Leaf spring stiffness value determination method, device, electronic equipment and robot

Abstract

The present disclosure relates to the field of robot technology, and in particular to a method, device, electronic device and robot for determining the stiffness value of a leaf spring. The method for determining the stiffness value of a leaf spring comprises: determining the contact force of any one of the left and right feet of the robot according to the position of the center of gravity of the robot and the weight information of the robot, wherein the robot stands on a horizontal plane and is in a stationary state, and the direction of the contact force is perpendicular to the horizontal plane; mapping the contact force of any one of the feet to the equivalent joint of the leaf spring deformation corresponding to the any one of the feet to obtain the deformation torque corresponding to the leaf spring; obtaining the deformation angle corresponding to the leaf spring through a position encoder installed at at least one joint; and determining the stiffness value of the leaf spring according to the deformation torque and the deformation angle. The present disclosure can improve the accuracy of determining the stiffness value of the leaf spring.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a method and device for determining a leaf spring stiffness value, an electronic device, and a robot. Background Art

[0002] In recent years, with the advancement of society and technology, robotics has been widely used in all aspects of life. However, people's demand for robots' functionality is also increasing. Legged robots, due to their excellent motion performance and biomimetic characteristics, have become a major research hotspot in intelligent robotics. In legged robots, the plantar force can be calculated based on the deformation of leaf springs. For example, the stiffness of leaf springs can be determined before they are installed on the legged robot. However, once the leaf springs are installed, the overall stiffness of the legged robot cannot be determined, resulting in low accuracy in the stiffness determination. Summary of the Invention

[0003] The present disclosure provides a leaf spring stiffness value determination method, device, electronic device, robot and storage medium, the main purpose of which is to improve the accuracy of leaf spring stiffness value determination.

[0004] According to one aspect of the present disclosure, a method for determining a leaf spring stiffness value is provided, comprising:

[0005] determining a contact force of either a left or right foot of the robot based on the center of gravity position of the robot and the weight information of the robot, wherein the robot is standing on a horizontal plane and is in a stationary state, and the direction of the contact force is perpendicular to the horizontal plane;

[0006] Mapping the contact force of any foot to the equivalent joint of the leaf spring corresponding to the any foot to obtain the deformation torque corresponding to the leaf spring;

[0007] Obtaining a deformation angle corresponding to the leaf spring through a position encoder installed at at least one joint;

[0008] The stiffness value of the leaf spring is determined according to the deformation moment and the deformation angle.

[0009] Optionally, determining the contact force of either the left or right foot of the robot based on the center of gravity position of the robot and the weight information of the robot includes:

[0010] Obtaining weight information and height information of the robot, and determining a center of gravity position of the robot, wherein the center of gravity position is located directly above any one of the feet;

[0011] According to the static constraints and the center of gravity position, the force of the weight information along the direction perpendicular to the horizontal plane is determined, and the force of the weight information along the direction perpendicular to the horizontal plane is used as the contact force of any one foot.

[0012] Optionally, wherein any one of the feet corresponds to a first leaf spring and a second leaf spring, and obtaining the deformation torque corresponding to the leaf spring includes:

[0013] acquiring a first torque of a first passive joint and a second torque of a second passive joint, wherein the first passive joint and the second passive joint are located on any one of the feet;

[0014] A first equivalent moment and a second equivalent moment are determined based on the first moment and the second moment, wherein the first equivalent moment is the equivalent moment of the first leaf spring at the first passive joint, the second passive joint, and the active joint, and the second equivalent moment is the equivalent moment of the second leaf spring at the first passive joint, the second passive joint, and the active joint.

[0015] Optionally, obtaining the first torque of the first passive joint and the second torque of the second passive joint includes:

[0016] Obtaining a corresponding relationship between the contact force and the joint torque of any foot;

[0017] According to the corresponding relationship, obtaining an association relationship between the contact forces of the first passive joint, the second passive joint, and any one of the feet;

[0018] According to the association relationship, a first torque of the first passive joint and a second torque of the second passive joint are determined.

[0019] Optionally, obtaining the deformation angle corresponding to the leaf spring by using a position encoder installed at at least one joint includes:

[0020] obtaining a first deformation angle of the first leaf spring by means of a first position encoder installed at the first passive joint;

[0021] Obtaining a nonlinear relationship between a deformation angle of a second leaf spring of any foot, the first passive joint, the second passive joint, and the active joint by using the first position encoder, a second position encoder installed at the second passive joint, and a third position encoder installed at the active joint;

[0022] According to the nonlinear relationship, a second deformation angle of the second leaf spring is determined.

[0023] Optionally, determining the stiffness value of the leaf spring according to the deformation moment and the deformation angle includes:

[0024] determining a first stiffness value of the first leaf spring according to the first equivalent moment and the first deformation angle;

[0025] determining a second stiffness value of the second leaf spring according to the second equivalent moment and the second deformation angle;

[0026] The first stiffness value and the second stiffness value are used as stiffness values ​​corresponding to any one foot.

[0027] Optionally, after determining the stiffness value of the leaf spring according to the deformation moment and the deformation angle, the method further includes:

[0028] obtaining at least one stiffness value of the robot at different standing heights;

[0029] A target stiffness value of the leaf spring is determined according to the at least one stiffness value, and the target stiffness value is used as a target calibration result.

[0030] According to another aspect of the present disclosure, there is provided a leaf spring stiffness value determination device, comprising:

[0031] a contact force determination unit, configured to determine a contact force of either the left or right foot of the robot based on the position of the center of gravity of the robot and the weight information of the robot, wherein the robot is standing on a horizontal plane and is in a stationary state, and a direction of the contact force is perpendicular to the horizontal plane;

[0032] a torque acquisition unit, configured to map the contact force of any foot to an equivalent joint of the leaf spring corresponding to the foot, and acquire the deformation torque corresponding to the leaf spring;

[0033] An angle acquisition unit, configured to acquire a deformation angle corresponding to the leaf spring via a position encoder installed at at least one joint;

[0034] A stiffness value determining unit is used to determine the stiffness value of the leaf spring according to the deformation moment and the deformation angle.

[0035] According to another aspect of the present disclosure, a robot is provided, wherein the robot comprises a position encoder, and the robot is used to perform the method according to any one of the aforementioned aspects.

