Method for mass distribution of biped robot and biped robot

Abstract

The present application relates to the field of robotics, and discloses a method for mass distribution of a bipedal robot. The method for mass distribution of a bipedal robot comprises: obtaining lower limb mass parameters; obtaining a first vector of the lower limb mass center relative to the waist center according to the lower limb mass parameters; determining a second vector of the upper limb mass center relative to the waist center according to the first vector of the lower limb mass center relative to the waist center; if the second vector meets a preset condition, obtaining the upper limb longitudinal coordinate of the upper limb mass center relative to the waist center; based on the upper limb longitudinal coordinate of the upper limb mass center relative to the waist center, the upper limb is set relative to the waist center. The method for mass distribution of a bipedal robot can improve the matching degree of the upper and lower limbs of the bipedal robot and reduce the difficulty of balance control of the robot during movement. The present application also discloses a bipedal robot.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a method for mass distribution of a bipedal robot and a bipedal robot. Background Art

[0002] The bipedal movement mode of bipedal robots is less restricted by the environment and has high mobility flexibility. This advantage makes bipedal robots have a wide range of applications, and the research on bipedal robots has become a hot topic. The related research on bipedal robots can be divided into two categories: related research on bipedal robot control algorithms and related research on bipedal robot structures; among them, the related research on bipedal robot structures includes joint design and size design. Its size design usually draws on the size of the human body or the size of relatively successful bipedal robot prototypes in the past to improve the dynamic balance ability of the bipedal robot in terms of size design. The mass of bipedal robots with this size design is often large, especially the mass of the lower limbs, which leads to a large moment of inertia of the lower limbs relative to the hip joint, increasing the difficulty of robot balance control. In this regard, some existing technologies optimize the lower limb structural parts of the bipedal robot to increase the center of mass height of the lower limb structural parts, thereby facilitating the realization of balance control or stability control of the bipedal robot.

[0003] Some bipedal robots include lower limb structures and upper limb structures, and the upper limb structures have functions such as assisting walking and carrying objects. Currently, the design of upper limb structures usually adopts humanoid size design, so that the upper limb structures have a certain carrying capacity.

[0004] In the process of implementing the embodiments of the present application, it is found that there are at least the following problems in the related technology:

[0005] The lower limb structural parts are designed to increase the overall center of mass, and the design of the upper limb structural parts usually takes into account the demand for carrying capacity and cost, etc. This can easily lead to a mismatch in the mass of the lower limb structural parts and the upper limb structural parts, which in turn makes it more difficult to control the balance of the robot during movement. Summary of the invention

[0006] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0007] The embodiments of the present application provide a method for mass distribution of a bipedal robot and a bipedal robot, so as to improve the mass matching degree between the upper limbs and the lower limbs and reduce the difficulty of balance control of the robot during movement.

[0008] In some embodiments, a method for mass distribution of a bipedal robot includes: obtaining lower limb mass parameters; obtaining a first vector of the lower limb center of mass relative to the waist center based on the lower limb mass parameters; determining a second vector of the upper limb center of mass relative to the waist center based on the first vector of the lower limb center of mass relative to the waist center; if the second vector satisfies a preset condition, obtaining the upper limb longitudinal coordinate of the upper limb center of mass relative to the waist center; and setting the upper limb activity relative to the waist center based on the upper limb longitudinal coordinate of the upper limb center of mass relative to the waist center.

[0009] Optionally, based on the lower limb mass parameters, a first vector of the lower limb center of mass relative to the waist is obtained, including: determining a first inertia of the lower limb relative to the waist center based on the lower limb mass parameters and the first coordinates of the lower limb center of mass relative to the waist center; determining the first vector based on the product of the first inertia and a first angular velocity of the lower limb center of mass relative to the waist center.

[0010] Optionally, determining a first inertia of the lower limb relative to the waist center according to the lower limb mass parameter and a first coordinate of the lower limb mass center relative to the waist center includes:

[0011] I1=m1S(r1)S(r1) T

[0012] Among them, I1 is the first inertia, m1 is the mass parameter of the lower limb, r1 is the first coordinate, r x1 is the left-right coordinate of the first coordinate r1, r y1 is the coordinate of the first coordinate r1 in the front and rear directions, r z1 is the vertical coordinate of the first coordinate r1.

