Quadruped robot control method and quadruped robot

Abstract

The application discloses a kind of quadruped robot control method and quadruped robot, it is related to robot field.The quadruped robot includes first leg, second leg and the base portion connected the first leg and the second leg, the first leg and the second leg include several joints, the method includes: control the moment of at least one joint in the several joints, so that the quadruped robot enters biped motion state from quadruped motion state;Control the moment of at least one joint in the several joints, so that two ends of the second leg support the quadruped robot to keep balance;Control the moment of at least one joint in the several joints, so that the quadruped robot enters the quadruped motion state from the biped motion state.The application controls the joint moment of quadruped robot, supports first leg and second leg to be in different motion state, so that quadruped robot carries out biped motion.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of robots, and in particular to a quadruped robot control method and a quadruped robot. BACKGROUND

[0002] With the wide application of artificial intelligence and robot technology in civil and commercial fields, robots based on artificial intelligence and robot technology play an increasingly important role in intelligent transportation, smart home and other fields, and also face higher requirements.

[0003] However, the quadruped robot in the related art usually only has a quadruped motion mode, and cannot meet the demand for the biped motion mode of the robot in some motion scenarios. SUMMARY

[0004] The present application provides a quadruped robot control method and a quadruped robot, which supports the quadruped robot to perform biped motion. The technical solution is as follows:

[0005] According to an aspect of the present application, a quadruped robot control method is provided, the quadruped robot comprising a first leg, a second leg, and a base connected to the first leg and the second leg, the first leg and the second leg comprising a plurality of joints, the method comprising:

[0006] controlling the torque of at least one joint of the plurality of joints in the swing-up phase of the biped motion, so that the quadruped robot enters a biped motion state from a quadruped motion state, the biped motion state being a state in which the first leg is away from a support surface and both ends of the second leg are in contact with the support surface;

[0007] controlling the torque of at least one joint of the plurality of joints in the balance phase of the biped motion, so that both ends of the second leg support the quadruped robot to maintain balance;

[0008] controlling the torque of at least one joint of the plurality of joints in the landing phase of the biped motion, so that the quadruped robot enters the quadruped motion state from the biped motion state.

[0009] According to an aspect of the present application, a quadruped robot control device is provided, the device comprising:

[0010] a state control module configured to control the torque of at least one joint of the plurality of joints in the swing-up phase of the biped motion, so that the quadruped robot enters a biped motion state from a quadruped motion state, the biped motion state being a state in which the first leg is away from a support surface and both ends of the second leg are in contact with the support surface;

[0011] The balance control module is configured to control the moment of at least one joint of the plurality of joints to keep the two ends of the second leg supporting the quadruped robot balanced during the balance phase of the biped motion.

[0012] The state control module is further configured to control the moment of at least one joint of the plurality of joints to make the quadruped robot enter the quadruped motion state from the biped motion state during the landing phase of the biped motion.

[0013] According to another aspect of the present application, a quadruped robot is provided, which comprises:

[0014] A first leg and a second leg, the first leg and the second leg comprising a plurality of joints;

[0015] A base connected to the first leg and the second leg;

[0016] A controller disposed on the quadruped robot and configured to implement the quadruped robot control method as described above.

[0017] According to an aspect of the present application, a computer readable storage medium is provided, which stores a computer program configured to be executed by a processor to implement the quadruped robot control method as described in the above aspect.

[0018] According to an aspect of the present application, a chip is provided, which comprises programmable logic circuit and / or program instructions, and a quadruped robot installed with the chip is configured to implement the quadruped robot control method as described in the above aspect.

[0019] According to an aspect of the present application, a computer program product is provided, which comprises a computer program stored in a computer readable storage medium, and a processor configured to read the computer program from the computer readable storage medium and execute the computer program to implement the quadruped robot control method as described in the above aspect.

[0020] The technical solutions provided by the embodiments of the present application have at least the following beneficial effects:

[0021] By controlling the joint moment of the quadruped robot during the swing phase, the balance phase and the landing phase, the robot is enabled to perform biped motion, and the first leg and the second leg of the quadruped robot are enabled to be in different motion states, so that the quadruped robot has the advantages of a biped robot. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0023] Figure 1 A structural schematic diagram of a quadruped robot provided by an example embodiment of the present application is shown;

[0024] Figure 2 A partial structural schematic diagram of a quadruped robot provided by an example embodiment of the present application is shown;

[0025] Figure 3 A three-dimensional schematic diagram of a quadruped robot in a quadruped motion state provided by an example embodiment of the present application is shown;

[0026] Figure 4 A three-dimensional schematic diagram of a quadruped robot in a biped motion state provided by an example embodiment of the present application is shown;

[0027] Figure 5 A three-dimensional schematic diagram of a quadruped robot in a biped motion state provided by an example embodiment of the present application is shown;

[0028] Figure 6 A flowchart of a quadruped robot control method provided by an example embodiment of the present application is shown;

[0029] Figure 7 A flowchart of a quadruped robot control method provided by another example embodiment of the present application is shown;

[0030] Figure 8 A state schematic diagram of a quadruped robot in a balance phase of a biped motion provided by an example embodiment of the present application is shown;

[0031] Figure 9 A flowchart of a quadruped robot control method provided by another example embodiment of the present application is shown;

[0032] Figure 10 A three-dimensional operation space schematic diagram provided by another example embodiment of the present application is shown;

[0033] Figure 11 A structural schematic diagram of a quadruped robot control device provided by an example embodiment of the present application is shown;

[0034] Figure 12 A simplified structural block diagram of a quadruped robot provided by an example embodiment of the present application is shown. DETAILED DESCRIPTION

[0035] For the purpose of the present application, the technical solutions and advantages, the embodiments of the present application will be further described in detail below in conjunction with the drawings. Herein, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the present application. Instead, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0036] The terms used in the present disclosure are merely for the purpose of describing particular embodiments and are not intended to limit the present disclosure. The singular forms "a," "an," and "the" used in the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It will be further understood that the terms "and / or" as used herein refer to and encompass any or all possible combinations of one or more associated listed items.

[0037] It should be understood that although the terms first, second, third, etc. can be employed in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to differentiate one piece of information from another piece of information of the same type.