[0036] According to another aspect of the present disclosure, there is provided an electronic device, comprising:

[0037] at least one processor; and

[0038] a memory communicatively connected to the at least one processor; wherein,

[0039] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform any one of the methods described in the above aspect.

[0040] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute any one of the methods described in the aforementioned aspect.

[0041] According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the method according to any one of the aforementioned aspects.

[0042] In one or more embodiments of the present disclosure, the contact force of either of the left and right legs of the robot is determined based on the robot's center of gravity position and the robot's weight information, wherein the robot is standing on a horizontal plane and is in a stationary state, and the direction of the contact force is perpendicular to the horizontal plane; the contact force of either leg is mapped to the equivalent joint of the leaf spring corresponding to the foot to obtain the corresponding deformation torque of the leaf spring; the deformation angle corresponding to the leaf spring is obtained by a position encoder installed at at least one joint; and the stiffness value of the leaf spring is determined based on the deformation torque and deformation angle. Therefore, when the robot is in a standing state, that is, after the leaf spring is installed on the robot, the stiffness value of the leaf spring can be calibrated based on the deformation torque and deformation angle, thereby reducing the need to calibrate the stiffness of only the leaf spring itself and failing to obtain the stiffness value of the entire legged robot after the leaf spring is installed. The stiffness value can be calibrated online, thereby improving the accuracy of the stiffness value determination. In addition, the stiffness value can be determined without installing additional calibration equipment, thereby improving the convenience of stiffness value determination.

[0043] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0045] Figure 1 A schematic diagram showing a flow chart of a first method for determining a leaf spring stiffness value provided by an embodiment of the present disclosure;

[0046] Figure 2 A schematic flow chart showing a second method for determining a leaf spring stiffness value provided by an embodiment of the present disclosure;

[0047] Figure 3 An exemplary schematic diagram illustrating a contact force determination method provided by an embodiment of the present disclosure is shown;

[0048] Figure 4 An exemplary schematic diagram showing a robot structure provided by an embodiment of the present disclosure is shown;

[0049] Figure 5 A schematic diagram illustrating an example of a method for determining a leaf spring stiffness value provided by an embodiment of the present disclosure;

[0050] Figure 6 A schematic structural diagram of a first leaf spring stiffness value determination device provided by an embodiment of the present disclosure is shown;

[0051] Figure 7 A schematic structural diagram of a second leaf spring stiffness value determination device provided by an embodiment of the present disclosure is shown;

[0052] Figure 8 A schematic structural diagram of a third leaf spring stiffness value determination device provided by an embodiment of the present disclosure is shown;

[0053] Figure 9 A schematic structural diagram of a fourth leaf spring stiffness value determination device provided by an embodiment of the present disclosure is shown;

[0054] Figure 10 It is a block diagram of an electronic device used to implement the method for determining the leaf spring stiffness value according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0055] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0056] In some embodiments, the robot is provided with left and right feet, wherein each foot is provided with at least two leaf springs. In the embodiments of the present disclosure, the robot may be provided with two leaf springs, for example, the two leaf springs may be a first leaf spring and a second leaf spring.

[0057] According to some embodiments, a leaf spring is short for a leaf spring, which is a leaf-shaped spring composed of at least one sheet of spring steel stacked together. Therefore, a leaf spring does not specifically refer to a fixed leaf spring. When the number of leaf springs changes, the leaf spring can also change accordingly. For example, when the material of the leaf spring changes, the leaf spring can also change accordingly.

[0058] In some embodiments, the center of gravity refers to the location of the robot's center of gravity. This center of gravity is not fixed to a specific location. For example, when the robot's standing height changes, the center of gravity may also change accordingly. For example, when the robot's weight changes, the center of gravity may also change accordingly.

[0059] According to some embodiments, the equivalent joint refers to a joint corresponding to the deformation of the leaf spring. The equivalent joint does not specifically refer to a fixed joint. For example, when the deformed leaf spring changes, the equivalent joint may also change accordingly.

[0060] It's easy to understand that torque represents the rotational effect produced by a force acting on an object. The product of the force and the lever arm is called the torque about the axis of rotation. Deformation torque refers to the rotational effect produced by the deformation of a leaf spring. The equivalent torque is the equivalent torque produced by the leaf spring's deformation torque at the first passive joint, the second passive joint, and the active joint.

[0061] In some embodiments, a position encoder refers to a device that compiles and converts position signals or data into a signal format that can be used for communication, transmission, and storage. The position encoder is not specifically a fixed encoder. For example, if the position encoder's identifier changes, the position encoder may also change accordingly.

[0062] It is easy to understand that stiffness refers to the ability of a material or structure to resist elastic deformation when subjected to force. The stiffness of the embodiment of the present disclosure refers to the ability of a leaf spring to resist elastic deformation when subjected to force.

[0063] In recent years, with the advancement of society and technology, robotics has been widely used in all aspects of life, but people's demand for robots' functions is also increasing. Legged robots, due to their excellent motion performance and biomimetic characteristics, have become a major research hotspot in intelligent robotics.

[0064] The locomotion capability of legged robots is crucial to their technology. Real-time, dynamic detection of contact forces between the robot and its environment and their application to robot control can effectively improve the robot's stability. This method incorporates deformable leaf springs in the robot's legs and measures plantar force by detecting the spring's deformation. This method offers a simple structure, low cost, and sufficient accuracy.

[0065] To calculate plantar force using leaf spring deformation, the leaf spring's stiffness must first be known. The stiffness of a leaf spring system is affected not only by the spring's own stiffness but also by the precision of its installation and the stiffness of the structural components it mounts on. Each leaf spring system has a different stiffness coefficient, so calibration is necessary before use. For example, specialized calibration tools and sensors can be designed to calibrate leaf springs. However, this only calibrates the stiffness of the leaf spring itself and cannot accurately reflect the stiffness of the overall structure after installation. This results in low stiffness accuracy and prevents quick and easy online calibration.

[0066] The present disclosure is described in detail below with reference to specific embodiments.

[0067] In the first embodiment, if Figure 1 As shown, Figure 1 A schematic flow chart illustrates a first method for determining leaf spring stiffness values ​​provided by an embodiment of the present disclosure. This method can be implemented using a computer program and executed on a device performing the leaf spring stiffness determination method. The computer program can be integrated into an application or run as a standalone tool application. The method can be executed, for example, by an electronic device.