[0013] Optionally, determining the first vector according to the product of the first inertia and a first angular velocity of the center of mass of the lower limb relative to the waist comprises:

[0014] V1=I1ω1

[0015] Among them, V1 is the first vector, and ω1 is the first angular velocity.

[0016] Optionally, determining a second vector of the center of mass of the upper limb relative to the waist based on the first vector of the center of mass of the lower limb relative to the waist includes: determining a vector greater than or equal to the first vector as the second vector.

[0017] Optionally, the preset condition includes: the coordinate value of the second vector representing the coordinates of the upper limb center of mass along the direction parallel to the horizontal plane is less than or equal to a first set ignore threshold, so that the coordinate value of the second vector representing the coordinates of the upper limb center of mass along the direction parallel to the horizontal plane can be ignored.

[0018] Optionally, the preset condition includes: the angular velocity difference between the second angular velocity of the upper limb center of mass relative to the waist center in the second vector and the first angular velocity is less than or equal to a second set ignore threshold; or, the angular velocity difference between the second angular velocity of the upper limb center of mass relative to the waist center in the second vector and the first angular velocity is less than or equal to a second set ignore threshold, and the first angular velocity and the second angular velocity satisfy the maximum angular velocity constraint of the waist center.

[0019] Optionally, the first angular velocity and the second angular velocity satisfy the following conditions:

[0020]

[0021]

[0022] in, is the angle of the first angular velocity along a direction parallel to the horizontal plane, is the angle of the first angular velocity along another direction parallel to the horizontal plane, is the angle of the second angular velocity along a direction parallel to the horizontal plane, is the angle of the second angular velocity along another direction parallel to the horizontal plane, is the angle of maximum angular velocity along a direction parallel to the horizontal plane, is the angle of maximum angular velocity along another direction parallel to the horizontal plane.

[0023] Optionally, obtaining the upper limb longitudinal coordinates of the upper limb center of mass relative to the waist center includes: obtaining upper limb mass parameters and lower limb longitudinal coordinates of the lower limb center of mass relative to the waist center; obtaining the ratio of the lower limb mass parameter to the upper limb mass parameter; obtaining the upper limb longitudinal coordinates that are positively correlated with the lower limb longitudinal coordinates and positively correlated with the ratio.

[0024] Optionally, obtaining the upper limb longitudinal coordinate that is positively correlated with the lower limb longitudinal coordinate and positively correlated with the ratio comprises:

[0025]

[0026] Among them, r z2 is the longitudinal coordinate of the upper limb, m1 is the mass parameter of the lower limb, r z1is the longitudinal coordinate of the lower limb, and m2 is the mass parameter of the upper limb.

[0027] Optionally, the method for mass distribution of a bipedal robot further includes: the distance between the center of mass of the left arm and the right arm of the upper limb and the shoulder of the upper limb is less than or equal to a set distance.

[0028] In some embodiments, the bipedal robot comprises:

[0029] upper and lower limbs;

[0030] The center of the waist between the upper limb and the lower limb;

[0031] Based on the longitudinal coordinate of the center of mass of the upper limb relative to the center of the waist, the upper limb is arranged to move relative to the center of the waist;

[0032] There is a corresponding relationship between a first vector of the lower limb mass center relative to the waist center and a second vector of the upper limb mass center relative to the waist center; the first vector is determined by the lower limb mass parameter;

[0033] The second vector meets a preset condition.

