A teleoperation control method for a humanoid robot

Abstract

The application provides a human-simulated robot remote operation control method, and the method comprises the following steps: acquiring a first expected pose of a waist of a human-simulated robot and a second expected pose of an end effector in a first reference coordinate system according to the control instruction; determining a target second expected pose corresponding to the second expected pose in a second reference coordinate according to the first expected pose and the second expected pose; determining expected poses of each joint of a mechanical arm in the second reference coordinate system by using the target second expected pose according to an inverse kinematics algorithm; and generating and sending a first control instruction according to the first expected pose, the second expected pose and the expected poses of each joint of the mechanical arm. The application can adjust the poses of each joint of the mechanical arm according to the change of the waist of the human-simulated robot, so as to ensure that the end effector can move to the position indicated by the second expected pose.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a method for remote control of a humanoid robot. Background Technology

[0002] Humanoid robots, with their anthropomorphic appearance, multiple degrees of freedom, and high flexibility, are often designed to replace humans in extreme environments.

[0003] Humanoid robots typically have a waist, a robotic arm, and an end effector. Operators remotely control the movements of the humanoid robot at the slave end using the control components at the master end, enabling the humanoid robot to replace humans in extreme environments.

[0004] Currently, when sending control commands to humanoid robots, a strategy of independent transmission is typically adopted. That is, the position of the humanoid robot's waist is controlled separately through waist control commands, and the position of the humanoid robot's end effector is controlled separately through end effector controller commands. Since the humanoid robot's waist movements affect the position of the end effector, when the waist and end effector of the humanoid robot are controlled to move simultaneously through control commands, the end effector may deviate from the position indicated by the control commands. Summary of the Invention

[0005] To address the above problems, this invention provides a method for remote control of a humanoid robot.

[0006] According to a first aspect of the present invention, a method for transmitting remote control commands to a humanoid robot is provided, applied to a controller for transmitting control commands, the controller being connected to a master control component and a slave humanoid robot, the humanoid robot including a waist mounted on a humanoid robot base, a robotic arm connected to the humanoid robot body via a robotic arm base, and an end effector connected to the robotic arm, characterized in that the remote operation control method for the humanoid robot includes:

[0007] According to the control command, the first desired pose of the waist of the humanoid robot and the second desired pose of the end effector in the first reference coordinate system are obtained, wherein the control command is sent by the control component of the master end, and the first reference coordinate system is constructed based on the humanoid robot base;

[0008] Based on the first desired pose and the second desired pose, the target second desired pose corresponding to the second desired pose in the second reference coordinate system is determined, wherein the second reference coordinate system is constructed based on the robot arm base, and the positions indicated by the second desired pose and the target second desired pose are the same.

[0009] According to the inverse kinematics algorithm, the desired poses of each joint of the robotic arm in the second reference coordinate system are determined using the second desired pose of the target.

[0010] Based on the first desired pose, the second desired pose, and the desired poses of each joint of the robotic arm, a first control command is generated and sent, wherein the first control command is used to control the end effector to move to the position indicated by the second desired pose.

[0011] Optionally, determining the target second desired pose of the end effector in the second reference coordinates based on the first desired pose and the second desired pose includes:

[0012] Based on the forward kinematics algorithm and the first desired pose, determine the first pose of the second reference coordinate system in the first reference coordinate system;

[0013] Based on the first pose and the second desired pose, the target second desired pose of the end effector in the second reference coordinate system is determined.

[0014] Optionally, determining the first pose of the second reference coordinate system in the first reference coordinate system based on the forward kinematics algorithm and the first desired pose includes:

[0015] The first pose is determined according to a first formula, wherein the first formula includes:

[0016]

[0017] in, [k] represents the first pose. This indicates the rotational pose of the waist rotation axis coordinate system in the first reference coordinate system. This indicates the pitch pose of the waist in the first reference coordinate system. The coordinate transformation of the second reference coordinate system with respect to the waist pitch axis coordinate system is represented by θ1, where θ1 represents the rotation angle in the first desired pose, and θ2 represents the pitch angle in the first desired pose. This represents the derivative with respect to the rotation angle of the waist. The expression represents the derivative of the pitch angle of the waist, k-1 represents the start time of the control cycle, k represents the stop time of the control cycle, and Δt represents the control cycle. The waist rotation axis coordinate system is constructed based on the waist rotation axis, and the waist pitch axis coordinate system is constructed based on the waist pitch axis.