[0068] Specifically, the method for determining the leaf spring stiffness value includes:

[0069] S101, determining the contact force of either the left or right foot of the robot based on the center of gravity position and weight information of the robot;

[0070] According to some embodiments, the center of gravity position refers to the location of the robot's center of gravity. This center of gravity position is not specifically a fixed position. For example, when the robot's standing height changes, the center of gravity position may also change accordingly. For example, when the robot's weight changes, the center of gravity position may also change accordingly. Among them, the center of gravity position of the embodiments of the present disclosure may be, for example, the center of mass position of the robot. The center of mass is used to indicate the center of mass of the robot, which means that the mass of the robot is concentrated at a single point.

[0071] It's easy to understand that weight information refers to the weight of the robot, which is used to measure the gravity force on the robot. If the robot's structure changes, the mass information may also change accordingly. If the robot's material changes, the weight information may also change accordingly.

[0072] According to some embodiments, the left and right feet refer to structures installed on the robot for movement. The left and right feet may be provided with multiple joints. A "any foot" refers to either of the left and right feet. For example, the "any foot" may be the left foot, or the "any foot" may also be the right foot.

[0073] Optionally, the left and right feet provided on the robot can be, for example, the left and right feet of the two feet. Alternatively, when the robot is provided with four feet, they can also be divided into left and right feet, i.e., two left feet and two right feet.

[0074] It's easy to understand that contact force refers to the force generated when the sole of the foot contacts a horizontal surface. This contact force isn't specific to a single force; for example, it changes when the contact area changes. For example, when the robot's weight changes, the contact force can also change accordingly.

[0075] In one embodiment of the present disclosure, the robot stands on a horizontal plane and is in a stationary state, and the direction of the contact force is perpendicular to the horizontal plane.

[0076] According to some embodiments, when the leaf spring stiffness value determination method is executed, the robot may be in a powered-on state. The contact force of either the left or right foot of the robot may be determined based on the robot's center of gravity position and the robot's weight information.

[0077] S102, mapping the contact force of any foot to the equivalent joint of the leaf spring corresponding to the foot to obtain the deformation torque corresponding to the leaf spring;

[0078] According to some embodiments, the equivalent joint refers to a joint corresponding to the deformation of the leaf spring. The equivalent joint does not specifically refer to a fixed joint. For example, when the deformed leaf spring changes, the equivalent joint may also change accordingly.

[0079] In one embodiment of the present disclosure, the robot is provided with at least one joint on each of its left and right legs. The at least one joint includes an active joint and a passive joint. The active joint may be, for example, a joint driven by a motor, and the passive joint may be, for example, a joint not driven by a motor.

[0080] It's easy to understand that torque represents the physical quantity that describes the rotational effect produced by a force acting on an object. The product of the force and the lever arm is called the torque of the force about the axis of rotation. Deformation torque refers to the rotational effect produced by the deformation of a leaf spring. This deformation torque is not specifically a fixed torque. For example, if the robot's standing height changes, the deformation torque can also change accordingly. If the leaf spring changes, the deformation torque of the leaf spring can also change accordingly.

[0081] According to some embodiments, when executing the leaf spring stiffness determination method, the robot may be in an on-state. Based on the robot's center of gravity and weight information, the contact force of either foot can be determined. The contact force of either foot can then be mapped to the equivalent joint of the leaf spring corresponding to that foot, thereby obtaining the corresponding deformation torque of the leaf spring.

[0082] S103, obtaining a corresponding deformation angle of the leaf spring by using a position encoder installed at at least one joint;

[0083] In some embodiments, a single robot leg may be equipped with multiple joints. These multiple joints include electrically driven active joints and non-motor driven passive joints. There may be at least one active joint and at least one passive joint. For example, there may be five active joints and two passive joints.

[0084] According to some embodiments, a position encoder may be installed at each joint of a robot leg. The position encoder of the disclosed embodiment may be, for example, a position encoder installed at at least one joint. A position encoder is a device that compiles and converts position signals or data into a signal form that can be used for communication, transmission, and storage. The position encoder does not specifically refer to a fixed encoder. For example, when the identifier of the position encoder changes, the position encoder may also change accordingly.

[0085] It's easy to understand that the deformation angle indicates the angle by which the leaf spring deforms. For example, if the robot's standing height changes, the deformation angle may also change accordingly. If the leaf spring changes, the deformation angle may also change accordingly.

[0086] According to some embodiments, the deformation angle corresponding to the leaf spring can be obtained by a position encoder installed at at least one joint. For example, when there are multiple leaf springs, the deformation angles corresponding to the multiple leaf springs can be obtained by a position encoder installed at at least one joint.

[0087] S104: Determine the stiffness value of the leaf spring according to the deformation moment and the deformation angle.

[0088] According to some embodiments, when the deformation moment and deformation angle of the leaf spring are obtained, the stiffness value of the leaf spring can be determined based on the deformation moment and deformation angle.

[0089] In one or more embodiments of the present disclosure, the contact force of either foot of the robot is determined based on the position of the center of gravity of the robot and the weight information of the robot, wherein the robot stands on a horizontal plane and is in a stationary state, and the direction of the contact force is perpendicular to the horizontal plane; the contact force of either foot is mapped to the equivalent joint of the leaf spring corresponding to either foot, and the deformation torque corresponding to the leaf spring is obtained; the deformation angle corresponding to the leaf spring is obtained by a position encoder installed at at least one joint; and the stiffness value of the leaf spring is determined based on the deformation torque and the deformation angle. Therefore, when the robot is in a standing state, that is, after the leaf spring is installed on the robot, the stiffness value of the leaf spring can be calibrated according to the deformation torque and deformation angle, which can reduce the situation where only the stiffness calibration of the leaf spring itself is performed, and the stiffness value of the entire legged robot after the leaf spring is installed cannot be obtained. The errors such as the installation gap and the structural stiffness can be calibrated at the same time, and the stiffness value can be calibrated online, which can improve the accuracy of the stiffness value determination. In addition, there is no need to install additional calibration equipment. Only the sensors and structures of the robot itself can be used to complete the leaf spring stiffness calibration, which simplifies the stiffness value calibration steps and improves the convenience of stiffness value determination.

[0090] See Figure 2 , Figure 2 A flow chart of a second method for determining the leaf spring stiffness value provided by an embodiment of the present disclosure is shown. Specifically, the method for determining the leaf spring stiffness value includes:

[0091] S201, obtaining the weight information and height information of the robot and determining the center of gravity position of the robot;

[0092] The specific process is as described above and will not be repeated here.