[0034] The method for mass distribution of a bipedal robot and the bipedal robot provided in the embodiments of the present application can achieve the following technical effects:

[0035] The first vector is related to the mass parameters of the lower limbs and the center of mass of the lower limbs. Correspondingly, the second vector is related to the mass parameters of the upper limbs and the center of mass of the upper limbs. The second vector is determined based on the first vector to match the mass parameters of the lower limbs, the center of mass of the lower limbs, the mass parameters of the upper limbs and the center of mass of the upper limbs. In actual application, the swing amplitude of the bipedal robot along the waist center in the front and rear degrees of freedom and the left and right degrees of freedom is small. When the second vector meets the preset conditions, the longitudinal coordinates of the upper limb center of mass relative to the waist center can be determined relatively easily. The upper limbs are set based on such upper limb longitudinal coordinates, so that the upper limb mass parameters, the center of mass of the upper limbs, the mass parameters of the lower limbs and the center of mass of the lower limbs can be matched, thereby reducing the difficulty of balance control of the bipedal robot during motion control.

[0036] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] One or more embodiments are exemplarily described by corresponding drawings, and these exemplary descriptions and drawings do not limit the embodiments. Elements with the same reference numerals in the drawings are regarded as similar elements, and wherein:

[0038] Figure 1 is a schematic structural diagram of a bipedal robot provided in an embodiment of the present application;

[0039] Figure 2 It is a flow chart of a method for mass distribution of a bipedal robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to be able to understand the features and technical contents of the embodiments of the present application in more detail, the implementation of the embodiments of the present application is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present application. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, in the absence of these details, one or more embodiments can still be implemented. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0041] The terms "first", "second", etc. in the specification and claims of the embodiments of the present application 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 embodiments of the present application described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0042] Unless otherwise stated, the term "plurality" means more than two.

[0043] In the embodiment of the present application, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B means: A or B.

[0044] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0045] Figure 1 It is a structural schematic diagram of a bipedal robot provided in an embodiment of the present application.

[0046] The bipedal robot includes a shoulder joint 01, an elbow joint 02, a wrist joint 03, a waist joint 04, a hip joint 05, a knee joint 06 and an ankle joint 07. The palm structure 08 is movably connected to the forearm structure 09 through the wrist joint 03, the forearm structure 09 is movably connected to the upper arm structure 10 through the elbow joint 02, the upper arm structure 10 is movably connected to the upper body skeleton 11 through the shoulder joint 01, the upper body skeleton 11 is movably connected to the hip structure 12 through the waist joint 04, the hip structure 12 is movably connected to the thigh structure 13 through the hip joint 05, the thigh structure 13 is movably connected to the calf structure 14 through the knee joint 06, and the calf structure 14 is movably connected to the sole structure 15 through the ankle joint 07.

[0047] In the biped robot, the waist joint 04 includes at least two degrees of freedom: the front-back degree of freedom and the left-right degree of freedom; of course, the waist joint 04 may also include a rotational degree of freedom.

[0048] In the embodiment of the present application, the term "upper limb" refers to the joints and structural components above the waist joint 04, and the term "lower limb" refers to the joints and structural components below the waist joint 04.

[0049] Figure 2 Schematic diagram of a method for mass distribution of a bipedal robot provided in an embodiment of the present application. Figure 2 As shown, the method of mass distribution of the biped robot includes:

[0050] S201. Obtain lower limb mass parameters.

[0051] Among them, the lower limb mass parameter includes the mass of the lower limb; for example, the lower limb mass parameter is the sum of: the mass of the hip structure, the mass of the hip joint, the mass of the thigh structure, the mass of the knee joint, the mass of the calf structure, the mass of the ankle joint and the mass of the sole structure.

[0052] In the design process of the biped robot, the mass parameters of the lower limbs can be obtained according to the shape and size of the designed lower limbs and the density of the selected material.

[0053] S202. Obtain a first vector of the lower limb mass center relative to the waist center according to the lower limb mass parameter.

[0054] The first vector refers to a vector related to the movement of the lower limbs; for example, the first vector refers to the angular momentum of the lower limbs around the vertical axis of the human body with the center of the waist as the origin.

[0055] The waist center is the swing origin of the front-to-back degree of freedom and the left-to-right degree of freedom of the waist joint of the biped robot.