[0018] Optionally, determining the target second desired pose in the second reference coordinates based on the first desired pose and the second desired pose includes:

[0019] The second desired pose of the target is determined according to a second formula, the second formula including:

[0020]

[0021] in, Indicates the second desired pose of the target. This represents the second desired pose of the end effector.

[0022] Optionally, the second desired pose is determined according to a third formula, the third formula comprising:

[0023]

[0024] in, Indicates the second desired pose. This represents the third pose of the second reference coordinate system within the first reference coordinate system at the current moment. This indicates the pose of the end effector in the second reference coordinate system at the current moment.

[0025] Optionally, according to the control command, obtaining the first desired pose of the humanoid robot's waist and the second desired pose of the end effector in the first reference coordinate system includes:

[0026] In the third reference coordinate system, obtain the first desired control pose corresponding to the first desired pose and the second desired control pose corresponding to the second desired pose, respectively.

[0027] Based on the mapping relationship between the desired pose and the desired pose, the first desired pose and the second desired pose are determined.

[0028] Optionally, the mapping relationship includes incremental mapping or absolute mapping.

[0029] According to a second aspect of the present invention, a humanoid robot remote control device is provided, applied to a controller for sending control commands, the controller being connected to a master control component and a slave humanoid robot, the humanoid robot including a waist mounted on a humanoid robot base, a robotic arm connected to the humanoid robot body via a robotic arm base, and an end effector connected to the robotic arm, characterized in that the humanoid robot remote control device includes:

[0030] The acquisition module is used to acquire, according to the control command, the first desired pose of the waist of the humanoid robot and the second desired pose of the end effector in the first reference coordinate system, wherein the control command is sent by the control component of the master end, and the first reference coordinate system is constructed based on the humanoid robot base;

[0031] The first determining module is used to determine the target second expected pose in the second reference coordinate system based on the first expected pose and the second expected pose, wherein the second reference coordinate system is constructed based on the robot arm base, and the positions indicated by the second expected pose and the target second expected pose are the same.

[0032] The second determining module is used to determine the desired pose of each joint of the robotic arm in the second reference coordinate system based on the inverse kinematics algorithm and the second desired pose of the target.

[0033] A sending module is configured to generate and send a first control command based on the first desired pose and the desired poses of each joint of the robotic arm, wherein the target control command is used to control the end effector to move to the position indicated by the second desired pose. According to a third aspect of the present invention, an electronic device is provided, characterized in that the electronic device includes a memory and a processor, the memory being used to store computer instructions executable on the processor, and the processor being used to execute the computer instructions based on the humanoid robot teleoperation control method described in the first aspect.

[0034] According to a fourth aspect of the present invention, a computer-readable storage medium is provided having a computer program stored thereon, characterized in that, when the program is executed by a processor, it implements the humanoid robot teleoperation control method described in the first aspect.

[0035] The technical solution provided by this invention may include the following beneficial effects:

[0036] The humanoid robot control command transmission method provided by this invention first obtains a first desired pose of the waist and a second desired pose of the end effector in a first reference coordinate system based on the control command sent by the control component. Further, using the first and second desired poses, a target desired pose of the second desired pose in the second reference coordinate system is determined. Then, an inverse kinematics algorithm is used to determine the desired poses of each joint of the robotic arm. Finally, a target control command is generated using the first and second desired poses to control the end effector to move to the position indicated by the second desired pose. By using the first and second desired poses to determine the desired poses of each joint of the robotic arm, this invention can adjust the poses of each joint of the robotic arm according to changes in the waist of the humanoid robot, ensuring that the position of the end effector in the first reference coordinate system does not change, and thus ensuring that the end effector can move to the position indicated by the second desired pose. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of a humanoid robot according to an embodiment of the present invention.