[0093] It is easy to understand that the center of gravity is located directly above any foot. This center of gravity can be, for example, the center of mass of the robot when it is standing. This center of gravity is not specifically a fixed position. For example, when the weight of the robot changes, the center of gravity can also change accordingly.

[0094] Optionally, when the robot's weight information is obtained, the robot's height information can also be obtained. Based on the obtained weight and height information, the robot's center of gravity can be determined. When the robot's weight information is fixed, the robot's center of gravity can also change accordingly when the robot's height information changes.

[0095] For example, Figure 3 The following is a schematic diagram showing an example of a contact force determination method provided by an embodiment of the present disclosure. The total mass of the robot is m, the acceleration due to gravity is g, and when the robot is standing still, its mass can be assumed to be concentrated at the center of mass. ( , , ), the center of mass is located directly above the foot in the x direction, that is, and The center of mass is the center of gravity. Different height information corresponds to different values ​​in the z direction.

[0096] S202, determining the force of the weight information in a direction perpendicular to the horizontal plane based on the static constraints and the center of gravity position, and using the force of the weight information in the direction perpendicular to the horizontal plane as the contact force of any foot;

[0097] It's easy to understand that statics studies the equilibrium laws of a mass under forces. Static constraints study the equilibrium laws of forces acting on a robot when it is at rest. Based on static constraints and the center of gravity, the force perpendicular to the horizontal plane caused by the weight is determined and used as the contact force on either foot.

[0098] According to some embodiments, Figure 4 As shown in Figure 2, according to the static constraints, the contact forces acting on the left and right feet can be obtained as follows:

[0099] =0(1)

[0100] =0(2)

[0101] (3)

[0102] (4)

[0103] in, : The force of the left foot in the x direction, that is, the force exerted by the horizontal plane on the sole of the left foot in the x direction;

[0104] : The force of the right foot along the x direction, that is, the force exerted by the horizontal plane on the sole of the foot along the x direction;

[0105] : The force of the left foot in the y direction, that is, the force exerted by the horizontal plane on the sole of the left foot in the y direction;

[0106] : The force of the right foot along the y direction, that is, the force exerted by the horizontal plane on the sole of the right foot along the y direction;

[0107] : The force of the left foot along the z direction, that is, the force exerted by the horizontal plane on the sole of the left foot along the z direction;

[0108] : The force of the right foot along the z direction, that is, the force exerted by the horizontal plane on the sole of the right foot along the z direction.

[0109] S203, mapping the contact force of any foot to an equivalent joint of the leaf spring corresponding to any foot, and obtaining a first torque of a first passive joint and a second torque of a second passive joint, wherein the first passive joint and the second passive joint are located on any foot;

[0110] According to some embodiments, a first passive joint and a second passive joint may be provided on any foot. A first torque indicates the joint torque of the first passive joint. The first in the first torque is used only to distinguish it from the other torques and does not specifically refer to a fixed torque. The second torque indicates the joint torque of the second passive joint. A passive joint refers to a joint without a motor drive.

[0111] According to some embodiments, Figure 4 FIG. 1 shows an example schematic diagram of a robot structure provided by an embodiment of the present disclosure. Figure 4 As shown in the figure, taking the left leg as an example, the robot's left leg has a total of 5 active joints driven by motors, namely , two passive joints without motor drive , define the generalized joint of the left leg as , and position encoders are installed at these 7 joints to measure the joint rotation angles. The right leg is defined as , combined with the six degrees of freedom of the floating coordinate system , the generalized joints of the whole machine are . The hip link, thigh link, leaf spring 2 and link 1 form a closed chain structure. When the two passive springs are not deformed, the hinge point 1, active joint 10, passive joint 12 and hinge point 2 form a parallelogram structure, and when the active joint 10 moves, these four points can still maintain the parallelogram structure. Among them, the six degrees of freedom of the floating coordinate system are used to describe the relationship between the joint and the ground. The first passive joint can be, for example, an 11-joint, and the second passive joint can be, for example, a 12-joint.

[0112] It is easy to understand that the deformation angle of the leaf spring is defined as the angle between the connecting line of the spring end position and the fixed end position and the connecting line in the relaxed state. Indicates the deformation angle of the leaf spring.

[0113] According to some embodiments, when obtaining the first torque of the first passive joint and the second torque of the second passive joint, the correspondence between the contact force and the joint torque of any foot can be obtained; based on the correspondence, the association relationship between the contact forces of the first passive joint, the second passive joint and any foot is obtained; based on the association relationship, the first torque of the first passive joint and the second torque of the second passive joint are determined, which can improve the accuracy of determining the first torque and the second torque, improve the accuracy of determining the equivalent torque, and thereby improve the accuracy of determining the stiffness value.

[0114] In the embodiment of the present disclosure, the first passive joint may be, for example, joint 11, and the second passive joint may be, for example, joint 12. The active joint may be, for example, joint 10. There is no motor drive at joints 11 and 12, so the equivalent torque at the joint is only related to the equivalent torque generated by the spring deformation torque. The Jacobian matrix of the plantar relative to the world coordinate system is defined as , then the relationship between the plantar force and the generalized joint torque is

[0115] (5)

[0116] Extract the two lines related to passive joints 11 and 12 in the above formula and write them as

[0117] （6）

[0118] in, are the joint angles numbered 1 to 20 defined above, Represents the torque at the corresponding joint, which are all 20x1 dimensional variables. In the embodiment of this disclosure, only the equivalent torque at the two passive joints is concerned, so the and That is, the quantities on the right side of the equal sign in formula (5) and formula (6) are all known quantities, and we can obtain and . represents the moment at joint 11 and represents the moment at joint 12.

[0119] S204, determining a first equivalent moment and a second equivalent moment according to the first moment and the second moment;

[0120] According to some embodiments, the first equivalent torque refers to the equivalent torque of the first leaf spring at the first passive joint, the second passive joint, and the active joint. The second equivalent torque refers to the equivalent torque of the second leaf spring at the first passive joint, the second passive joint, and the active joint. The first in the first equivalent torque is used only to distinguish it from the second equivalent torque and does not specifically refer to a fixed equivalent torque. For example, when the specific torque value of the first equivalent torque changes, the first equivalent torque may also change accordingly.