[0056] The coordinate origin of the coordinate system where the above-mentioned first vector is located can be the center of the waist, so as to facilitate an intuitive description of the angular momentum of the lower limbs. Of course, the coordinate system where the above-mentioned first vector is located can also use a ground reference object as the coordinate origin. The embodiment of the present application does not specifically limit the form of the coordinate system where the first vector is located.

[0057] S203. Determine a second vector of the upper limb mass center relative to the waist center based on the first vector of the lower limb mass center relative to the waist center.

[0058] The second vector is a vector related to the movement of the upper limbs; for example, the second vector is the angular momentum of the upper limbs around the vertical axis of the human body with the center of the waist as the origin. The second vector is in the same coordinate system as the first vector.

[0059] There is a corresponding relationship between the first vector and the second vector, and the corresponding relationship can keep the upper limbs and the lower limbs balanced relative to the waist center during the movement of the biped robot. According to the movement balance relationship between the vectors, the second vector corresponding to the first vector relative to the waist center can be determined.

[0060] Furthermore, the corresponding relationship may be an angular momentum balance relationship.

[0061] S204. If the second vector satisfies a preset condition, the longitudinal coordinates of the upper limb mass center relative to the waist center are obtained.

[0062] The above-mentioned preset conditions may include that the swing amplitude of the center of mass of the upper limbs of the biped robot along the front-back degree of freedom and the left-right degree of freedom can be ignored; and the first angular velocity of the center of mass of the lower limbs relative to the waist center and the second angular velocity of the center of mass of the upper limbs relative to the waist center can be considered to be the same. The first angular velocity is the expected angular velocity or designed angular velocity of the center of mass of the lower limbs relative to the waist center during the robot design process; the second angular velocity is the expected angular velocity or designed angular velocity of the center of mass of the upper limbs relative to the waist center during the robot design process.

[0063] In this way, after determining the second vector, the longitudinal coordinate of the upper limb relative to the waist center can be determined relatively easily.

[0064] S205. Based on the longitudinal coordinates of the upper limbs relative to the waist center, the upper limbs are set relative to the waist center.

[0065] The upper limbs are connected to the waist joints, so that the upper limbs can swing along the front-back freedom and the left-right freedom relative to the waist center; or, the upper limbs can also move along the rotational freedom relative to the waist center.

[0066] The first vector is related to the mass parameters of the lower limbs and the center of mass of the lower limbs. Correspondingly, the second vector is related to the mass parameters of the upper limbs and the center of mass of the upper limbs. The second vector is determined based on the first vector to match the mass parameters of the lower limbs, the center of mass of the lower limbs, the mass parameters of the upper limbs and the center of mass of the upper limbs. In actual application, the swing amplitude of the bipedal robot along the waist center in the front and rear degrees of freedom and the left and right degrees of freedom is small. When the second vector meets the preset conditions, the longitudinal coordinates of the upper limb center of mass relative to the waist center can be determined relatively easily. The upper limbs are set based on such upper limb longitudinal coordinates, so that the upper limb mass parameters, the center of mass of the upper limbs, the mass parameters of the lower limbs and the center of mass of the lower limbs can be matched, thereby reducing the difficulty of balance control of the bipedal robot during motion control.

[0067] The method of mass distribution of the biped robot is described in detail below.

[0068] Optionally, obtaining a first vector of the lower limb mass center relative to the waist according to the lower limb mass parameter includes: determining a first inertia of the lower limb relative to the waist center according to the lower limb mass parameter and a first coordinate of the lower limb mass center relative to the waist center; and determining the first vector according to the product of the first inertia and a first angular velocity of the lower limb mass center relative to the waist center. This step can be used to obtain the first vector of the lower limb mass center relative to the waist.

[0069] Specifically, determining the first inertia of the lower limb relative to the waist center according to the lower limb mass parameter and the first coordinate of the lower limb mass center relative to the waist center includes:

[0070] I1=m1S(r1)S(r1) T

[0071] Among them, I1 is the first inertia, m1 is the mass parameter of the lower limb, r1 is the first coordinate, r x1 is the left-right coordinate of the first coordinate r1, r y1 is the coordinate of the first coordinate r1 in the front and rear directions, r z1 is the vertical coordinate of the first coordinate r1.