[0038] Figure 2 This is a flowchart illustrating a teleoperation control method for a humanoid robot according to an embodiment of the present invention.

[0039] Figure 3 This is a flowchart illustrating another method for remote control of a humanoid robot according to an embodiment of the present invention.

[0040] Figure 4 This is a block diagram of a humanoid robot remote control device according to an embodiment of the present invention. Detailed Implementation

[0041] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0042] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “the,” and “the” used in this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0043] It should be understood that although the terms first, second, third, etc., may be used in this invention to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first information may also be referred to as second information without departing from the scope of this invention, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0044] like Figure 1As shown, this is a humanoid robot provided in an embodiment of the invention. The humanoid robot includes a track 1, a humanoid robot base 2, a waist 3, a body 4, a robotic arm 5, and an end effector 7. The track 1 is used to drive the humanoid robot to move on the ground. One end of the track 1 is connected to the humanoid robot base 2. The humanoid robot base 2 is used to support the components of the humanoid robot. The waist 3 and body 4 are mounted on the humanoid robot base 2. The robotic arm 5 is used to drive the end effector 7 to move. One end of the robotic arm 4 is connected to the body 4 through a robotic arm base 6, and the other end of the robotic arm 5 is connected to the end effector 7. Specifically, the waist 3 consists of a waist pitch axis and a waist yaw axis. The waist pitch axis is used to change the pitch angle of the fuselage 4, that is, the waist pitch axis can move the fuselage 4 forward by a certain angle or move the fuselage 4 backward by a certain angle. The waist yaw axis is used to change the rotation angle of the fuselage 4, that is, the waist yaw axis can rotate the fuselage 4 to the left by a certain angle or rotate the fuselage 4 to the right by a certain angle.

[0045] like Figure 1 As shown, the robotic arm 5 is connected to the body 4 via the robotic arm base 6, and the body 4 is connected to the waist 3. Thus, the positional relationship between the robotic arm 5 and the waist 3 is relatively fixed. That is, the positional change of the waist corresponds to the change of the position of the end effector. As a result, when the waist and end effector of the humanoid robot are controlled to move simultaneously by the control command, the end effector will deviate from the position indicated by the control command.

[0046] Based on this, embodiments of the present invention provide a method for sending control commands to a humanoid robot, applied to a controller for sending control commands, wherein the controller is connected to a master control component and a slave humanoid robot, respectively. Figure 2 As shown, the method includes:

[0047] Step 201: According to the control command, obtain the first desired pose of the humanoid robot's waist and the second desired pose of the end effector in the first reference coordinate system.

[0048] In this embodiment, during the process of controlling the movement of the slave humanoid robot using the master control component, control commands sent by the control component are first received. Based on the received control commands, the waist sub-control commands and end effector sub-control commands are obtained. Then, based on the waist sub-control commands, a first desired pose of the waist is determined in the first reference coordinate system, and based on the end effector sub-control commands, a second desired pose of the end effector is determined in the first reference coordinate system. In this embodiment, the first reference coordinate system is constructed based on the humanoid robot base, and the desired pose is used to represent the position and orientation of the humanoid robot components indicated by the control commands.

[0049] In one example, the control components in this embodiment may include a force feedback hand controller, a joystick, and a foot pedal. The force feedback hand controller is used to measure the 6-dimensional pose data of the operator's wrist and generate end effector sub-control commands. The joystick is used to generate waist sub-control commands based on the change in the joystick's angle. The foot pedal is used to control the humanoid robot to move on the ground.

[0050] In one example, a humanoid robot may include a centaur humanoid robot, a tracked humanoid robot, and a mobile platform humanoid robot. The humanoid robot structure may include a base, an end effector, and a robotic arm, wherein the end effector may include a robotic hand.