[0121] Optionally, when the electronic device obtains the first torque and the second torque, a first equivalent torque and a second equivalent torque may be determined according to the first torque and the second torque.

[0122] In some embodiments, for example, a first equivalent moment to be determined and a second equivalent moment to be determined can be obtained. The first equivalent moment to be determined and the second equivalent moment to be determined can be, for example, unknown quantities, the first equivalent moment can be, for example, a determined first equivalent moment, and the second equivalent moment can be, for example, a determined second equivalent moment. The electronic device can obtain a first calculation formula including the first equivalent moment to be determined and a second calculation formula including the second equivalent moment to be determined. The first calculation formula refers to a calculation formula for determining the first equivalent moment, and the first in the first calculation formula is only used to distinguish it from the second calculation formula and does not specifically refer to a fixed calculation formula. The second calculation formula refers to a calculation formula for determining the second equivalent moment.

[0123] S205, obtaining a first deformation angle of the first leaf spring through a first position encoder installed at the first passive joint;

[0124] According to some embodiments, the first deformation angle of the first leaf spring is used to indicate the angle of the first leaf spring after deformation. In the embodiment of the present disclosure, taking the left foot as an example, the first deformation angle of the first leaf spring may be the angle of the first passive joint.

[0125] Optionally, the first position encoder may be an encoder installed at the first passive joint, for example.

[0126] S206, obtaining a nonlinear relationship between a second leaf spring deformation angle of any foot, the first passive joint, the second passive joint, and the active joint using a first position encoder, a second position encoder installed at the second passive joint, and a third position encoder installed at the active joint;

[0127] S207, determining a second deformation angle of the second leaf spring according to the nonlinear relationship;

[0128] According to some embodiments, the second deformation angle of the second leaf spring is the deformation angle of the second leaf spring at the first passive joint, the second passive joint, and the active joint.

[0129] It is easy to understand that the embodiment of the present disclosure is introduced by taking the left leg as an example. The first passive joint can be, for example, joint 11, and the second passive joint can be, for example, joint 12. The active joint can be, for example, joint 10. Among them, the deformation angle of the first leaf spring left knee leaf spring is equal to the angle of joint 11, and the deformation angle of the second leaf spring foot leaf spring is nonlinearly related to joints 10, 11, and 12, which is represented by f.

[0130] (7)

[0131] in, represents the equivalent joint angle of the first leaf spring of the left foot at joints 10, 11, and 12, that is, represents the first deformation angle, represents the equivalent joint angle of the second leaf spring of the left foot at joints 10, 11, and 12, that is, Indicates the second deformation angle.

[0132] The leaf spring 1 and the joint 11 are installed in parallel, so the equivalent torque of the leaf spring 1 only acts on the joint 11, that is, the first calculation formula is:

[0133] (8)

[0134] in, represents the first equivalent moment;

[0135] Taking the derivative of the second term in formula (7) yields:

[0136] (9)

[0137] in, Indicates leaf spring The Jacobian matrix of the rotation and joints 10, 11, and 12 can be used to calculate the equivalent moment of the leaf spring deformation moment acting on joints 10, 11, and 12. The second calculation formula is:

[0138] (10)

[0139] By adding the equivalent moments generated by the two leaf springs, the equivalent moment of the joint can be obtained as

[0140] (11)

[0141] Reverse the above formula to get the moment at the leaf spring:

[0142] (12)

[0143] in, represents the second equivalent moment.

[0144] S208, determining a first stiffness value of the first leaf spring according to the first equivalent moment and the first deformation angle;

[0145] According to some embodiments, the first stiffness value does not specifically refer to a fixed stiffness value. The first in the first stiffness value is used only to distinguish it from the other stiffness values ​​and does not specifically refer to a fixed stiffness value. For example, when the first equivalent moment or the first deformation angle changes, the first stiffness value may also change accordingly.

[0146] It is easy to understand that once the first equivalent moment and the first deformation angle are obtained, the first stiffness value of the first leaf spring can be determined based on the first equivalent moment and the first deformation angle. Specifically, the first stiffness value of the first leaf spring can be obtained by dividing the first equivalent moment by the first deformation angle. Alternatively, for example, the first stiffness value of the first leaf spring can be obtained by dividing the first equivalent moment by the first deformation angle and then multiplying the result by a percentage.

[0147] S209, determining a second stiffness value of the second leaf spring according to the second equivalent moment and the second deformation angle;

[0148] According to some embodiments, the second stiffness value does not specifically refer to a fixed stiffness value. The "second" in the second stiffness value is used only to distinguish it from the other stiffness values ​​and does not specifically refer to a fixed stiffness value. For example, when the second equivalent moment or the second deformation angle changes, the second stiffness value may also change accordingly.

[0149] It is easy to understand that when the second equivalent moment and the second deformation angle are obtained, the second stiffness value of the second leaf spring is determined based on the second equivalent moment and the second deformation angle. Specifically, for example, the second stiffness value of the second leaf spring can be obtained by dividing the second equivalent moment by the second deformation angle.

[0150] S210: Using the first stiffness value and the second stiffness value as stiffness values ​​corresponding to any foot.

[0151] According to some embodiments, any foot corresponds to two stiffness values, that is, a first stiffness value of the first leaf spring and a second stiffness value of the second leaf spring are used as the stiffness value of any foot.

[0152] It is easy to understand that the leaf spring deformation angle calculated according to the above formula is and leaf spring torque The leaf spring stiffness can be calculated as:

[0153] (13)

[0154] According to some embodiments, the two leaf spring stiffness values ​​in Formula 13 may be used as stiffness values ​​corresponding to the left foot.