[0072] Determining a first vector according to the product of the first inertia and the first angular velocity of the center of mass of the lower limb relative to the waist includes:

[0073] V1=I1ω1

[0074] Among them, V1 is the first vector, and ω1 is the first angular velocity.

[0075] It is described in the above embodiment that there is a motion balance relationship between the first vector and the second vector. Specifically, based on the first vector of the center of mass of the lower limb relative to the waist, the second vector of the center of mass of the upper limb relative to the waist is determined, including: determining a vector greater than or equal to the first vector as the second vector.

[0076] The first vector represents the angular momentum of the lower limb mass center around the vertical axis of the human body with the waist center as the origin. The second vector represents the angular momentum of the upper limb mass center around the vertical axis of the human body with the waist center as the origin. The second vector is equal to the first vector. During the movement of the bipedal robot, the angular momentum balance of the upper and lower limbs relative to the waist center can be maintained, which is beneficial to improving the stability of the bipedal robot and reducing the difficulty of balance control of the bipedal robot.

[0077] In a bipedal robot, the lower limbs have a large range of motion relative to the waist center. For example, the range of motion of the thigh structure along the front-back freedom and left-right freedom of the hip joint is large, and the range of motion of the thigh structure along the front-back freedom of the hip joint is greater than the range of motion of the thigh structure along the left-right freedom of the hip joint. This large range of motion results in a large swing range of the lower limb center of mass relative to the waist center along the front-back freedom and left-right freedom, and a large swing angular velocity of the lower limb center of mass relative to the waist center along the front-back freedom and left-right freedom.

[0078] Compared with the movement amplitude of the lower limbs relative to the waist center, the movement amplitude of the upper limbs relative to the waist center is smaller, and the angular velocity of the upper limb mass center relative to the waist center along the front-back degree of freedom and the left-right degree of freedom is smaller. In the design process of the robot, the second vector is made greater than the first vector. Then, in the actual movement process of the robot, the angular velocity of the lower limb mass center relative to the waist center is larger, and the angular velocity of the upper limb mass center relative to the waist center is smaller, and the upper and lower limbs can still maintain angular momentum balance relative to the waist center, which is conducive to improving the stability of the bipedal robot during actual movement.

[0079] The following is a detailed description of the aforementioned pre-conditions:

[0080] Optionally, the preset conditions include: the coordinate value of the upper limb mass center coordinates in the second vector along the parallel horizontal plane is less than or equal to the first set ignore threshold, so that the coordinate value of the upper limb mass center coordinates in the second vector along the parallel horizontal plane can be ignored; the angular velocity difference between the second angular velocity of the upper limb mass center relative to the waist center and the first angular velocity in the second vector is less than or equal to the second set ignore threshold; or, the angular velocity difference between the second angular velocity of the upper limb mass center relative to the waist center and the first angular velocity in the second vector is less than or equal to the second set ignore threshold, and the first angular velocity and the second angular velocity meet the maximum angular velocity constraint of the waist center. Wherein, the angular velocity difference between the second angular velocity and the first angular velocity refers to: the difference between the first angular velocity and the second angular velocity, the angular velocity with a larger value and the angular velocity with a smaller value. The first angular velocity is the middle value or maximum value of the expected angular velocity or the designed angular velocity of the lower limb mass center relative to the waist center during the robot design process; the second angular velocity is the middle value or maximum value of the expected angular velocity or the designed angular velocity of the upper limb mass center relative to the waist center during the robot design process.

[0081] For example, the origin of the coordinate system of the first vector and the second vector is the center of the waist, the direction of the horizontal axis of the human body is the positive direction of the X axis, the direction of the vertical axis of the human body is the positive direction of the Y axis, and the direction of the vertical axis of the human body is the positive direction of the Z axis. In this coordinate system, the coordinate of the centroid of the upper limb r2 = {r x2 , ry2 , r z2}, where r x2 and r y2 is the coordinate value of the aforementioned parallel horizontal plane.