[0038] Figure 1 A structural schematic diagram of a quadruped robot 10 provided by an exemplary embodiment of the present application is shown. The quadruped robot 10 includes a base part 110, a first leg part 120, a second leg part 130, and the base part 110 is connected with the first leg part 120 and the second leg part 130. Optionally, the first leg part 120 and the second leg part 130 are the same or different. The first leg part 120 is divided into a left first leg and a right first leg, and optionally, the left first leg and the right first leg are the same or different; the second leg part 130 is divided into a left second leg and a right second leg, and optionally, the left second leg and the right second leg are the same or different.

[0039] Embodiments of the present application take the first leg part 120 and the second leg part 130 as an example, the left first leg and the right first leg of the first leg part 120 are the same, and the left second leg and the right second leg of the second leg part 130 are the same for illustrative description, but it does not mean to limit the leg structure of the quadruped robot.

[0040] The first leg portion 120 includes a first left leg link 1201, a second left leg link 1202, a first right leg link 1203, and a second right leg link 1204. The second leg portion 130 includes a third left leg link 1301, a fourth left leg link 1302, a third right leg link 1303, and a fourth right leg link 1304. The first end of the first left leg link 1201 is connected to the base portion 110, and the second end of the first left leg link 1201 is connected to the first end of the second left leg link 1202 to form a first left leg revolute pair. The first end of the first right leg link 1203 is connected to the base portion 110, and the second end of the first right leg link 1203 is connected to the first end of the second right leg link 1204 to form a first right leg revolute pair. The first end of the third left leg link 1301 is connected to the base part 110, and the second end of the third left leg link 1301 is connected to the first end of the fourth left leg link 1302 to form a second left leg rotation pair; the first end of the third right leg link 1303 is connected to the base part 110, and the second end of the third right leg link 1303 is connected to the first end of the fourth right leg link 1304 to form a second right leg rotation pair.

[0041] The first leg 120 and the second leg 130 have several joints, with the first leg 120 having at least one joint and the second leg 130 having at least one joint. In some embodiments, the first leg 120 has a first hip joint 1205 and a first knee joint 1206, and the second leg 130 has a second hip joint 1305 and a second knee joint 1306.

[0042] For example, Figure 2 As shown, the left first leg includes a first hip joint 1205 located at the first end of the first left leg link 1201 and a first knee joint 1206 located at the second end of the first left leg link 1201. Optionally, the first hip joint 1205 includes a first hip roll joint 12051 and a first hip pitch joint 12052. The first hip roll joint 12051 is used to drive the lateral rotation of the entire left first leg, the first hip pitch joint 12052 is used to drive the rotation of the first left leg link 1201, and the first knee joint 1206 drives the rotation of the second left leg link 1202 via a belt drive. Optionally, each joint has 12 degrees of freedom.

[0043] The joints of the first leg 120 and the second leg 130 are connected to a power output device (such as a motor), which is used to provide electricity to drive each joint.

[0044] Figure 3A perspective view of the quadruped robot in a quadruped motion state is shown. In the quadruped motion state, the ends of the first leg 120 and the second leg 130 of the quadruped robot 10 support the quadruped robot 10 to keep balance, that is, the second end of the second left leg link 1202, the second end of the second right leg link 1204, the second end of the fourth left leg link 1302 and the second end of the fourth right leg link 1304 are all in contact with the support surface.

[0045] In the embodiment of the present application, the support surface refers to a surface structure such as ground, plum-blossom pile, box body, bridge body, etc. that can provide support force for the quadruped robot 10 to perform biped motion. The specific form of the support surface is not limited in the present application.

[0046] Figure 4 A perspective view of the quadruped robot in a biped motion state is shown. In the biped motion state, the first leg 120 of the quadruped robot 10 is away from the support surface, and the end of the second leg 130 supports the quadruped robot 10 to keep balance, that is, the second end of the second left leg link 1202 and the second end of the second right leg link 1204 are not in contact with the support surface, and the second end of the fourth left leg link 1302 and the second end of the fourth right leg link 1304 are in contact with the support surface.

[0047] Figure 5A perspective view of the quadruped robot in a biped motion state is shown. In the biped motion state, the first leg 120 of the quadruped robot 10 is away from the support surface and performs a first action, the end of the second leg 130 supports the quadruped robot 10 to keep balance, that is, the second end of the second left leg link 1202 and the second end of the second right leg link 1204 are not in contact with the support surface and perform the first action, and the second end of the fourth left leg link 1302 and / or the second end of the fourth right leg link 1304 are in contact with the support surface. The first action refers to an action that the first left leg link 1201 and / or the second left leg link 1202 and / or the first right leg link 1203 and / or the second right leg link 1204 of the first leg 120 can perform through rotation of the first hip joint 1205 and / or the first knee joint 1206, including at least one of waving, lifting, supporting, pulling, grabbing, placing, bowing, and rotating. For example, the second left leg link 1202 is controlled to perform a waving action, forming an action effect of "waving hands"; the second left leg link 1202 is controlled to be lifted, forming an action effect of "raising hands"; the second left leg link 1202 and the second right leg link 1204 are controlled to support a courier, which can be used for delivering a courier; the second left leg link 1202 is controlled to pull a door; the second left leg link 1202 is controlled to grab a toy on the ground; the second left leg link 1202 is controlled to place the grabbed toy on a table; the second left leg link 1202 and the second right leg link 1204 are controlled to bow, and the second left leg link 1202 and the second right leg link 1204 are controlled to rotate in different directions, forming an entertainment effect.

[0048] Figure 6 A flowchart of a quadruped robot control method is shown. The method is applied to the quadruped robot 10, and includes at least part of the following steps:

[0049] In step 620, the torque of at least one joint is controlled to make the quadruped robot 10 enter the biped motion state from the quadruped motion state in the swing-up stage of the biped motion.

[0050] The at least one joint refers to at least one joint of the plurality of joints included in the first leg 120 and the second leg 130. The quadruped motion state refers to a state in which the two ends of the first leg 120 and the two ends of the second leg 130 are in contact with the support surface, and the biped motion state refers to a state in which the first leg 120 is away from the support surface and the two ends of the second leg 130 are in contact with the support surface.

