A control method, device and medium for realizing independent walking of a quadruped robot

Abstract

The present invention discloses a control method, device and medium for realizing independent walking of a quadruped robot, and relates to the field of robot control methods. The method comprises: 1) establishing a coordinate system of the quadruped robot to describe the position, translation speed and rotation speed of the quadruped robot in three-dimensional space; 2) designing a speed state estimator, filtering the speed value obtained by a sensor through a sliding window filter, and improving the calculation accuracy by using a Kahan algorithm; 3) designing a gait generator to obtain the diagonal trotting gait of the quadruped robot at a certain moment; 4) using Raibert's three-channel decoupling algorithm to calculate the neutral point position, and using the neutral point as the symmetry point to obtain the landing point position; 5) using a quadratic parabola interpolation method to plan the swing phase trajectory; 6) performing force analysis on the rigid body model of the quadruped robot, and constructing a discrete state equation and a prediction equation for the rigid body; 7) constructing a standard quadratic programming equation to obtain the optimal solution of the joint torque and control the robot.

Description

Technical Field

[0001] The present invention relates to the field of robot control methods, and in particular to a control method, device and medium for enabling a quadruped robot to walk independently. Background Art

[0002] In the field of mobile robotics, wheeled and tracked robots have reached maturity, and intelligent vehicles equipped with various sensors, controllers, or control platforms are already popular in the market. However, the development of legged robots is still relatively immature. In theory, legged robots can move on any complex terrain, such as post-disaster rescue and material transportation, which require complex and unknown environments. Legged robots are well-suited for such tasks. Quadruped robots are a typical example of legged robot research.

[0003] A variety of control schemes exist for quadruped robots, including commonly used methods such as VMC, CPG, intuitive control, and MPC. Traditional methods, such as the Bound gait of the Cheetha3 robot, require manual planning of feedforward torque, which is difficult to adjust and relies heavily on the stability of gait phase cycle switching. Summary of the Invention

[0004] In response to the deficiencies in the prior art, the present invention provides a control method, device and medium for realizing independent walking of a quadruped robot. The control method of the present invention can enable the quadruped robot to move freely in complex ground conditions while ensuring a certain degree of stability.

[0005] To achieve the above object, the present invention can be carried out using the following technical solutions:

[0006] In a first aspect, the present invention provides a control method for achieving independent walking of a quadruped robot, comprising the following steps:

[0007] Establishing the body coordinate system, joint coordinate system and plantar coordinate system of the quadruped robot, and using the differential of the position vector and the rotation matrix to describe the translational velocity and rotational velocity of the quadruped robot in three-dimensional space respectively;

[0008] Obtaining the real-time speed of the quadruped robot and preprocessing the speed data;

[0009] Establishing a relationship for the diagonal trotting gait of the quadruped robot at a certain moment;

[0010] The neutral point position of the quadruped robot is calculated using Raibert's three-channel decoupling algorithm. The neutral point is used as the symmetry point, and the linear function of the velocity error is used to perform position compensation. The desired swing height in the z-axis direction and the safety margin components are used to determine the landing point position of the quadruped robot.

[0011] Using a quadratic parabola interpolation method to plan the swing phase trajectory of the quadruped robot;

[0012] Constructing a continuous state equation of the rigid body of the quadruped robot and discretizing it to obtain a discrete state equation, and then introducing a ground reaction force vector to obtain a prediction equation of the quadruped robot;

[0013] Inequality constraints are established based on the friction force on the soles of the quadruped robot, a standard quadratic programming equation of the prediction equation of the quadruped robot is constructed, and then the optimal solution of the joint torque is obtained by solving it, and the optimal solution of the joint torque of the quadruped robot is output for control.

[0014] In a second aspect, the present invention provides an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the control method for achieving independent walking of a quadruped robot as described above.

[0015] In a third aspect, the present invention provides a computer-readable storage medium, wherein the storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by a processor to implement the control method for realizing independent walking of a quadruped robot as described above.