[0155] In summary, the method provided by the embodiment of the present disclosure obtains the weight information and height information of the robot, determines the center of gravity position of the robot, determines the force of the weight information in the direction perpendicular to the horizontal plane based on the static constraints and the center of gravity position, and uses the force of the weight information in the direction perpendicular to the horizontal plane as the contact force of any foot. The contact force can be obtained without additional contact force determination equipment, which can improve the convenience of contact force determination. Secondly, the contact force of any foot is mapped to the equivalent joint of the leaf spring deformation corresponding to any foot, and the first torque of the first passive joint and the second torque of the second passive joint are obtained, wherein the first passive joint and the second passive joint are located on any foot. Based on the first torque and the second torque, the first equivalent torque and the second equivalent torque are determined, which can improve the accuracy of determining the first equivalent torque and the second equivalent torque. The deformation angle of the first leaf spring corresponding to any foot is obtained by using a first position encoder installed at the first passive joint; the deformation angle of the second leaf spring of any foot, the nonlinear relationship between the first passive joint, the second passive joint and the active joint are obtained by using the first position encoder, the second position encoder installed at the second passive joint and the third position encoder installed at the active joint. According to the nonlinear relationship, the second deformation angle of the second leaf spring is determined. The deformation angle can be obtained by using the position encoder, which can reduce the situation where the deformation angle cannot be obtained and improve the accuracy of deformation angle acquisition. Finally, the first stiffness value of the first leaf spring is determined according to the first equivalent moment and the first deformation angle; the second stiffness value of the second leaf spring is determined according to the second equivalent moment and the second deformation angle. The first stiffness value and the second stiffness value are used as the stiffness values ​​corresponding to any foot. When the robot is in a standing state, that is, after the leaf spring is installed on the robot, the stiffness value of the leaf spring can be calibrated according to the deformation torque and the deformation angle. This can reduce the situation where only the stiffness calibration of the leaf spring itself is performed, and the stiffness value of the legged robot as a whole cannot be obtained after the leaf spring is installed. The stiffness value can be calibrated online, which can improve the accuracy of the stiffness value determination. In addition, the stiffness value can be determined without installing additional calibration equipment, thereby improving the convenience of stiffness value determination.

[0156] In the technical solutions disclosed herein, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0157] See Figure 5 , Figure 5 A flow chart of a third leaf spring stiffness determination method provided in an embodiment of the present disclosure is shown. Specifically, the leaf spring stiffness determination method includes:

[0158] S301, determining a contact force on either of the left or right foot of the robot based on the center of gravity position and weight information of the robot, wherein the robot is standing on a horizontal plane and is in a stationary state, and the direction of the contact force is perpendicular to the horizontal plane;

[0159] The specific process is as described above and will not be repeated here.

[0160] S302, mapping the contact force of any foot to the equivalent joint of the leaf spring corresponding to the foot to obtain the deformation torque corresponding to the leaf spring;

[0161] The specific process is as described above and will not be repeated here.

[0162] S303, obtaining a corresponding deformation angle of the leaf spring by using a position encoder installed at at least one joint;

[0163] The specific process is as described above and will not be repeated here.

[0164] S304, determining the stiffness value of the leaf spring according to the deformation moment and the deformation angle;

[0165] The specific process is as described above and will not be repeated here.

[0166] S305, obtaining at least one stiffness value of the robot at different standing heights;

[0167] According to some embodiments, when the robot is at different standing heights, the stiffness value of at least one standing height of the robot can be calibrated. At least one stiffness value corresponding to the robot at different standing heights can be obtained respectively. The maximum standing height of the robot can be, for example, , the minimum standing height can be, for example, For example, the distance between the maximum height and the minimum height can be divided into n equal parts, and n+1 experiments can be performed respectively to obtain n+1 stiffness values.

[0168] S306: Determine a target stiffness value of the leaf spring according to the at least one stiffness value, and use the target stiffness value as a target calibration result.

[0169] According to some embodiments, when at least one stiffness value of the robot at different standing heights is obtained, a target stiffness value of the leaf spring can be determined based on the at least one stiffness value, and the target stiffness value can be used as a target calibration result.

[0170] It is easy to understand that, for example, when n+1 stiffness values ​​are obtained, the average value of the n+1 stiffness values ​​can be obtained, and the average value can be used as the target calibration result.

[0171] It is easy to understand that, for example, when n+1 stiffness values ​​are obtained, the median of the n+1 stiffness values ​​can be obtained and used as the target calibration result.

[0172] In one or more embodiments of the present disclosure, by obtaining at least one stiffness value when the robot is at different standing heights, a target stiffness value of the leaf spring can be determined based on the at least one stiffness value, and the target stiffness value can be used as a target calibration result. Therefore, by calibrating the leaf spring based on the stiffness values ​​of multiple leaf springs when the robot is in a standing state, that is, after the leaf spring is installed on the robot, the situation where only the stiffness calibration of the leaf spring itself is performed and the stiffness value of the entire legged robot after the leaf spring is installed cannot be obtained can be reduced. The target stiffness value can be calibrated online based on the multiple stiffness values, which can improve the accuracy of the stiffness value determination. In addition, the stiffness value can be determined without installing additional calibration equipment, which improves the convenience of stiffness value determination.

[0173] The following are embodiments of the apparatus disclosed herein, which can be used to implement the method embodiments disclosed herein. For details not disclosed in the apparatus embodiments disclosed herein, please refer to the method embodiments disclosed herein.

[0174] See Figure 6 , which shows a schematic diagram of the structure of a first leaf spring stiffness determination device provided by an embodiment of the present disclosure. The leaf spring stiffness determination device can be implemented as all or part of a device through software, hardware, or a combination of both. The leaf spring stiffness determination device 600 includes a contact force determination unit 601, a torque acquisition unit 602, an angle acquisition unit 603, and a stiffness determination unit 604, wherein:

[0175] a contact force determination unit 601 for determining the contact force of either the left or right foot of the robot based on the position of the center of gravity of the robot and the weight information of the robot, wherein the robot is standing on a horizontal plane and is in a stationary state, and the direction of the contact force is perpendicular to the horizontal plane;

[0176] A torque acquisition unit 602 is used to map the contact force of any foot to the equivalent joint of the leaf spring corresponding to the foot, and obtain the deformation torque corresponding to the leaf spring;

[0177] An angle acquisition unit 603, configured to acquire a corresponding deformation angle of the leaf spring through a position encoder installed at at least one joint;

[0178] The stiffness value determining unit 604 is used to determine the stiffness value of the leaf spring according to the deformation moment and the deformation angle.

[0179] Optional, Figure 7 FIG. 2 shows a schematic diagram of the structure of a second leaf spring stiffness value determination device provided by an embodiment of the present disclosure. Figure 7As shown, the contact force determination unit 601 includes a position determination subunit 611 and a contact force determination subunit 621. The contact force determination unit 601 is configured to determine the contact force of either the left or right foot of the robot based on the position of the center of gravity of the robot and the weight information of the robot:

[0180] a position determination subunit 611, configured to obtain the weight information and height information of the robot and determine the center of gravity of the robot, wherein the center of gravity is located directly above any foot;

[0181] The contact force determination subunit 621 is used to determine the force of the weight information along the direction perpendicular to the horizontal plane according to the static constraints and the center of gravity position, and use the force of the weight information along the direction perpendicular to the horizontal plane as the contact force of any foot.