[0051] In some embodiments, in the quadruped motion state, the first hip joint 1205 of the first leg 120 and / or the first knee joint 1206 of the first leg 120 are controlled to elongate the first leg 120; and the second hip joint 1305 of the second leg 130 and / or the second knee joint 1306 of the second leg 130 are controlled to rotate the base 110 in a direction away from the support surface with the second hip joint 1305 of the second leg 130 or the second knee joint 1306 of the second leg 130 as the fulcrum, and the center of mass of the base 110 is raised relative to the support surface, into the biped motion state. Optionally, before the first hip joint 1205 of the first leg 120 and / or the first knee joint 1206 of the first leg 120 are controlled to elongate the first leg 120, the first knee joint 1206 of the first leg 120 and the second knee joint 1306 of the second leg 130 are also controlled to lower the center of mass of the base 110 relative to the support surface.

[0052] Step 640: in the balance phase of the biped motion, the moment of at least one joint is controlled to keep the two ends of the second leg 130 supporting the quadruped robot 10 balanced;

[0053] In some embodiments, the second hip joint 1305 of the second leg 130 and / or the second knee joint 1306 of the second leg 130 are controlled to keep the center of mass of the second leg 130 on the same vertical line as the center of mass of the base 110, to keep the two ends of the second leg 130 supporting the quadruped robot 10 balanced; and / or, the second hip joint 1305 of the second leg 130 and / or the second knee joint 1306 of the second leg 130 are controlled to perform a stepping motion, to dynamically balance the center of mass of the second leg 130 with the center of mass of the base 110. Wherein, the stepping motion includes a step in place or a step out of place.

[0054] In some embodiments, the second hip joint 1305 of the second leg 130 and / or the second knee joint 1306 of the second leg 130 are controlled to perform other motions (such as jumping, running, rotating), to dynamically balance the center of mass of the second leg 130 with the center of mass of the base 110.

[0055] In some embodiments, in the balance phase of the biped motion, the first hip joint 1205 of the first leg 120 and / or the first knee joint 1206 of the first leg 120 are also controlled to perform a first action. Wherein, the first action refers to an action that the first left leg link 1201 and / or the second left leg link 1202 and / or the first right leg link 1203 and / or the second right leg link 1204 of the first leg 120 can perform through the rotation of the first hip joint 1205 and / or the first knee joint 1206, including at least one of waving, lifting, supporting, holding, grabbing, placing, bowing, rotating.

[0056] Step 660: In the landing phase of the biped motion, the torque of at least one joint is controlled to make the quadruped robot 10 enter the quadruped motion state from the biped motion state.

[0057] In some embodiments, in the biped motion state, the second hip joint 1305 of the second leg 130 and / or the second knee joint 1306 of the second leg 130 are controlled to make the base 110 rotate in the direction close to the support surface with the second hip joint 1305 of the second leg 130 or the second knee joint 1306 of the second leg 130 as the fulcrum, and the center of mass of the base 110 is lowered relative to the support surface; the first hip joint 1205 of the first leg 120 and / or the first knee joint 1206 of the first leg 120, and the second hip joint 1305 of the second leg 130 and / or the second knee joint 1306 of the second leg 130 are controlled to make the quadruped robot 10 enter the quadruped motion state. Optionally, before controlling the second hip joint 1305 of the second leg 130 and / or the second knee joint 1306 of the second leg 130 to make the base 110 rotate in the direction close to the support surface with the second hip joint 1305 of the second leg 130 or the second knee joint 1306 of the second leg 130 as the fulcrum, and the center of mass of the base 110 is lowered relative to the support surface, the first hip joint 1205 of the first leg 120 and / or the first knee joint 1206 of the first leg 120 are also controlled to make the first leg 120 shorter.

[0058] In summary, the method provided by the embodiment controls the torque of the joints of the quadruped robot to make the quadruped robot perform biped motion, supports the first leg and the second leg of the quadruped robot to be in different motion states, and makes the quadruped robot have the advantages of the biped robot.

[0059] Figure 7 A flowchart of a quadruped robot control method provided by an example embodiment of the present application is shown. Taking the method applied to the quadruped robot 10 as an example, the method includes at least part of the following steps:

[0060] Step 701: The quadruped robot 10 is in a quadruped motion state.

[0061] The quadruped motion state refers to that the first leg and the second leg of the quadruped robot are in the same motion control state, including but not limited to at least one of the following states: quadruped standing state, quadruped stepping state, quadruped walking state, quadruped running state, quadruped jumping state, and quadruped rotating state.

[0062] The embodiment takes the quadruped robot in the quadruped standing state as an example for illustrative description. The quadruped robot 10 stands in quadruped to keep the balance in the stationary state.

[0063] Step 702: control the first knee joint 1206 of the first leg 120 and the second knee joint 1306 of the second leg 130 to make the quadruped robot 10 squat;

[0064] This step makes the center of mass of the base 110 lower relative to the support surface, increases the stroke of the elongation of the first leg 120 in the next step, prolongs the elongation time of the first leg 120, and enables the base 110 to be as vertical as possible after entering the biped motion state.

[0065] Step 703: control the first hip joint 1205 of the first leg 120 and / or the first knee joint 1206 of the first leg 120 to elongate the first leg 120;

[0066] Due to the limited torque of the motor, it is difficult to move the base 110 to the vertical state only by the joint torque of the second leg 130, so the first leg 120 is controlled to elongate, and the interaction force between the first leg 120 and the support surface is generated during the elongation, which can also be understood as the first leg 120 elongating and kicking the ground. The support surface provides the base 110 with angular acceleration in the pitch direction, and then the joint of the second leg 130 is rotated, and finally the base 110 is as vertical as possible after entering the biped motion state.

[0067] When step 703 is executed, the posture of the second leg 130 remains unchanged.

[0068] Step 704: determine whether the first leg 120 is elongated to a first threshold value;

[0069] Here, the first threshold value is defined as: Wherein, L thigh is the length of the first left leg link / first right leg link, L shank is the length of the second left leg link / second right leg link, δ min is a safety length, and the value range is 0.02-0.05 m. The purpose of δ min is to avoid the first leg being stretched to a singular point, which affects the normal motion of the quadruped robot. The singular point refers to the joint position where the Jacobian matrix is not full rank, and when the robot reaches the singular point, the robot cannot move in some directions. The robot joint motion should avoid reaching the singular point.