[0051] In one example, this embodiment can use Let θ1 and θ2 represent the first desired pose, where θ1 and θ2 are the rotation angle of the waist rotation axis and the pitch angle of the waist pitch axis, respectively, in the first desired pose.

[0052] In one example, the second desired pose of this embodiment can be represented in the form of a homogeneous matrix:

[0053]

[0054] in, [n] represents the second desired pose. This represents the rotation angle of the second desired pose. This represents the translation distance of the second desired pose. Specifically, This represents the rotation matrix of the third reference coordinate system relative to the first reference coordinate system, which is constructed based on the force feedback hand controller.

[0055] Step 202: Based on the first desired pose and the second desired pose, determine the target second desired pose corresponding to the second desired pose in the second reference coordinates.

[0056] In this embodiment, after determining the first desired pose and the second desired pose in step 201, the target second desired pose corresponding to the second desired pose is determined in the second reference coordinate system based on the first desired pose and the second desired pose. The second reference coordinate system is constructed based on the robot arm base. The positions indicated by the second desired pose and the target second desired pose are the same, that is, the actual positions of the end effector are the same, and are represented by the first reference coordinate system and the second reference coordinate system, respectively.

[0057] Step 203: Based on the inverse kinematics algorithm, the desired poses of each joint of the robotic arm in the second reference coordinate system are determined using the target second desired pose.

[0058] In this embodiment, after executing step 202 and determining the target's second desired pose, the inverse kinematics algorithm is used to calculate the desired poses of each joint of the robotic arm in the second reference coordinate system using the origin of the second reference coordinate system and the target's second desired pose. Specifically, when calculating the desired poses of each joint of the robotic arm, the inverse kinematics algorithm is used to input the target's second desired pose in the second reference coordinate system and output the desired poses of each joint of the robotic arm in the second reference coordinate system.

[0059] Step 204: Generate and send a first control command based on the first desired pose, the second desired pose, and the desired poses of each joint of the robotic arm.

[0060] In this embodiment, after obtaining the desired poses of each joint of the robotic arm, the first desired pose, the second desired pose, and the desired poses of each joint of the robotic arm are integrated to generate a first control command, and the first control command is sent to the humanoid robot at the slave end to control the end effector to move to the position indicated by the second desired pose.

[0061] The humanoid robot control command transmission method provided in this invention first obtains a first desired pose of the waist and a second desired pose of the end effector in a first reference coordinate system based on the control command sent by the control component. Further, using the first and second desired poses, a target desired pose of the second desired pose in the second reference coordinate system is determined. Then, an inverse kinematics algorithm is used to determine the desired poses of each joint of the robotic arm. Finally, a target control command is generated using the first and second desired poses to control the end effector to move to the position indicated by the second desired pose. By using the first and second desired poses to determine the desired poses of each joint of the robotic arm, this invention can adjust the poses of each joint of the robotic arm according to changes in the waist of the humanoid robot, ensuring that the position of the end effector in the first reference coordinate system does not change, and thus ensuring that the end effector can move to the position indicated by the second desired pose.

[0062] In some embodiments, performing step 202 may include the following steps:

[0063] Step 2021: Based on the forward kinematics algorithm and the first desired pose, determine the first pose of the second reference coordinate system in the first reference coordinate system.

[0064] In this embodiment, after determining the first desired pose, the angle of the waist change is used to determine the first pose of the second reference coordinate system in the first reference coordinate system after the waist has moved. That is, the first pose of the robotic arm base in the first reference coordinate system after the humanoid robot's waist has moved is determined.

[0065] In one example, the first pose can be determined according to a first formula, which includes:

[0066]

[0067]

[0068] Pitch pose relative to the first reference coordinate system. The coordinate transformation of the second reference coordinate system with respect to the waist pitch axis coordinate system is represented by θ1, which represents the rotation angle in the first desired pose, and θ2 represents the pitch angle in the first desired pose. This represents the derivative of the rotation angle of the waist. The expression represents the derivative of the pitch angle of the waist, k-1 represents the start time of the control cycle, k represents the stop time of the control cycle, and Δt represents the control cycle. The waist rotation axis coordinate system is constructed based on the waist rotation axis, and the waist pitch axis coordinate system is constructed based on the waist pitch axis.