[0182] Optional, Figure 8 FIG. 1 is a schematic diagram showing the structure of a third leaf spring stiffness value determination device provided by an embodiment of the present disclosure. Figure 8 As shown, any foot corresponds to the first leaf spring and the second leaf spring, and the torque acquisition unit 602 includes a torque acquisition subunit 612 and an equivalent torque acquisition subunit 622. The torque acquisition unit 602 is used to obtain the deformation torque corresponding to the leaf spring:

[0183] a torque acquisition subunit 612, configured to acquire a first torque of a first passive joint and a second torque of a second passive joint, wherein the first passive joint and the second passive joint are located on any foot;

[0184] The equivalent torque acquisition subunit 622 is used to determine a first equivalent torque and a second equivalent torque based on the first torque and the second torque, wherein the first equivalent torque is the equivalent torque of the first leaf spring at the first passive joint, the second passive joint and the active joint, and the second equivalent torque is the equivalent torque of the second leaf spring at the first passive joint, the second passive joint and the active joint.

[0185] According to some embodiments, the torque acquisition subunit 612 is configured to acquire the first torque of the first passive joint and the second torque of the second passive joint, specifically to:

[0186] Obtain the corresponding relationship between the contact force and joint torque of any foot;

[0187] According to the corresponding relationship, the association relationship between the contact forces of the first passive joint, the second passive joint and any foot is obtained;

[0188] According to the association relationship, a first torque of the first passive joint and a second torque of the second passive joint are determined.

[0189] Optional, Figure 9 FIG. 4 is a schematic diagram showing the structure of the fourth leaf spring stiffness value determination device provided by the embodiment of the present disclosure. Figure 9 As shown, the angle acquisition unit 603 includes a deformation angle acquisition subunit 613 and a relationship acquisition subunit 623. The angle acquisition unit 603 is configured to acquire the deformation angle corresponding to the leaf spring through a position encoder installed at at least one joint:

[0190] The deformation angle obtaining subunit 613 is configured to obtain the deformation angle of the first leaf spring corresponding to any foot through a first position encoder installed at the first passive joint;

[0191] a relationship acquisition subunit 623 for acquiring a nonlinear relationship between the second leaf spring deformation angle, the first passive joint, the second passive joint, and the active joint of any foot using the first position encoder, the second position encoder installed at the second passive joint, and the third position encoder installed at the active joint;

[0192] The deformation angle obtaining subunit 613 is configured to determine the second deformation angle of the second leaf spring according to the nonlinear relationship.

[0193] According to some embodiments, the stiffness value determining unit 604, when used to determine the stiffness value of the leaf spring according to the deformation torque and the deformation angle, is specifically used to:

[0194] determining a first stiffness value of the first leaf spring according to the first equivalent moment and the first deformation angle;

[0195] determining a second stiffness value of the second leaf spring according to the second equivalent moment and the second deformation angle;

[0196] The first stiffness value and the second stiffness value are used as the stiffness values ​​corresponding to any foot.

[0197] According to some embodiments, the stiffness value determining unit 604 is further configured to, after determining the stiffness value of the leaf spring according to the deformation torque and the deformation angle:

[0198] Obtain at least one stiffness value of the robot at different standing heights;

[0199] According to the at least one stiffness value, a target stiffness value of the leaf spring is determined, and the target stiffness value is used as a target calibration result.

[0200] It should be noted that the above-described embodiments of the leaf spring stiffness determination device, when implementing the leaf spring stiffness determination method, illustrate the division of the aforementioned functional modules by way of example only. In actual applications, the aforementioned functions can be assigned to different functional modules as needed, i.e., the internal structure of the device can be divided into different functional modules to perform all or part of the functions described above. Furthermore, the leaf spring stiffness determination device and the leaf spring stiffness determination method embodiments provided in the above-described embodiments share the same concept. Their implementation is detailed in the method embodiments and will not be further elaborated here.

[0201] In summary, the apparatus provided by the embodiments of the present disclosure determines the contact force of either of the left and right legs of the robot based on the position of the robot's center of gravity and the robot's weight information, wherein the robot stands on a horizontal plane and is in a stationary state, and the direction of the contact force is perpendicular to the horizontal plane; the torque acquisition unit maps the contact force of either leg to the equivalent joint of the leaf spring corresponding to the foot, thereby acquiring the corresponding deformation torque of the leaf spring; the angle acquisition unit acquires the corresponding deformation angle of the leaf spring using a position encoder installed at at least one joint; and the stiffness value determination unit determines the stiffness value of the leaf spring based on the deformation torque and deformation angle. Therefore, when the robot is in a standing state, i.e., after the leaf spring is installed on the robot, the stiffness value of the leaf spring can be calibrated based on the deformation torque and deformation angle. This can reduce the situation where only the stiffness calibration of the leaf spring itself is performed, and the stiffness value of the legged robot as a whole cannot be obtained after the leaf spring is installed. The stiffness value can be calibrated online, thereby improving the accuracy of the stiffness value determination. In addition, the stiffness value can be determined without installing additional calibration equipment, thereby improving the convenience of stiffness value determination.

[0202] In the technical solutions disclosed herein, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0203] According to an embodiment of the present disclosure, the present disclosure further provides a robot, wherein the robot includes a position encoder, and the robot is used to execute any one of the methods described in the aforementioned aspect.

[0204] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0205] Figure 10 A schematic block diagram of an example electronic device 1000 that can be used to implement embodiments of the present disclosure is shown. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit implementations of the present disclosure described and / or claimed herein.

[0206] like Figure 10As shown, electronic device 1000 includes a computing unit 1001, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1002 or a computer program loaded from a storage unit 1008 into a random access memory (RAM) 1003. Various programs and data required for the operation of electronic device 1000 may also be stored in RAM 1003. Computing unit 1001, ROM 1002, and RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to bus 1004.