[0082] The first set ignoring threshold is much smaller than the distance between the upper limb mass center and the waist. For example, the first set ignoring value is less than 1 / 20 of the coordinate value of the upper limb mass center coordinate along the vertical axis of the human body.

[0083] The aforementioned second set ignore threshold can be zero, at which time the first angular velocity and the second angular velocity are equal in magnitude; the first angular velocity and the second angular velocity here can be the design angular velocities that meet the movement requirements of the waist joint of the bipedal robot, and the smaller of the first angular velocity and the second angular velocity is much larger than the aforementioned second set ignore threshold, for example, the smaller of the first angular velocity and the second angular velocity is more than 20 times the second set ignore threshold.

[0084] The waist joint of a biped robot has a maximum angular velocity constraint, for example:

[0085]

[0086]

[0087] in, is the angle of the first angular velocity along a direction parallel to the horizontal plane, is the angle of the first angular velocity along another direction parallel to the horizontal plane, is the angle of the second angular velocity along a direction parallel to the horizontal plane, is the angle of the second angular velocity along another direction parallel to the horizontal plane, is the angle of maximum angular velocity along a direction parallel to the horizontal plane, is the angle of maximum angular velocity along another direction parallel to the horizontal plane.

[0088] Furthermore, the first angular velocity and the second angular velocity satisfy the following conditions:

[0089]

[0090]

[0091] in, is the angle of the first angular velocity along a direction parallel to the horizontal plane, is the angle of the first angular velocity along another direction parallel to the horizontal plane, is the angle of the second angular velocity along a direction parallel to the horizontal plane, is the angle of the second angular velocity along another direction parallel to the horizontal plane, is the angle of maximum angular velocity along a direction parallel to the horizontal plane, is the angle of maximum angular velocity along another direction parallel to the horizontal plane.

[0092] In the design process of the biped robot, in order to facilitate the determination of the upper limb ordinate relative to the waist, the second vector can be constrained by using a preset condition, such as the angular velocity difference between the second angular velocity and the first angular velocity is less than or equal to the second set ignore threshold, so that the second angular velocity and the first angular velocity are regarded as equal; and in the movement process of the biped robot, as mentioned above, the angular velocity of the upper limb mass center relative to the waist center is usually less than the angular velocity of the lower limb mass center relative to the waist center, that is, there is a deviation between the design process of the biped robot and the actual movement. Based on this situation, first determine the vector greater than the first vector as the second vector, and then make the preset condition include the angular velocity difference between the second angular velocity and the first angular velocity is less than or equal to the second set ignore threshold. In this way, since the second vector is greater than the first vector, even if the preset condition includes the angular velocity difference between the second angular velocity and the first angular velocity is less than or equal to the second set ignore threshold (the angular velocity difference between the second angular velocity and the first angular velocity is non-zero), the biped robot can maintain balance during the actual movement process.

[0093] The above content explains the preset conditions that the second vector needs to meet. According to the solution in the embodiment of the present application, when the second vector meets the preset conditions, the longitudinal coordinates of the upper limb are obtained.

[0094] Further, obtaining the upper limb longitudinal coordinates of the upper limb mass center relative to the waist center may include: obtaining the upper limb mass parameter and the lower limb longitudinal coordinates of the lower limb mass center relative to the waist center; obtaining the ratio of the lower limb mass parameter to the upper limb mass parameter; obtaining the upper limb longitudinal coordinates that are positively correlated with the lower limb longitudinal coordinates and positively correlated with the ratio. After the second vector meets the preset conditions, the upper limb longitudinal coordinates can be obtained relatively easily through the above scheme.

[0095] Specifically, the longitudinal coordinates of the upper limbs that are positively correlated with the longitudinal coordinates of the lower limbs and positively correlated with the ratio are obtained in the following manner:

[0096]

[0097] Among them, r z2 is the longitudinal coordinate of the upper limb, m1 is the mass parameter of the lower limb, r z1 is the longitudinal coordinate of the lower limb, and m2 is the mass parameter of the upper limb.