[0070] If the first leg 120 is not elongated to the maximum length, step 705 is entered; if the first leg 120 is elongated to the maximum length, step 706 is entered.

[0071] When step 704 is executed, the posture of the second leg 130 remains unchanged.

[0072] Step 705: continue to execute steps 703 and 704;

[0073] When step 705 is performed, the posture of the second leg 130 remains unchanged.

[0074] Step 706: control the first hip joint 1205 of the first leg 120 and / or the first knee joint 1206 of the first leg 120, so that the first leg 120 is shortened.

[0075] The purpose of shortening the first leg 120 is to ensure that the first leg 120 does not collide with the support surface during the process of moving away from the support surface.

[0076] Optionally, the first hip joint 1205 of the first leg 120 and / or the first knee joint 1206 of the first leg 120 are also controlled, so that the first leg 120 is prepared for the first action.

[0077] When step 706 is performed, the posture of the second leg 130 remains unchanged.

[0078] Step 707: control the second hip joint 1305 of the second leg 130, so that the base 110 rotates until the base 110 approaches the vertical state.

[0079] The second hip joint 1305 of the second leg 130 is controlled to rotate in the pitch direction, and optionally, the second hip joint 1305 of the second leg 130 is controlled to rotate, so that the base 110 rotates away from the support surface with the second hip joint 1305 as the fulcrum, and the center of mass of the base 110 is lifted relative to the support surface until the base 110 approaches the vertical state.

[0080] In summary, the method provided by the embodiment controls the joint torque of the quadruped robot, so that the robot enters the biped motion state from the quadruped motion state, supports the first leg and the second leg of the quadruped robot in different motion states, and makes the quadruped robot have the advantages of the biped robot.

[0081] Figure 8 A state diagram of the quadruped robot in the balance phase of the biped motion is shown. Take the case that the method is applied to the quadruped robot 10.

[0082] In the balance phase of the biped motion, the base 110 of the quadruped robot 10 approaches the vertical state, and the second leg 130 supports the quadruped robot 10 in the balance state. The balance state includes a point-foot balance state and / or a dynamic balance state. The point-foot balance state refers to the state that the two ends of the second leg support the quadruped robot to keep balance, and the center of mass of the quadruped robot is on the same vertical line as the center of mass of the second leg. The dynamic balance state refers to the state that the second leg is in contact with the support surface and performs dynamic motion to keep the quadruped robot balanced.

[0083] To maintain this balance state, and support the first leg 120 to perform certain operation tasks, the four-legged robot 10 needs to be balanced controlled, at least including the following three balance control methods:

[0084] Method one: point foot contact control, that is, keeping the end of the second leg 130 in contact with the support surface, controlling the second hip joint 1305 and the second knee joint 1306 of the second leg 130, so that the center of mass of the base part 110 and the center of mass of the second leg 130 are on the same vertical line, so that the center of mass of the four-legged robot 10 is above or directly above the end of the second leg 130, and the angular momentum of the whole four-legged robot 10 relative to the end of the second leg 130 is 0, to realize the balance of the four-legged robot 10.

[0085] Method two: dynamic balance, that is, controlling the second hip joint 1305 and / or the second knee joint 1306 of the second leg 130, so that the second leg 130 performs dynamic movement, including but not limited to: stepping movement, jumping movement, running movement, rotating movement, etc., to realize the dynamic stable balance of the center of mass of the second leg 130 and the center of mass of the base part 110, and finally realize the balance of the four-legged robot 10.

[0086] Method three: combining method one and method two to realize the balance of the four-legged robot 10.

[0087] In the balance phase of the biped movement, the first leg 120 can perform a first action, such as Figure 8 As shown in the figure, the first leg 120 performs a bowing action.

[0088] In summary, the method provided by the embodiment controls the joint torque of the four-legged robot, so that the robot remains balanced in the biped movement state, supports the first leg and the second leg of the four-legged robot to be in different movement states, and makes the four-legged robot have the advantages of the biped robot.

[0089] Figure 9 A flowchart of a four-legged robot control method provided by an example embodiment of the present application is shown. Taking the method applied to the four-legged robot 10 as an example, the method includes at least part of the following steps:

[0090] Step 901: the four-legged robot 10 is in a biped movement state;

[0091] The first leg 120 leaves the support surface, and the two ends of the second leg 130 are in contact with the support surface.

[0092] Step 902: control the first hip joint 1205 of the first leg 120 and / or the first knee joint 1206 of the first leg 120, so that the first leg 120 returns to the pre-stretching state;

[0093] The first leg 120 is controlled to enter the pre-elongation state from the state of the first action, for example, the first action is a bow, the first leg is controlled to move from the closed state of the bow to the open state and elongate until it returns to Figure 7 the state before step 703.

[0094] When step 902 is performed, the posture of the second leg 130 remains unchanged.

[0095] Step 903: control the second hip joint 1305 of the second leg 130 so that the base 110 rotates until the base 110 approaches a horizontal state.

[0096] The second hip joint 1305 of the second leg 130 is controlled to rotate in the pitch direction, and optionally, the second hip joint of the second leg 130 is controlled to rotate so that the base 110 rotates around the second hip joint 1305 to approach the support surface, and the center of mass of the base 110 is lowered relative to the support surface until the base 110 approaches a horizontal state.

[0097] Step 904: control the first hip joint 1205 and / or the first knee joint 1206 of the first leg 120 and / or the second hip joint 1305 and / or the second knee joint 1306 of the second leg 130 to restore the quadruped robot 10 to a quadruped motion state.

[0098] This step can adjust the leg length of the first leg 120 and the second leg 130 so that the leg length of the first leg 120 and the second leg 130 is consistent, the base 110 returns to a horizontal state, the quadruped robot 10 returns to a quadruped motion state, and the first leg 120 and the second leg 130 are both in contact with the support surface.