[0016] Compared with the prior art, the present invention has the following beneficial effects: the control method for realizing the independent walking of a quadruped robot in the embodiment of the present invention uses an MPC-based control method, the core of which is to simplify the quadruped robot into a single rigid body and then construct a multi-point supported force balance model, and use QP optimization to solve it under the linearization assumption through the control theory of MPC, so as to realize real-time operation on a low-cost embedded processor. Therefore, compared with the traditional method that requires a well-designed state machine for switching, the MPC-based method in the embodiment of the present invention can greatly simplify the design of the quadruped robot gait state machine. In addition, since MPC is aimed at achieving trajectory tracking, it can consider the change of the system support situation in the future. The control method has great advantages in handling the robot's swing phase. The MPC-based framework can track the desired trajectory very well and still has good control performance on uneven ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 This is a flow chart of a control method for realizing independent walking of a quadruped robot according to an embodiment of the present invention.

[0019] Figure 2 Schematic diagram of the structure of an electronic device in an embodiment of the invention. DETAILED DESCRIPTION

[0020] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0021] Example:

[0022] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof in the embodiments of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] In the description of the present invention, "plurality" means at least two, such as two or three, unless otherwise specifically defined. Furthermore, unless otherwise specified or defined, the terms "mounted," "connected," and "connected" should be understood broadly, meaning, for example, fixed, removable, or integral; mechanical or electrical; direct or indirect through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention.

[0024] The word “exemplary” is used hereinafter to mean “serving as an example, example, or illustration.” Any embodiment described as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0025] The present invention provides a control method, device and medium for realizing independent walking of a quadruped robot. The present invention uses an MPC-based control method, the core of which is to simplify the quadruped robot into a single rigid body and then construct a multi-point supported force balance model, and use QP optimization to solve it under the linearization assumption through the control theory of MPC, so as to realize real-time operation on a low-cost embedded processor. Therefore, compared with the traditional method that requires a well-designed state machine for switching, the MPC-based method of the embodiment of the present invention can greatly simplify the design of the quadruped robot gait state machine. In addition, since MPC is aimed at achieving trajectory tracking, it can consider the change of the system support situation in the future. The control method has great advantages in handling the robot's swing phase. The MPC-based framework can track the desired trajectory very well and still has good control performance on uneven ground.

[0026] See also Figure 1 , Figure 1 This is a flow chart of a control method for achieving independent walking of a quadruped robot according to an embodiment of the present invention. The control method first establishes the robot's coordinate system to obtain the position and velocity representation in the coordinate system. Then, a state estimator and gait generator are designed to calculate the footfall position, plan the swing phase trajectory, perform force analysis on the quadruped robot to obtain a prediction equation, and finally, combined with the friction inequality constraints on the soles of the feet, construct a standard quadratic programming equation to obtain the optimal solution for the joint torque and control the robot. The specific steps of the control method for achieving independent walking of a quadruped robot are as follows:

[0027] Step 1: Establish the body coordinate system, joint coordinate system, and plantar coordinate system of the quadruped robot, and use the differential of the position vector and the rotation matrix to describe the translational velocity and rotational velocity of the quadruped robot in three-dimensional space respectively.

[0028] Specifically, first, establish the body coordinate system B at the geometric center of the quadruped robot body, simplify each leg of the quadruped robot into a three-link robotic arm, and establish 12 joint coordinate systems according to the order of the left front, right front, left rear, and right rear legs and the order of the links close to the body. At the same time, four plantar coordinate systems are established on the four soles The translational velocity of the quadruped robot is expressed as: in In the reference frame The translational velocity of point B is, represents the differential of the position vector of point B; the rotation speed of the quadruped robot is expressed as: in is the antisymmetric matrix corresponding to the angular velocity vector, Reference frame Relative to the reference frame The rotation matrix of for The derivative with respect to time.

[0029] Step 2: Set up a velocity state estimator, filter the quadruped robot velocity values ​​obtained by the sensor through a sliding window filter, and use the Kahan algorithm to improve the calculation accuracy.

