characterized in that The step of controlling the bouncing robot in motion according to the first target position and the second target position includes: According to the first target position, the second target position, the first center of mass position, and the second center of mass position, obtaining the joint angles of the joints of the landing foot of the jumping robot at the current moment based on an inverse solution algorithm; The bouncing robot is motion controlled according to the joint angles of the joints in the ground-standing foot.

5. The method according to claim 1, It is characterized in that The first preset direction is the x-axis or y-axis direction in the robot world coordinate system, and the second preset direction is the z-axis direction in the robot world coordinate system.

6. The method according to any one of claims 1 to 5, It is characterized in that The method of obtaining the dumping time parameter of the bouncing robot at the current moment includes: Respectively obtain the mass parameter of the bouncing robot and the distance between the center of mass of the bouncing robot and the grounding foot at the current moment; According to the mass parameter, the distance between the center of mass of the bouncing robot and the grounded foot at the current moment, and the system inertia of the bouncing robot, the tipping time parameter of the bouncing robot at the current moment is obtained. The system inertia of the bouncing robot is used to characterize the difficulty of the bouncing robot's movement.

7. A control device for a bouncing robot, It is characterized in that include: An acquisition module, used to acquire a falling time parameter of the bouncing robot at the current moment, wherein the falling time parameter is used to characterize the speed at which the bouncing robot falls; A calculation module, used to calculate the landing angle of the landing foot at the current moment according to the dumping time parameter, the center of mass speed of the bouncing robot at the current moment, and the distance between the center of mass of the bouncing robot and the landing foot at the current moment, wherein the landing angle is used to represent the angle between the straight line determined by the center point of the sole of the landing foot and the center point of the trunk of the bouncing robot and the landing ground in the direction perpendicular to the landing ground; A control module, used for controlling the movement of the bouncing robot according to the landing angle of the landing foot at the current moment; The calculation module is specifically used to obtain the first center of mass velocity of the center of mass of the bouncing robot in the first preset direction and the second center of mass velocity in the second preset direction at the current moment based on the robot world coordinate system; calculate the landing angle of the landing foot at the current moment according to the dumping time parameter, the first center of mass velocity, the second center of mass velocity and the distance between the center of mass of the bouncing robot and the landing foot at the current moment.

8. An electronic device, It is characterized in that include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the storage medium communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of the control method of the bouncing robot as described in any one of claims 1-6.

9. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control method of the jumping robot as claimed in any one of claims 1 to 6 are executed.

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