[0069] In one example, the waist rotation axis coordinate system is constructed based on the waist rotation axis to represent the rotation angle of the waist, and the waist pitch axis coordinate system is constructed based on the waist pitch axis to represent the pitch angle of the waist.

[0070] Specifically, in this embodiment, the start time is the moment when the operator begins to use the control components to remotely operate the humanoid robot, and the stop time is the moment when the operator stops using the control components to remotely operate the humanoid robot. At the start time, the controller can read the pose of the second reference coordinate system, the pose of each joint of the robotic arm, and the pose of the end effector in the first reference coordinate system.

[0071] Step 2022: Determine the target second desired pose of the end effector in the second reference coordinate system based on the first pose and the second desired pose.

[0072] In this embodiment, after determining the first pose, the target second desired pose of the end effector is determined in the second reference coordinate system based on the first pose and the second desired pose.

[0073] In one example, the second desired pose of the target can be determined according to a second formula, which includes:

[0074]

[0075] in, Indicates the second desired pose of the target. This represents the second desired pose of the end effector.

[0076] This invention utilizes a forward kinematics algorithm to accurately determine the first pose of the second reference coordinate system in the first reference coordinate system after the waist moves. Then, based on the first pose and the second desired pose, the target second desired pose can be determined. Furthermore, the target second desired pose can be used to determine the desired pose of each joint of the robotic arm. Thus, based on the changes in the waist of the humanoid robot, the pose of each joint of the robotic arm can be adjusted accordingly to ensure that the position of the end effector in the first reference coordinate system does not change.

[0077] In some embodiments, when determining the second desired pose, the second desired pose can be determined according to a third formula, the third formula including:

[0078]

[0079] in, Indicates the second desired pose. This represents the third pose of the second reference coordinate system within the first reference coordinate system at the current moment. This indicates the pose of the end effector in the second reference coordinate system at the current moment.

[0080] In some embodiments, performing step 101 may include the following steps:

[0081] Step 2011: Obtain the first desired control pose corresponding to the first desired pose and the second desired control pose corresponding to the second desired pose in the third reference coordinate system.

[0082] In this embodiment, when receiving control commands, the system first acquires the first desired control pose of the waist sub-control command in the third reference coordinate system and the second desired control pose of the end effector sub-control command in the third reference coordinate system. Specifically, the third reference coordinate system is constructed based on the force feedback coordinate system in the control component. The force feedback hand controller determines the second desired control pose by reading and measuring the 6-dimensional pose data of the operator's wrist. The joystick determines the first desired control pose by reading its own angle changes, and generates the waist sub-control command based on the first desired control pose and the end effector sub-control command based on the second desired control pose.

[0083] Step 2012: Determine the first desired pose and the second desired pose according to the mapping relationship between the desired pose and the desired pose.

[0084] In this embodiment, after determining the first desired pose and the second desired pose, the first desired pose, the second desired pose, and the second desired pose corresponding to the first desired pose are determined by using the mapping relationship between the third reference coordinate system and the first reference coordinate system.

[0085] In one example, the mapping relationship between the third reference coordinate system and the first reference coordinate system can be an incremental mapping relationship or an absolute mapping relationship.

[0086] In one example, the second desired pose can be controlled by the representation of a homogeneous matrix, as shown below:

[0087]

[0088] in, 0 T[n] represents the control of the second desired pose. 0 R represents the rotation angle that controls the second desired pose. 0 v represents the translation distance that controls the second desired pose.

[0089] Furthermore, this embodiment of the invention provides another method for sending control commands to a humanoid robot, with specific steps... Figure 3 As shown, the system first receives control commands from the control component and acquires the first desired control pose and the second desired control pose from the control commands. Specifically, the control commands include waist sub-control commands and end effector sub-control commands. The joystick determines the second desired control pose by measuring its own angle changes, and then generates the waist sub-control commands. The force feedback hand controller measures the 6-dimensional pose data of the operator's wrist and determines the second desired control pose in the third reference coordinate system based on the 6-dimensional pose data, and then generates the end effector sub-control commands.