[0099] In summary, the method provided in the embodiment controls the joint torque of the quadruped robot to restore the quadruped robot from a biped motion state to a quadruped motion state, supports the first leg and the second leg of the quadruped robot in different motion states, and makes the quadruped robot have the advantages of a biped robot.

[0100] To realize the biped motion of the quadruped robot 10, the whole body dynamics of the quadruped robot usually needs to be controlled, mainly setting three operation space tasks of swing phase, balance phase and landing phase.

[0101] Schematically, as Figure 10As shown, a right-hand Cartesian coordinate system of a three-dimensional operation space is established for the quadruped robot 10, wherein a coordinate origin o point is a center of mass of the base portion 110, an x axis is a coordinate axis in a forward direction of the quadruped robot 10, a y axis is a coordinate axis in a connecting direction of a first end portion of the first left leg link 1201 and a first end portion of the first right leg link 1203 of the first leg portion 120, and a z axis is a coordinate axis in a vertically upward direction. A pitch direction is a direction in which the x axis and the yoz plane form an included angle.

[0102] Firstly, a dynamics model is established for the quadruped robot 10, and a dynamics equation of the quadruped robot 10 is as follows: wherein H represents an inertia matrix of the quadruped robot 10, C represents a Coriolis force and a gravity vector, S represents a selection matrix, T represents a transpose of a matrix, J c represents a contact point Jacobian matrix, τ represents a joint torque, λ represents a contact force of a contact point, q, respectively represent a generalized position, a generalized velocity, and a generalized acceleration, including a 6-DOF floating base and a 12-DOF joint.

[0103] Secondly, an acceleration of the operation space task is represented as: wherein J t represents a task Jacobian matrix.

[0104] The above two formulas are combined to obtain and the relationship between τ and λ is as shown in the following formula:

[0105]

[0106] Let Different operation space tasks are set according to different motion states that is, A and B are expected values and known quantities; let unknown quantities be a joint torque τ and a contact force vector λ

[0107] Then, a target function is constructed: min||AX-B|| Q +||X|| R wherein Q and R represent positive definite diagonal weight matrices. Considering joint torque constraints and contact point friction cone constraints, an optimization algorithm such as quadratic programming (QP) is used to minimize the value of the target function, so as to obtain the unknown quantities X, that is, the joint torque τ and the contact force λ.

[0108] Finally, the obtained joint torque is sent to a motor to realize biped motion control.

[0109] In the present application, the operation space task of the biped motion is At least some of the following four types of tasks are included:

[0110] (1) The second leg task, i.e., the second leg has no relative sliding with the support surface, and the second leg task can be expressed as:

[0111] (2) The first leg task, i.e., planning a reference motion trajectory of the first leg For example, a spline curve interpolation method is used to plan the reference motion trajectory of the extension motion, the shortening motion in the swing-up phase, the first action in the balance phase, and the extension motion in the landing phase. Then, a proportional plus derivative (PD) is used to obtain the first leg task:

[0112]

[0113] where k p represents a proportional gain; and k d represents a derivative gain.

[0114] (3) The floating base task, i.e., planning a pitch and yaw trajectory of the base For example, a spline curve interpolation method is used to plan the trajectory. For example, in the swing-up phase, the base gradually enters a vertical state from a horizontal state in the pitch direction, and the yaw direction remains unchanged; in the balance phase, the base remains in a vertical state in the pitch direction, and the yaw direction is planned according to the operation task. Then, a PD control is used to obtain the floating base task:

[0115] (4) The center of mass task, since the double-foot motion balance state in the present application is an under-actuated unstable state, a center of mass following task is needed, and a center of mass reference trajectory can be calculated by a first-order inverted pendulum or a second-order inverted pendulum model. For example, the center of mass of the quadruped robot is kept directly above the center of the line connecting the second legs. Then, a PD control is used to obtain the center of mass task in the balance phase:

[0116]

[0117] In summary, the method provided in the embodiments of the present application controls the joint torque of the quadruped robot to make the quadruped robot perform various operation space tasks, supports the first leg and the second leg of the quadruped robot to be in different motion states, and makes the quadruped robot have the advantages of a double-foot robot.

[0118] Figure 11A structural schematic diagram of a four-legged robot control device provided by an example embodiment of the present application is shown. The device has a function of implementing the method of controlling a four-legged robot to perform biped motion, which can be implemented by hardware or corresponding software executed by hardware. The device can be the four-legged robot 10 or can be arranged in the four-legged robot 10. The device at least includes some of the following modules:

[0119] a state control module 112, configured to control a torque of at least one joint of the plurality of joints in a swing phase of the biped motion, so that the four-legged robot enters a biped motion state from a four-legged motion state, the biped motion state being a state in which the first leg is away from the support surface and both ends of the second leg are in contact with the support surface;

[0120] a balance control module 114, configured to control a torque of at least one joint of the plurality of joints in a balance phase of the biped motion, so that both ends of the second leg support the four-legged robot to keep balance;

[0121] The state control module 112 is further configured to control a torque of at least one joint of the plurality of joints in a landing phase of the biped motion, so that the four-legged robot enters the four-legged motion state from the biped motion state.

[0122] In some embodiments, the state control module 112 is further configured to, in the four-legged motion state, control a first hip joint of the first leg and / or a first knee joint of the first leg, so that the first leg is elongated;

[0123] and control a second hip joint of the second leg and / or a second knee joint of the second leg, so that the base portion rotates in a direction away from the support surface with the second hip joint of the second leg or the second knee joint of the second leg as a fulcrum, and the center of mass of the base portion is lifted relative to the support surface, entering the biped motion state.

[0124] In some embodiments, the state control module 112 is further configured to, before the control of the first hip joint of the first leg and / or the first knee joint of the first leg so that the first leg is elongated, control the first knee joint of the first leg and the second knee joint of the second leg, so that the center of mass of the base portion is lowered relative to the support surface.

[0125] In some embodiments, the balance control module 114 is further configured to control the second hip joint of the second leg and / or the second knee joint of the second leg, so that the second leg centroid is on the same vertical line as the base centroid, to enable both ends of the second leg to support the quadruped robot to maintain balance.

[0126] In some embodiments, the balance control module 114 is further configured to control the second hip joint of the second leg and / or the second knee joint of the second leg to perform a stepping motion, so that the second leg centroid is dynamically balanced with the base centroid.