[0098] In this way, the minimum value of the longitudinal coordinate of the upper limb can be obtained, so as to facilitate the activity setting of the upper limb relative to the waist center based on the longitudinal coordinate of the upper limb center of mass relative to the waist center.

[0099] Specifically, the distance between the center of mass of the left arm and the right arm of the upper limb and the shoulder of the upper limb is less than or equal to the set distance, so that the height of the center of mass of the upper limb can be increased.

[0100] In addition, during the activities of the left and right arms of the upper limbs, the changes in the center of mass of the left and right arms have little effect on the changes in the position of the center of mass of the upper limbs, which can maintain the stability of the position of the center of mass of the upper limbs, thereby improving the stability of the overall robot.

[0101] In some embodiments, the bipedal robot comprises:

[0102] upper and lower limbs;

[0103] Located in the center of the waist between the upper and lower limbs;

[0104] The upper limb activity setting relative to the waist center is based on the longitudinal coordinate of the upper limb mass center relative to the waist center;

[0105] There is a corresponding relationship between the first vector of the lower limb mass center relative to the waist center and the second vector of the upper limb mass center relative to the waist center, and the second vector can be determined according to the first vector; the first vector is determined by the lower limb mass parameter;

[0106] The second vector satisfies the preset condition.

[0107] The above description and the accompanying drawings fully illustrate the embodiments of the present application so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible changes. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates otherwise, the singular forms of "a", "an" and "the" are intended to include plural forms as well. In addition, when used in this application, the term "comprise" and its variants "comprises" and / or including (comprising) refer to the existence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the existence or addition of one or more other features, wholes, steps, operations, elements, components and / or these groups. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the process, method or device comprising the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same or similar parts between the embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0108] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. Technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiments of the present application. Technicians can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0109] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units can be only a logical function division, and there can be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0110] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present application. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or code, and a part of a module, program segment or code includes one or more executable instructions for realizing the logical function of the specification. In some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can also be executed in the opposite order sometimes, which can depend on the functions involved. Each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be realized by a dedicated hardware-based system that performs the function or action of the specification, or can be realized by a combination of special-purpose hardware and computer instructions.

Claims

1. A method for mass distribution of a bipedal robot, characterized in that: include: Obtain lower limb mass parameters; According to the lower limb mass parameter, a first vector of the lower limb mass center relative to the waist center is obtained; the first vector refers to the angular momentum of the lower limb around the vertical axis of the human body with the waist center as the origin; Determine a second vector of the center of mass of the upper limb relative to the center of the waist according to the first vector of the center of mass of the lower limb relative to the center of the waist; the second vector refers to the angular momentum of the upper limb around the vertical axis of the human body with the center of the waist as the origin; Determining the second vector according to the first vector includes: determining the second vector corresponding to the first vector and relative to the waist center according to a motion balance relationship between vectors; If the second vector satisfies a preset condition, the longitudinal coordinate of the upper limb mass center relative to the waist center is obtained; the preset condition includes: the swing amplitude of the upper limb mass center of the biped robot along the front-back degree of freedom and the left-right degree of freedom is ignored, and the first angular velocity of the lower limb mass center relative to the waist center is the same as the second angular velocity of the upper limb mass center relative to the waist center; Based on the longitudinal coordinates of the upper limb mass center relative to the waist center, the upper limb activities are set relative to the waist center.

2. The method according to claim 1, characterized in that According to the lower limb mass parameter, a first vector of the lower limb mass center relative to the waist is obtained, including: Determine a first moment of inertia of the lower limb relative to the waist center according to the lower limb mass parameter and a first coordinate of the lower limb mass center relative to the waist center; The first vector is determined according to the product of the first inertia and a first angular velocity of the center of mass of the lower limb relative to the waist center.