[0090] Upon receiving the control command, the first desired pose and the second desired pose are determined in the first reference coordinate system according to the mapping relationship between the third reference coordinate system and the first reference coordinate system. The first pose of the second reference coordinate system in the first coordinate system is determined according to the forward kinematics algorithm and the first desired pose. Furthermore, the second desired pose of the end effector in the second reference coordinate system is determined according to the first pose and the second desired pose.

[0091] After determining the second desired pose of the target, the desired poses of each joint of the robotic arm are determined in the second reference coordinate system using the second desired pose of the target. The first desired pose, the second desired pose and the desired poses of each joint of the robotic arm are then used to generate the first control command, which is sent to the slave humanoid robot to control the end effector to move to the position indicated by the second desired pose.

[0092] Another embodiment of the present invention provides a humanoid robot control command sending device, please refer to... Figure 4 As shown, the device includes:

[0093] The acquisition module 401 is used to acquire the first desired pose of the waist of the humanoid robot and the second desired pose of the end effector in the first reference coordinate system according to the control command, wherein the control command is sent by the control component at the master end, and the first reference coordinate system is constructed based on the humanoid robot base;

[0094] The first determining module 402 is used to determine the target second expected pose corresponding to the second expected pose in the second reference coordinate system based on the first expected pose and the second expected pose, wherein the second reference coordinate system is constructed based on the robot arm base, and the second expected pose and the target second expected pose indicate the same position.

[0095] The second determining module 403 is used to determine the desired pose of each joint of the robotic arm in the second reference coordinate system based on the inverse kinematics algorithm and the second desired pose of the target.

[0096] The sending module 404 is used to generate and send a first control command based on the first desired pose and the desired poses of each joint of the robotic arm, wherein the target control command is used to control the end effector to move to the position indicated by the second desired pose.

[0097] Another embodiment of the present invention provides an electronic device, the electronic device including a memory and a processor, the memory being used to store computer instructions that can be executed on the processor, and the processor being used to execute the computer instructions based on the humanoid robot control instruction sending method described in the first aspect.

[0098] Another embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the humanoid robot control instruction sending method described in the first aspect.

[0099] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0100] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, this invention is not directed to any particular programming language. It should be understood that the contents of the invention described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of the invention.

[0101] In addition, the memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0102] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0103] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0104] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0105] In a typical configuration, an electronic device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0106] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0107] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0108] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0109] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0110] The above are merely embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A teleoperation control method for a humanoid robot, applied to a controller for sending control commands, the controller being connected to a master control component and a slave humanoid robot, the humanoid robot comprising a waist mounted on a humanoid robot base, a robotic arm connected to the humanoid robot body via a robotic arm base, and an end effector connected to the robotic arm, characterized in that, The humanoid robot teleoperation control method includes: According to the control command, the first desired pose of the waist and the second desired pose of the end effector in the first reference coordinate system are obtained, wherein the control command is sent by the control component of the master end, and the first reference coordinate system is constructed based on the humanoid robot base; Based on the first desired pose and the second desired pose, the target second desired pose corresponding to the second desired pose in the second reference coordinate system is determined, wherein the second reference coordinate system is constructed based on the robot arm base, and the positions indicated by the second desired pose and the target second desired pose are the same; According to the inverse kinematics algorithm, the desired pose of each joint of the robotic arm in the second reference coordinate system is determined using the second desired pose of the target. Based on the first desired pose, the second desired pose, and the desired poses of each joint of the robotic arm, a first control command is generated and sent, wherein the first control command is used to control the end effector to move to the position indicated by the second desired pose.