[0127] In some embodiments, the state control module 112 is further configured to control the first hip joint of the first leg and / or the first knee joint of the first leg during the balance phase of the biped motion, to enable the first leg to perform a first action.

[0128] In some embodiments, the first action includes at least one of waving, lifting, holding, pulling, grabbing, placing, bowing, and rotating.

[0129] In some embodiments, the state control module 112 is further configured to control the second hip joint of the second leg and / or the second knee joint of the second leg during the biped motion state, to enable the base to rotate about the second hip joint of the second leg or the second knee joint of the second leg in a direction approaching the support surface, and the base centroid to lower relative to the support surface.

[0130] In some embodiments, the state control module 112 is further configured to control the first hip joint of the first leg and / or the first knee joint of the first leg, and the second hip joint of the second leg and / or the second knee joint of the second leg, to enable the quadruped robot to enter the quadruped motion state.

[0131] In some embodiments, the state control module 112 is further configured to control the first hip joint of the first leg and / or the first knee joint of the first leg, to enable the first leg to shorten, before the control of the second hip joint of the second leg and / or the second knee joint of the second leg, to enable the base to rotate about the second hip joint of the second leg or the second knee joint of the second leg in a direction approaching the support surface, and the base centroid to lower relative to the support surface.

[0132] In summary, the device provided by the embodiments of the present application, the method provided by the embodiments of the present application, by controlling the joint torque of the quadruped robot, enabling the quadruped robot to perform biped motion, supporting the first leg and the second leg of the quadruped robot to be in different motion states, and enabling the quadruped robot to have the advantages of biped robots.

[0133] It should be noted that the apparatus provided in the above embodiments is only used as an example for the division of the above functional modules. In actual applications, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus provided in the above embodiments belongs to the same concept as the method embodiments in the foregoing content, and the specific implementation process is detailed in the method embodiments, which will not be repeated here.

[0134] Figure 12 A simplified structure block diagram of a quadruped robot provided by an example embodiment of the present application is shown. The quadruped robot 1200 can be the quadruped robot 10 described above, and the embodiments of the present application are not limited thereto.

[0135] Optionally, as shown in Figure 12 The quadruped robot 1200 at least includes a processor 1201 and a memory 1202.

[0136] The processor 1201 can include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1201 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), a programmable logic array (PLA). The processor 1201 can also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 1201 can be integrated with a graphics processor (GPU) that is responsible for rendering and drawing the content to be displayed by the display screen. In some embodiments, the processor 1201 can also include an artificial intelligence (AI) processor for processing machine learning-related computing operations.

[0137] The memory 1202 can include one or more computer-readable storage media and can be implemented using any type of volatile or nonvolatile storage devices such as, for example, magnetic disks, optical disks, Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Static Random-Access Memory (SRAM), Read-Only Memory (ROM), magnetic storage, flash memory, Programmable Read-Only Memory (PROM), and the like. In some embodiments, the computer-readable storage media of the memory 1202 is used to store at least one program that is used by the processor 1201 to implement the method of controlling a quadruped robot to perform biped motion provided by the method embodiments of the present application.

[0138] In some embodiments, the quadruped robot 1200 can further optionally include a peripheral device interface 1203 and at least one peripheral device. The processor 1201, the memory 1202, and the peripheral device interface 1203 can be connected through a bus or a signal line. Each peripheral device can be connected to the peripheral device interface 1203 through a bus, a signal line, or a circuit board. Specifically, the peripheral device includes at least one of a radio frequency circuit 1204, a display screen 1205, a camera assembly 1206, an audio circuit 1207, and a power supply 1209.

[0139] The peripheral device interface 1203 can be used to connect at least one peripheral device related to input / output (I / O) to the processor 1201 and the memory 1202. In some embodiments, the processor 1201, the memory 1202, and the peripheral device interface 1203 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1201, the memory 1202, and the peripheral device interface 1203 can be implemented on a separate chip or circuit board, and the present embodiment is not limited in this regard.

[0140] The radio frequency circuit 1204 is configured to receive and send radio frequency (RF) signals, also known as electromagnetic signals. The radio frequency circuit 1204 communicates with communication networks and other communication devices through electromagnetic signals. The radio frequency circuit 1204 converts electrical signals to electromagnetic signals for transmission, or vice versa. Optionally, the radio frequency circuit 1204 includes antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chips, subscriber identity module cards, and the like. The radio frequency circuit 1204 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to, the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G, and 5G), a wireless local area network, and / or a wireless fidelity (Wi-Fi) network. In some embodiments, the radio frequency circuit 1204 can also include near field communication (NFC) related circuitry, which is not limited in the present application.

[0141] The display screen 1205 is configured to display a user interface (UI). The UI can include graphics, text, icons, video, and any combination thereof. When the display screen 1205 is a touch display screen, the display screen 1205 also has the ability to collect touch signals on or above the surface of the display screen 1205. The touch signals can be input as control signals to the processor 1201 for processing. At this time, the display screen 1205 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 1205 can be one, arranged on the front panel of the quadruped robot 1200; in other embodiments, the display screen 1205 can be at least two, arranged on different surfaces of the quadruped robot 1200 or in a folding design; in other embodiments, the display screen 1205 can be a flexible display screen, arranged on a curved surface or a folding surface of the quadruped robot 1200. Even, the display screen 1205 can also be arranged in an irregular shape, that is, a special-shaped screen. The display screen 1205 can be made of liquid crystal display (LCD), organic light-emitting diode (OLED), and the like.