[0030] Specifically, the sensor is an IMU, and the velocity state estimator first preprocesses the real-time velocity value of the quadruped robot obtained by the IMU. The preprocessing specifically uses a sliding window filter to average the data in a fixed-size sliding window, and regards this average value as the instantaneous velocity within the current time; then uses the Kahan algorithm to reduce the summation error and improve the calculation accuracy by calculating the compensating floating-point numbers that are ignored in the computer summation process.

[0031] Step 3: Set up the gait generator to obtain the diagonal trotting gait of the quadruped robot at a certain moment.

[0032] Specifically, the gait generator is as follows: A motion cycle of the quadruped robot can be expressed as: T = t stance +t swing , t stance represents the stance phase period, t swing Represents the swing phase period; defines the duty factor ρ and phase difference To get the diagonal trotting phase diagram; at the current movement time t, find a corresponding positive integer n max So that (n max -1)T<t<n max T, then in the nth max The time that the quadruped robot has been moving in a movement cycle is t cu =t-(n max -1)T, after normalization, the running progress in this cycle is The running progress is represented by the phase that has been run; the running progress φ cu By comparing it with the gait phase diagram, we can know what state the legs should be in at this moment.

[0033] Step 4: Use Raibert's three-channel decoupling algorithm to calculate the neutral point position of the quadruped robot. Take the neutral point as the symmetry point and use the linear function of the velocity error to perform position compensation. Use the components of the expected swing height and safety margin in the z-axis direction to find the landing point position of the quadruped robot.

[0034] Specifically, Raibert's three-channel decoupling algorithm is used to calculate the neutral point position of the quadruped robot, specifically: in Indicates the neutral point position, represents the coordinates of the center of mass at the moment of contact, ψ touch Indicates the yaw angle at the moment of contact, R z (·) represents the rotation matrix of a certain angle around the z axis, Indicates the neutral point position at the previous moment; the neutral point is used as the symmetrical point of the two previous and subsequent landing points, and the distance between the symmetrical point and the landing point is calculated in The speed of the quadruped robot, including the translation part and the rotation part, is expressed as: represents the velocity of the robot's center of mass relative to the body coordinate system at time t, ψ t represents the yaw angle at time t, p twisting Represents the mapping matrix between yaw angle and rotation speed; the rotation speed is the linear speed; the linear function of the speed error is used for compensation: in represents the expected movement speed of the robot, Indicates the actual movement speed of the robot, K p is the error coefficient; the foot point position in the XY plane is obtained: Consider the Z-axis component, which is the desired swing height considering the swing phase d h sw and the safety margin h defined to prevent abnormal leg collisions cl , get the final landing point:

[0035] Step 5: Use the quadratic parabola interpolation method to plan the swing phase trajectory of the quadruped robot.

[0036] Specifically, the quadratic parabola interpolation method is used to plan the motion trajectory of the swing phase, specifically: let the trajectory equation be y = ax 2 +bx+c; select three time phase nodes, namely φ cu =0, 0.5, 1, find the corresponding swing phase position; φ cu = 0, the corresponding position vector is the starting position when the standing phase switches to the swing phase, that is, When the position vector is the position vector at the end of the swing phase When , the position vector is where h maxrepresents the maximum leg extension height; this yields a unique set of a, b, and c. Given any time phase ∈ [0, 1], we can determine a position height on the parabolic trajectory. Because we want the swing phase to move faster, we aim to complete 80% of the swing phase task in the first half and 20% in the second half. This deceleration effectively prevents the inertial effects of premature contact just before ground contact. Sine curve interpolation is used for the first half, and linear interpolation for the second half. The interpolation formula is as follows:

[0037]

[0038] Step 6: Perform force analysis on the rigid body model of the quadruped robot, construct the continuous state equation of the rigid body, discretize it to obtain the discrete state equation, and introduce the ground reaction force vector to obtain the prediction equation.