2. The teleoperation control method for a humanoid robot according to claim 1, characterized in that, The step of determining the target second desired pose in the second reference coordinate system based on the first desired pose and the second desired pose includes: Based on the forward kinematics algorithm and the first desired pose, determine the first pose of the second reference coordinate system in the first reference coordinate system; Based on the first pose and the second desired pose, the target second desired pose of the end effector in the second reference coordinate system is determined.

3. The teleoperation control method for a humanoid robot according to claim 2, characterized in that, The step of determining the first pose of the second reference coordinate system in the first reference coordinate system based on the forward kinematics algorithm and the first desired pose includes: The first pose is determined according to a first formula, wherein the first formula includes: ； in, Indicates the first pose. This indicates the rotational pose of the waist rotation axis coordinate system in the first reference coordinate system. This indicates the pitch pose of the waist in the first reference coordinate system. This indicates the coordinate transformation of the second reference coordinate system with respect to the waist pitch axis coordinate system. This represents the rotation angle in the first desired pose. This represents the pitch angle in the first desired pose. This represents the derivative of the rotation angle of the waist. This represents the derivative of the pitch angle with respect to the waist. Indicates the start time of the control cycle. Indicates the time when the control cycle stops. The control cycle is indicated by the waist rotation axis coordinate system, which is constructed based on the waist rotation axis, and the waist pitch axis coordinate system, which is constructed based on the waist pitch axis.

4. The teleoperation control method for a humanoid robot according to claim 2, characterized in that, The step of determining the target second desired pose in the second reference coordinate system based on the first desired pose and the second desired pose includes: The second desired pose of the target is determined according to a second formula, wherein the second formula includes: ； in, Indicates the second desired pose of the target. This represents the second desired pose of the end effector.

5. The teleoperation control method for a humanoid robot according to claim 1 or 4, characterized in that, The second desired pose is determined according to a third formula, which includes: ； in, Indicates the second desired pose. This represents the third pose of the second reference coordinate system within the first reference coordinate system at the current moment. This indicates the pose of the end effector in the second reference coordinate system at the current moment. This indicates the change in pose at the end of the robotic arm.

6. The teleoperation control method for a humanoid robot according to claim 1, characterized in that, The step of obtaining the first desired pose of the humanoid robot's waist and the second desired pose of the end effector in the first reference coordinate system according to the control command includes: In the third reference coordinate system, obtain the first desired control pose corresponding to the first desired pose and the second desired control pose corresponding to the second desired pose, respectively. Based on the mapping relationship between the desired pose and the desired pose, the first desired pose and the second desired pose are determined.

7. The teleoperation control method for a humanoid robot according to claim 6, characterized in that, The mapping relationship includes incremental mapping or absolute mapping.

8. A teleoperation control device for a humanoid robot, applied to a controller that sends control commands, the controller being connected to a master control component and a slave humanoid robot, the humanoid robot comprising a waist mounted on a humanoid robot base, a robotic arm connected to the humanoid robot body via a robotic arm base, and an end effector connected to the robotic arm, characterized in that, The humanoid robot remote control device includes: The acquisition module is used to acquire the first desired pose of the waist and the second desired pose of the end effector in the first reference coordinate system according to the control command, wherein the control command is sent by the control component of the master end, and the first reference coordinate system is constructed based on the humanoid robot base; The first determining module is used to determine the target second expected pose in the second reference coordinate system according to the first expected pose and the second expected pose, wherein the second reference coordinate system is constructed based on the robot arm base, and the positions indicated by the second expected pose and the target second expected pose are the same. The second determining module is used to determine the desired pose of each joint of the robotic arm in the second reference coordinate system based on the inverse kinematics algorithm and the second desired pose of the target. The sending module is used to generate and send a first control command based on the first desired pose and the desired poses of each joint of the robotic arm, wherein the first control command is used to control the end effector to move to the position indicated by the second desired pose.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory is used to store computer instructions that can be executed on the processor. The processor is used to execute the computer instructions based on the humanoid robot teleoperation control method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the humanoid robot teleoperation control method according to any one of claims 1 to 7.

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