[0142] The camera component 1206 is configured to capture images or videos. Optionally, the camera component 1206 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is disposed on the front panel of the terminal, and the rear-facing camera is disposed on the back of the terminal. In some embodiments, the rear-facing camera is at least two, which are any one of a main camera, a depth-of-field camera, a wide-angle camera, and a long-focus camera, to realize the background blur function by fusing the main camera and the depth-of-field camera, the panorama shooting and virtual reality (VR) shooting functions by fusing the main camera and the wide-angle camera, or other fusion shooting functions. In some embodiments, the camera component 1206 can further include a flash. The flash can be a single-color-temperature flash or a dual-color-temperature flash. The dual-color-temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0143] The audio circuit 1207 can include a microphone and a speaker. The microphone is configured to capture sound waves of a user and an environment, and convert the sound waves into an electrical signal input to the processor 1201 for processing or to the radio frequency circuit 1204 to realize voice communication. For the purpose of stereo sound collection or noise reduction, the microphone can be multiple, which are respectively disposed at different parts of the quadruped robot 1200. The microphone can also be an array microphone or an omnidirectional collection microphone. The speaker is configured to convert an electrical signal from the processor 1201 or the radio frequency circuit 1204 into sound waves. The speaker can be a traditional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert an electrical signal into a sound wave audible to humans, but also convert an electrical signal into a sound wave inaudible to humans for ranging purposes. In some embodiments, the audio circuit 1207 can further include a headphone jack.

[0144] The power supply 1209 is configured to supply power to each component in the quadruped robot 1200. The power supply 1209 can be alternating current, direct current, a disposable battery, or a rechargeable battery. When the power supply 1209 includes a rechargeable battery, the rechargeable battery can be a wired charging battery or a wireless charging battery. The wired charging battery is a battery charged through a wired line, and the wireless charging battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0145] In some embodiments, the quadruped robot 1200 further includes one or more sensors 1210. The one or more sensors 1210 include, but are not limited to, an acceleration sensor 1211, a gyroscope sensor 1212, a pressure sensor 1213, an optical sensor 1214, and a proximity sensor 1215.

[0146] The acceleration sensor 1211 can detect the acceleration magnitude on the three coordinate axes of the coordinate system established by the quadruped robot 1200. For example, the acceleration sensor 1211 can be used to detect the components of the gravitational acceleration on the three coordinate axes. The processor 1201 can control the display screen 1205 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signals collected by the acceleration sensor 1211. The acceleration sensor 1211 can also be used for games or the collection of motion data of the quadruped robot 1200.

[0147] The gyroscope sensor 1212 can detect the body direction and rotation angle of the quadruped robot 1200, and the gyroscope sensor 1212 can collect 3D motion of the quadruped robot 1200 in cooperation with the acceleration sensor 1211. The processor 1201 can realize the following functions according to the data collected by the gyroscope sensor 1212: motion sensing (such as changing the UI according to the tilting operation of the quadruped robot 1200), image stabilization when shooting, game control, and inertial navigation.

[0148] The pressure sensor 1213 can be arranged on the side frame of the quadruped robot 1200 and / or the lower layer of the display screen 1205. When the pressure sensor 1213 is arranged on the side frame of the quadruped robot 1200, the user's holding signal for the quadruped robot 1200 can be detected, and the left and right hand recognition or shortcut operation can be performed by the processor 1201 according to the holding signal collected by the pressure sensor 1213. When the pressure sensor 1213 is arranged on the lower layer of the display screen 1205, the controllable control on the UI interface can be controlled by the processor 1201 according to the pressure operation of the user on the display screen 1205. The controllable control includes at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0149] The optical sensor 1214 is used to collect the ambient light intensity. In one embodiment, the processor 1201 can control the display brightness of the display screen 1205 according to the ambient light intensity collected by the optical sensor 1214. Specifically, when the ambient light intensity is high, the display brightness of the display screen 1205 is increased; when the ambient light intensity is low, the display brightness of the display screen 1205 is decreased. In another embodiment, the processor 1201 can also dynamically adjust the shooting parameters of the camera assembly 1206 according to the ambient light intensity collected by the optical sensor 1214.

[0150] The proximity sensor 1215, also referred to as a distance sensor, is usually arranged on the front panel of the quadruped robot 1200. The proximity sensor 1215 is used to collect the distance between the user and the front face of the quadruped robot 1200. In one embodiment, when the proximity sensor 1215 detects that the distance between the user and the front face of the quadruped robot 1200 gradually decreases, the display screen 1205 is switched from the bright screen state to the screen-off state under the control of the processor 1201; when the proximity sensor 1215 detects that the distance between the user and the front face of the quadruped robot 1200 gradually increases, the display screen 1205 is switched from the screen-off state to the bright screen state under the control of the processor 1201.

[0151] Those skilled in the art can understand that the structure shown in the above embodiments is not a limitation on the quadruped robot 1200, and the quadruped robot 1200 can include more or fewer components than those shown in the figure, or combine certain components, or adopt a different arrangement of components. Figure 12

[0152] The embodiments of the present application also provide a computer readable storage medium, and the computer readable storage medium stores a computer program. The computer program is used to be executed by a processor to implement the quadruped robot control method as described above.

[0153] The embodiments of the present application also provide a chip, and the chip includes a programmable logic circuit and / or program instructions. The quadruped robot installed with the chip is used to implement the quadruped robot control method as described above.

[0154] The embodiments of the present application also provide a computer program product, and the computer program product includes a computer program. The computer program is stored in a computer readable storage medium. A processor reads the computer program from the computer readable storage medium, and the processor executes the computer program to implement the quadruped robot control method as described above.

[0155] Those skilled in the art can understand that the functions described in the above one or more examples can be implemented by hardware, software, firmware or any combination thereof. When implemented by software, these functions can be stored in a computer readable medium or transmitted as one or more instructions or codes on a computer readable medium. The computer readable medium includes a computer storage medium and a communication medium, wherein the communication medium includes any medium that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0156] The above description is only optional embodiments of the present application, and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.​