[0039] Specifically, the robot model is simplified into a single rigid body and four soles, and the body coordinate system and the four soles coordinate system are determined; the force analysis obtains the translational acceleration of the single rigid body where f i is the plantar reaction force, is the acceleration due to gravity; the differential equation for angular velocity is in It refers to the inertia tensor of the system; the mapping equation of ZYX Euler angle is as follows:

[0040]

[0041] Thus, the continuous state equation of the system is obtained

[0042]

[0043] Abbreviated as Take the prediction period Δ and get the discretized state equation Abbreviated as x(m+1)=A k x(m)+B k u(m); The input force vector in n control cycles is U=[u T (0)......u T (n)] T , get the state at the nth moment, that is, the prediction equation:

[0044]

[0045] Abbreviated as X=A qp x(0)+B qp U.

[0046] Step 7: Based on the inequality constraint of the friction force on the sole of the foot, construct a standard quadratic programming equation to obtain the optimal solution of the joint torque and control the robot.

[0047] Specifically, considering that the leg in the stance phase does not slip relative to the ground, the maximum static friction resistance it encounters must be greater than the resultant ground reaction force on the XY plane; expressed in matrix form:

[0048]

[0049] Simplifying it to: Considering the above inequality constraints, construct a quadratic programming problem:

[0050]

[0051]

[0052] Where D represents the desired motion state, X represents the actual motion state, Q represents the state weight matrix, U represents the input force vector, and R represents the control variable weight matrix. The above formula shows that by finding a suitable U, the actual motion state X can be as close as possible to the desired motion state D. Let E = A gp x0-D, rewrite the above formula into standard quadratic programming form:

[0053]

[0054]

[0055] Where H = 2(B qp T QB qp +R), g=(2E T QB qp ) T ; Solve for U and control the quadruped robot.

[0056] See also Figure 2 Based on the same inventive concept, an embodiment of the present invention further provides an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the control method for achieving independent walking of a quadruped robot as described above.

[0057] It is understood that the memory may include random access memory (RAM) or read-only memory (ROM). Optionally, the memory includes a non-transitory computer-readable storage medium. The memory may be used to store instructions, programs, codes, code sets, or instruction sets. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function, instructions for implementing the various method embodiments described above, etc.; the data storage area may store data created based on the use of the server, etc.

[0058] The processor may include one or more processing cores. The processor utilizes various interfaces and circuits to connect various components within the server. It executes various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in memory, as well as accessing data stored in memory. Optionally, the processor may be implemented using at least one of the following hardware forms: digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor may integrate one or a combination of a central processing unit (CPU) and a modem. The CPU primarily processes the operating system and application programs, while the modem handles wireless communications. It is understood that the modem may not be integrated into the processor and may be implemented separately via a single chip.

[0059] Since the electronic device is the electronic device corresponding to the control method for realizing independent walking of a quadruped robot in an embodiment of the present invention, and the principle of solving the problem by the electronic device is similar to that of the method, the implementation of the electronic device can refer to the implementation process of the above-mentioned method embodiment, and the repeated parts will not be repeated.

[0060] Based on the same inventive concept, an embodiment of the present invention also provides a computer-readable storage medium, which stores at least one instruction, at least one program, a code set or an instruction set. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the control method for realizing independent walking of a quadruped robot as described above.

[0061] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0062] Since the storage medium is the storage medium corresponding to the control method for realizing independent walking of a quadruped robot in an embodiment of the present invention, and the principle of solving the problem by the storage medium is similar to that of the method, the implementation of the storage medium can refer to the implementation process of the above-mentioned method embodiment, and the repeated parts will not be repeated.

[0063] In some possible implementations, various aspects of the methods of the embodiments of the present invention may also be implemented in the form of a program product, which includes program code. When the program product is run on a computer device, the program code is used to cause the computer device to execute the steps of the control method for achieving independent walking of a quadruped robot according to various exemplary embodiments of the present application as described above in this specification. The executable computer program code or "code" for executing each embodiment may be written in a high-level programming language such as C, C++, C#, Smalltalk, Java, JavaScript, Visual Basic, Structured Query Language (e.g., Transact-SQL), Perl, or in various other programming languages.