[0207] Multiple components in the electronic device 1000 are connected to the I / O interface 1005, including an input unit 1006, such as a keyboard, a mouse, etc.; an output unit 1007, such as various types of displays, speakers, etc.; a storage unit 1008, such as a magnetic disk, an optical disk, etc.; and a communication unit 1009, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1009 allows the electronic device 1000 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0208] The computing unit 1001 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the computing unit 1001 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1001 performs the various methods and processes described above, such as the leaf spring stiffness value determination method. For example, in some embodiments, the leaf spring stiffness value determination method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 1008. In some embodiments, part or all of the computer program can be loaded and / or installed into the electronic device 1000 via the ROM 1002 and / or the communication unit 1009. When the computer program is loaded into the RAM 1003 and executed by the computing unit 1001, one or more steps of the leaf spring stiffness value determination method described above can be performed. Alternatively, in other embodiments, the computing unit 1001 may be configured to execute the leaf spring stiffness value determination method in any other appropriate manner (for example, by means of firmware).

[0209] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0210] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0211] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fibers, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0212] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0213] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0214] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, establishing a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a host product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical servers and VPS services ("Virtual Private Servers" or "VPS"). The server may also be a server in a distributed system or a server integrated with blockchain.

[0215] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not a limitation herein.

[0216] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A method for determining a leaf spring stiffness value, characterized in that: include: Determine the contact force of any one of the left and right feet of the robot according to the center of gravity position of the robot and the weight information of the robot, wherein the robot stands on a horizontal plane and is in a stationary state, the direction of the contact force is perpendicular to the horizontal plane, the contact force refers to the force generated when the sole of the foot contacts the horizontal plane, and the left and right feet refer to structures installed on the robot for movement; Mapping the contact force of any foot to the equivalent joint of the leaf spring deformation corresponding to any foot, and obtaining the deformation torque corresponding to the leaf spring; Obtaining a deformation angle corresponding to the leaf spring through a position encoder installed at at least one joint; Determining a stiffness value of the leaf spring according to the deformation moment and the deformation angle; Wherein, any one of the feet corresponds to a first leaf spring and a second leaf spring, and obtaining the deformation torque corresponding to the leaf spring includes: Acquire a first torque of a first passive joint and a second torque of a second passive joint, wherein the first passive joint and the second passive joint are located on any one of the feet; A first equivalent moment and a second equivalent moment are determined according to the first moment and the second moment, wherein the first equivalent moment is the equivalent moment of the first leaf spring at the first passive joint, the second passive joint and the active joint, and the second equivalent moment is the equivalent moment of the second leaf spring at the first passive joint, the second passive joint and the active joint.

2. The method according to claim 1, characterized in that Determining the contact force of any one of the left and right feet of the robot according to the center of gravity position of the robot and the weight information of the robot includes: Obtaining weight information of the robot and height information of the robot, and determining the center of gravity position of the robot, wherein the center of gravity position is located directly above any one of the feet; According to the static constraint conditions and the center of gravity position, the force of the weight information along the direction perpendicular to the horizontal plane is determined, and the force of the weight information along the direction perpendicular to the horizontal plane is used as the contact force of any foot.

3. The method according to claim 1, characterized in that The obtaining of the first torque of the first passive joint and the second torque of the second passive joint comprises: Obtaining the corresponding relationship between the contact force and the joint torque of any foot; According to the corresponding relationship, obtaining the association relationship between the contact forces of the first passive joint, the second passive joint and any one of the feet; According to the association relationship, a first torque of the first passive joint and a second torque of the second passive joint are determined.

4. The method according to claim 1, characterized in that: The step of obtaining the deformation angle corresponding to the leaf spring by means of a position encoder installed at at least one joint comprises: Obtaining a first deformation angle of the first leaf spring by means of a first position encoder installed at the first passive joint; Obtaining the nonlinear relationship between the second leaf spring deformation angle of any foot, the first passive joint, the second passive joint and the active joint through the first position encoder, the second position encoder installed at the second passive joint and the third position encoder installed at the active joint; According to the nonlinear relationship, a second deformation angle of the second leaf spring is determined.

5. The method according to claim 4, characterized in that Determining the stiffness value of the leaf spring according to the deformation moment and the deformation angle includes: determining a first stiffness value of the first leaf spring according to the first equivalent moment and the first deformation angle; determining a second stiffness value of the second leaf spring according to the second equivalent moment and the second deformation angle; The first stiffness value and the second stiffness value are used as stiffness values ​​corresponding to any one foot.

6. The method according to claim 1, characterized in that After determining the stiffness value of the leaf spring according to the deformation moment and the deformation angle, the method further includes: Obtaining at least one stiffness value of the robot when it is at different standing heights; According to the at least one stiffness value, a target stiffness value of the leaf spring is determined, and the target stiffness value is used as a target calibration result.

7. A leaf spring stiffness value determination device, characterized in that: include: a contact force determination unit, configured to determine the contact force of either the left or right foot of the robot according to the center of gravity position of the robot and the weight information of the robot, wherein the robot stands on a horizontal plane and is in a stationary state, the direction of the contact force is perpendicular to the horizontal plane, the contact force refers to the force generated when the sole of the foot contacts the horizontal plane, and the left or right foot refers to the structure installed on the robot for movement; A torque acquisition unit, used for mapping the contact force of any foot to an equivalent joint of the leaf spring corresponding to any foot, and acquiring the deformation torque corresponding to the leaf spring; An angle acquisition unit, used for acquiring a deformation angle corresponding to the leaf spring through a position encoder installed at at least one joint; a stiffness value determining unit, configured to determine a stiffness value of the leaf spring according to the deformation moment and the deformation angle; Wherein, any one of the feet corresponds to a first leaf spring and a second leaf spring, and obtaining the deformation torque corresponding to the leaf spring includes: Acquire a first torque of a first passive joint and a second torque of a second passive joint, wherein the first passive joint and the second passive joint are located on any one of the feet; A first equivalent moment and a second equivalent moment are determined according to the first moment and the second moment, wherein the first equivalent moment is the equivalent moment of the first leaf spring at the first passive joint, the second passive joint and the active joint, and the second equivalent moment is the equivalent moment of the second leaf spring at the first passive joint, the second passive joint and the active joint.

8. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 6.

9. A robot, wherein: The robot comprises a position encoder, and the robot is used to perform the method according to any one of claims 1-6.

10. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 6.

11. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the method according to any one of claims 1 to 6.

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