3. The method according to claim 2, characterized in that Determining a first moment of inertia of the lower limb relative to the waist center according to the lower limb mass parameter and a first coordinate of the lower limb mass center relative to the waist center includes: in, is the first moment of inertia, is the lower limb mass parameter, is the first coordinate, , The first coordinate The left and right coordinates of The first coordinate The coordinates of the front and rear directions, The first coordinate The up and down coordinates of ; Determining the first vector according to the product of the first inertia and the first angular velocity of the center of mass of the lower limb relative to the waist includes: in, is the first vector, is the first angular velocity.

4. The method according to claim 1, characterized in that: Determining a second vector of the center of mass of the upper limb relative to the waist according to the first vector of the center of mass of the lower limb relative to the waist includes: A vector greater than or equal to the first vector is determined as the second vector.

5. The method according to claim 1, characterized in that The preset conditions include: The coordinate value of the second vector representing the coordinates of the upper limb mass center along the direction parallel to the horizontal plane is less than or equal to a first set ignoring threshold, so that the coordinate value of the second vector representing the coordinates of the upper limb mass center along the direction parallel to the horizontal plane is ignored; The angular velocity difference between the second angular velocity of the upper limb center of mass relative to the waist center in the second vector and the first angular velocity is less than or equal to a second set ignore threshold; or, the angular velocity difference between the second angular velocity of the upper limb center of mass relative to the waist center in the second vector and the first angular velocity is less than or equal to a second set ignore threshold, and the first angular velocity and the second angular velocity satisfy the maximum angular velocity constraint of the waist center.

6. The method according to claim 5, characterized in that The first angular velocity and the second angular velocity satisfy the following conditions: in, is the angle of the first angular velocity along a direction parallel to the horizontal plane, is the angle of the first angular velocity along another direction parallel to the horizontal plane, is the angle of the second angular velocity along a direction parallel to the horizontal plane, is the angle of the second angular velocity along another direction parallel to the horizontal plane, is the angle of maximum angular velocity along a direction parallel to the horizontal plane, is the angle of maximum angular velocity along another direction parallel to the horizontal plane.

7. The method according to claim 1, characterized in that Obtaining the upper limb longitudinal coordinates of the upper limb mass center relative to the waist center, including: Obtaining upper limb mass parameters and lower limb longitudinal coordinates of the lower limb mass center relative to the waist center; Obtaining a ratio of the lower limb mass parameter to the upper limb mass parameter; The upper limb longitudinal coordinate is obtained, which is positively correlated with the lower limb longitudinal coordinate and positively correlated with the ratio.

8. The method according to claim 7, characterized in that Obtaining the upper limb longitudinal coordinate that is positively correlated with the lower limb longitudinal coordinate and positively correlated with the ratio, comprising: in, is the longitudinal coordinate of the upper limb, is the lower limb mass parameter, is the longitudinal coordinate of the lower limb, Upper limb quality parameter.

9. The method according to any one of claims 1 to 8, characterized in that: Also includes: The distance between the center of mass of the left arm and the right arm of the upper limb and the shoulder of the upper limb is less than or equal to the set distance.

10. A bipedal robot, characterized in that: include: upper and lower limbs; The center of the waist between the upper limb and the lower limb; Based on the longitudinal coordinate of the center of mass of the upper limb relative to the center of the waist, the upper limb is arranged to move relative to the center of the waist; There is a corresponding relationship between a first vector of the lower limb mass center relative to the waist center and a second vector of the upper limb mass center relative to the waist center; the first vector is determined by the lower limb mass parameter; the first vector refers to the angular momentum of the lower limb around the vertical axis of the human body with the waist center as the origin; the second vector refers to the angular momentum of the upper limb around the vertical axis of the human body with the waist center as the origin; determining the second vector according to the first vector includes: determining the second vector corresponding to the first vector relative to the waist center according to the motion balance relationship between the vectors; The second vector satisfies preset conditions; the preset conditions include: the swing amplitude of the center of mass of the upper limbs of the bipedal robot along the front-to-back degree of freedom and the left-to-right degree of freedom is ignored, and the first angular velocity of the center of mass of the lower limbs relative to the waist center is the same as the second angular velocity of the center of mass of the upper limbs relative to the waist center.

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