[0064] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0065] The above embodiments are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made based on the essence of the present invention are intended to be covered by the scope of protection of the present invention.

Claims

1. A control method for achieving independent walking of a quadruped robot, characterized in that: include: Establishing the body coordinate system, joint coordinate system and plantar coordinate system of the quadruped robot, and using the differential of the position vector and the rotation matrix to describe the translational velocity and rotational velocity of the quadruped robot in three-dimensional space respectively; Obtaining the real-time speed of the quadruped robot and preprocessing the speed data; Establishing a relationship for the diagonal trotting gait of the quadruped robot at a certain moment; The neutral point position of the quadruped robot is calculated using Raibert's three-channel decoupling algorithm. With the neutral point as the symmetry point, position compensation is performed using a linear function of the velocity error. The desired swing height in the z-axis direction and the safety margin components are used to determine the foothold position of the quadruped robot. Specifically, the neutral point position of the quadruped robot is calculated using Raibert's three-channel decoupling algorithm as follows: in Indicates the neutral point position, represents the coordinates of the center of mass at the moment of contact, ψ touch Indicates the yaw angle at the moment of contact, R z (·) represents the rotation matrix of a certain angle around the z-axis, Indicates the neutral point position at the previous moment; Using a quadratic parabola interpolation method to plan the swing phase trajectory of the quadruped robot; Constructing a continuous state equation of the rigid body of the quadruped robot and discretizing it to obtain a discrete state equation, and then introducing a ground reaction force vector to obtain a prediction equation of the quadruped robot; Inequality constraints are established based on the friction force on the soles of the quadruped robot, a standard quadratic programming equation of the prediction equation of the quadruped robot is constructed, and then the optimal solution of the joint torque is obtained by solving it, and the optimal solution of the joint torque of the quadruped robot is output for control.

2. The control method for achieving independent walking of a quadruped robot according to claim 1, characterized in that: The body coordinate system, joint coordinate system and plantar coordinate system of the quadruped robot specifically include: Establish the body coordinate system at the geometric center of the quadruped robot body Each leg of the quadruped robot is simplified into a three-link robotic arm, and 12 joint coordinate systems are established according to the order of the legs (left front, right front, left rear, right rear) and the order in which the links are close to the body. At the same time, four plantar coordinate systems are established on the four soles The translational speed and rotational speed of the quadruped robot in three-dimensional space specifically include: The translational velocity of the quadruped robot is expressed as: in In the reference frame The translational velocity of point B is, represents the differential of the position vector of point B; The rotation speed of the quadruped robot is expressed as: in is the antisymmetric matrix corresponding to the angular velocity vector, Reference frame Relative to the reference frame The rotation matrix of for The derivative with respect to time.

3. The control method for achieving independent walking of a quadruped robot according to claim 1, characterized in that: Obtaining the real-time speed of the quadruped robot and preprocessing the speed data specifically includes: A velocity state estimator is set up, which is used to preprocess the real-time velocity value of the quadruped robot obtained by the inertial measurement unit. The preprocessing specifically uses a sliding window filter to average the data in a fixed-size sliding window, regards this average value as the instantaneous velocity within the current time, and uses the Kahan algorithm to calculate the compensating floating-point number that is ignored in the computer summation process to reduce the summation error.

4. The control method for achieving independent walking of a quadruped robot according to claim 1, characterized in that: Establishing a relationship for the diagonal trotting gait of the quadruped robot at a certain moment, specifically including: Set up the gait generator, and a movement cycle of the quadruped robot can be expressed as: T = t stance +t swing , t stance represents the stance phase period, t swing Represents the swing phase period; defines the duty factor ρ and phase difference To obtain the diagonal trotting gait phase diagram; At the current motion moment t, find a corresponding positive integer n max So that (n max -1)T <t<n max T, then in the nth max The time that the quadruped robot has been moving in a movement cycle is t cu =t-(n max -1)T, after normalization, the running progress in this cycle is Will run progress φ cu By comparing it with the gait phase diagram, we can obtain the relationship between the diagonal trotting gait of the quadruped robot at a certain moment.