Claims

1. A quadruped robot control method characterized by comprising: The quadruped robot comprises a first leg, a second leg, and a base connected to the first leg and the second leg, the first leg and the second leg comprise a plurality of joints, the plurality of joints comprise a first hip joint and a first knee joint of the first leg, and a second hip joint and a second knee joint of the second leg; the method comprises: In the swing-up phase of the biped motion, the torque of at least one joint of the plurality of joints is controlled to make the quadruped robot enter a biped motion state from a quadruped motion state, the biped motion state is a state in which the first leg is away from the support surface and the two ends of the second leg are in contact with the support surface; In the balance phase of the biped motion, the torque of at least one joint of the plurality of joints is controlled to make the two ends of the second leg support the quadruped robot to keep balance; In the landing phase of the biped motion, the first hip joint of the first leg and / or the first knee joint of the first leg are controlled to make the first leg shorten to a state in a quadruped squat and keep the posture of the second leg unchanged; the second hip joint of the second leg is controlled to make the base rotate around the second hip joint of the second leg in a direction close to the support surface, and the center of mass of the base is lowered relative to the support surface; The first hip joint of the first leg and / or the first knee joint of the first leg, and the second hip joint of the second leg and / or the second knee joint of the second leg are controlled to adjust the leg length of the first leg and the second leg, so that the leg length of the first leg and the second leg is consistent, so that the base returns to a horizontal state, and the quadruped robot returns to the quadruped motion state; The biped motion of the quadruped robot is controlled by whole-body dynamics, the operation space task of the quadruped robot includes operation space tasks in the swing-up phase, the balance phase, and the landing phase, the operation space task includes a first leg task and a second leg task, the first leg task is determined based on a planned reference motion trajectory and a proportional differential, the reference motion trajectory includes an elongation motion in the landing phase, and the second leg task is that the second leg does not slide relative to the support surface.

2. The method of claim 1, wherein, The torque of at least one joint of the plurality of joints is controlled to make the quadruped robot enter a biped motion state from a quadruped motion state, which comprises: In the quadruped motion state, the first hip joint of the first leg and / or the first knee joint of the first leg are controlled to make the first leg elongate; And the second hip joint of the second leg and / or the second knee joint of the second leg are controlled to make the base rotate around the second hip joint of the second leg or the second knee joint of the second leg in a direction away from the support surface, and the center of mass of the base is raised relative to the support surface, to enter the biped motion state.

3. The method of claim 2, wherein, Before the controlling the first hip joint of the first leg and / or the first knee joint of the first leg to make the first leg elongate, the method further comprises: controlling the first knee joint of the first leg and the second knee joint of the second leg to make the base part centroid lower relative to the support surface.

4. The method of claim 1, wherein, The controlling the moment of at least one joint of the plurality of joints to make the two ends of the second leg support the quadruped robot to keep balance comprises: controlling the second hip joint of the second leg and / or the second knee joint of the second leg to make the second leg centroid and the base part centroid be on the same vertical line to make the two ends of the second leg support the quadruped robot to keep balance; and / or, controlling the second hip joint of the second leg and / or the second knee joint of the second leg to make a stepping motion to make the second leg centroid and the base part centroid dynamically balance.

5. The method of claim 4, wherein, The method further comprises: controlling the first hip joint of the first leg and / or the first knee joint of the first leg to make the first leg perform a first action during the balance phase of the biped motion.

6. The method of claim 5, wherein, The first action comprises at least one of waving, lifting, holding, pulling, grabbing, placing, bowing, and rotating.

7. The method of any one of claims 1 to 6, wherein: the first leg comprises a first left leg link, a second left leg link, a first right leg link, and a second right leg link, a first end of the first left leg link is connected with the base part, a second end of the first left leg link is connected with a first end of the second left leg link to form a first left leg revolute pair, a first end of the first right leg link is connected with the base part, and a second end of the first right leg link is connected with a first end of the second right leg link to form a first right leg revolute pair; the second leg comprises a third left leg link, a fourth left leg link, a third right leg link, and a fourth right leg link, a first end of the third left leg link is connected with the base part, a second end of the third left leg link is connected with a first end of the fourth left leg link to form a second left leg revolute pair, a first end of the third right leg link is connected with the base part, and a second end of the third right leg link is connected with a first end of the fourth right leg link to form a second right leg revolute pair.

8. A quadruped robot control device characterized by comprising: The quadruped robot comprises a first leg, a second leg, and a base part connecting the first leg and the second leg, the first leg and the second leg comprise a plurality of joints, the plurality of joints comprise a first hip joint and a first knee joint of the first leg, and a second hip joint and a second knee joint of the second leg; the device comprises: a state control module configured to control a moment of at least one joint of the plurality of joints to make the quadruped robot enter a biped motion state from a quadruped motion state during a swing-up phase of the biped motion, the biped motion state is a state that the first leg is away from a support surface and two ends of the second leg are in contact with the support surface. The balance control module is configured to control a moment of at least one joint of the plurality of joints to keep the two ends of the second leg supporting the quadruped robot balanced during the balance phase of the biped motion. The state control module is further configured to control the first hip joint of the first leg and / or the first knee joint of the first leg to shorten the first leg to a state of the quadruped crouching and keep the posture of the second leg unchanged, control the second hip joint of the second leg to rotate the base part around the second hip joint of the second leg towards the direction of the supporting surface and lower the center of mass of the base part relative to the supporting surface, and control the first hip joint of the first leg and / or the first knee joint of the first leg, the second hip joint of the second leg and / or the second knee joint of the second leg to adjust the leg lengths of the first leg and the second leg to make the leg lengths of the first leg and the second leg consistent and make the base part return to the horizontal state, so that the quadruped robot returns to the quadruped motion state. The quadruped robot is configured to perform the quadruped motion through whole-body dynamics control, and the operation space task of the quadruped robot includes operation space tasks in a swing phase, a balance phase and a landing phase, the operation space task includes a first leg task and a second leg task, the first leg task is determined based on a planned reference motion trajectory and a proportional differential, the reference motion trajectory includes an extension motion in the landing phase, and the second leg task is that the second leg does not slide relative to the supporting surface.

9. A quadruped robot, characterized by, The quadruped robot includes: The first leg and the second leg include a plurality of joints. The base part is connected to the first leg and the second leg. The controller is arranged on the quadruped robot and is configured to implement the quadruped robot control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is configured to be executed by a processor to implement the quadruped robot control method according to any one of claims 1 to 7.

11. A chip, characterized by The chip includes programmable logic circuitry and / or program instructions, and a quadruped robot installed with the chip is configured to implement the quadruped robot control method according to any one of claims 1 to 7.

12. A computer program product, characterised in that, The computer program product includes a computer program stored in a computer readable storage medium, a processor reads the computer program from the computer readable storage medium, and the processor executes the computer program to implement the quadruped robot control method according to any one of claims 1 to 7.

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