5. The control method for achieving independent walking of a quadruped robot according to claim 1, characterized in that: Obtain the foothold position of the quadruped robot, including: Take the neutral point as the symmetrical point of the two previous and subsequent landing points, and calculate the distance between the symmetrical point and the landing point in The speed of the quadruped robot, including the translation part and the rotation part, is expressed as: represents the velocity of the robot's center of mass relative to the body coordinate system at time t, ψ t represents the yaw angle at time t, p twisting A mapping matrix representing the yaw angle and the rotation speed; the rotation speed is the linear speed; Compensation is performed using a linear function of the velocity error: in represents the expected movement speed of the robot, Indicates the actual movement speed of the robot, K p is the error coefficient; the foot point position in the XY plane is obtained: Consider the Z-axis component, which is the desired swing height considering the swing phase d h sw and the safety margin h defined to prevent abnormal leg collisions cl , get the final landing point:

6. The control method for achieving independent walking of a quadruped robot according to claim 1, characterized in that: The swing phase trajectory of the quadruped robot specifically includes: The quadratic parabola interpolation method is used to plan the motion trajectory of the swing phase. Specifically, let the trajectory equation be y = ax 2 +bx+c; select three time phase nodes, namely φ cu =0, 0.5, 1, find the corresponding swing phase position; φ cu = 0, the corresponding position vector is the starting position when the standing phase switches to the swing phase, that is, φ cu =1, the position vector is the position vector at the end of the swing phase φ cu = 0.5, the position vector is where h max Indicates the maximum leg extension height; from this we can get a unique set of a, b, c; At this time, if any time phase phase∈[0,1] is given, a position height on the parabolic trajectory can be obtained.

7. The control method for achieving independent walking of a quadruped robot according to claim 1, characterized in that: The prediction equation of the quadruped robot is obtained, which specifically includes: The simplified robot model is a single rigid body and four soles, and the coordinate system of the body and the four soles is determined; the translational acceleration of the single rigid body is obtained by force analysis. where f i is the plantar reaction force, is the acceleration due to gravity; the differential equation for angular velocity is in It refers to the inertia tensor of the system; the mapping equation of ZYX Euler angle is as follows: Thus, the continuous state equation of the system is obtained Abbreviated as Take the prediction period Δ and get the discretized state equation Abbreviated as x(m+1)=A k x(m)+B k u(m); The input force vector in n control cycles is U=[u T (0)……u T (n)] T , get the state at the nth moment, that is, the prediction equation: Abbreviated as X=A qp x(0)+B qp U.

8. The control method for achieving independent walking of a quadruped robot according to claim 1, characterized in that: Obtaining the joint torque of the quadruped robot specifically includes: Considering that the leg in the stance phase does not slip relative to the ground, the maximum static friction resistance it encounters must be greater than the resultant ground reaction force on the XY plane; expressed in matrix form: Simplifying it to: Considering the above inequality constraints, construct a quadratic programming problem: Where D represents the desired motion state, X represents the actual motion state, Q represents the state weight matrix, U represents the input force vector, and R represents the control variable weight matrix. The above formula shows that by finding a suitable U, the actual motion state X can be as close as possible to the desired motion state D. Let E = A qp x0-D, rewrite the above formula into standard quadratic programming form: Where H = 2(B qp T QB qp +R), g=(2E T QB qp ) T ; By solving the above formula, the input force vector U of the quadruped robot can be obtained.

9. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the control method for realizing independent walking of a quadruped robot as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that The storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the control method for realizing independent walking of a quadruped robot as described in any one of claims 1 to 8.

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