A method for controlling landing and body coordination of a quadruped robot

Abstract

The application provides a quadruped robot landing and body coordination control method, the method comprises the following steps: obtaining the elevation information in a target area, and calculating a balanced landing point according to the elevation information; calculating the kinematic parameters of a new landing foot and a current supporting foot respectively, and calculating the center of pressure in a current pose according to the kinematic parameters of the new landing foot and the current supporting foot; calculating the plan position of the balanced landing point, and calculating the stable center of pressure according to the plan position of the balanced landing point and the kinematic parameters of the current supporting foot; thereby, the fusion information of the landing point and the related body stability is utilized, the robot body is coordinated and adapted while ensuring safe landing. The problem of poor stability when the robot crosses large-size obstacles in the prior art is solved, so that the landing stability of the foot-type robot when crossing obstacles is improved, and the passing performance of the foot-type robot in complex terrain is improved.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and in particular to a method for coordinated control of the landing of a quadruped robot and its body. Background Technology

[0002] Compared to traditional wheeled and tracked vehicles, quadruped robots can adapt to complex terrains such as plateaus and mountains by selecting discrete footholds for their swinging legs. Currently, quadruped robots mainly rely on footholds for balance. When encountering large obstacles, the robot will choose a safe foothold to cross them. However, when the safe foothold is outside the stable control range, i.e. when the robot takes large strides to cross obstacles, the robot's dynamic stability will be greatly reduced, and there is even a risk of tipping over.

[0003] In view of this, providing a control method for coordinating the landing of a quadruped robot with its body to solve the problem of poor stability when the robot crosses large obstacles, thereby improving the landing stability of the legged robot when crossing obstacles and thus improving the legged robot's performance in complex terrain, has become an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0004] This invention provides a method for coordinating the landing of a quadruped robot with its body, in order to solve the problem of poor stability of robots when crossing large obstacles in the prior art, thereby improving the landing stability of the legged robot when crossing obstacles, and thus improving the legged robot's performance in complex terrain.

[0005] This invention provides a method for coordinated control of foot placement and body movement in a quadruped robot, comprising:

[0006] Obtain elevation information within the target area and calculate the balance footing point based on the elevation information;

[0007] Calculate the kinematic parameters of the new landing foot and the current supporting foot respectively, and calculate the center of pressure in the current pose based on the kinematic parameters of the new landing foot and the current supporting foot;

[0008] Calculate the planar position of the balance foot landing point, and calculate the stable pressure center based on the planar position of the balance foot landing point and the kinematic parameters of the current supporting foot;

[0009] A fuselage control model is constructed based on the offset between the pressure center and the stable pressure center, and the foot force is calculated using the fuselage control model.

[0010] Using the foot force as input, a coordinated control model is constructed, and the joint motion parameters under the current pose are calculated through the coordinated control model, so that the control device of the leg robot outputs control commands according to the joint motion parameters. The control commands are used to control the leg joint movements of the leg robot.

[0011] According to the present invention, a method for coordinated control of foot placement and body movement of a quadruped robot is provided, which acquires elevation information within a target area and calculates the balance foot placement point based on the elevation information, specifically including:

[0012] Obtain elevation information within the target area and generate an elevation map based on the elevation information;

[0013] Calculate the standard deviation of elevation within the target area based on the elevation information;

[0014] If the elevation standard deviation is less than a preset standard deviation threshold and the elevation information is greater than a preset elevation threshold, then the equilibrium footing point is calculated.

[0015] According to the present invention, a method for coordinated control of foot placement and body movement in a quadruped robot is characterized by calculating the kinematic parameters of the new foot and the current supporting foot based on the target foot placement point position, and calculating the center of pressure in the current pose based on the kinematic parameters of the new foot and the current supporting foot, specifically including:

[0016] Using the robot's leg kinematics algorithm and collected inertial data, the vertical force and planar position of the current supporting foot, as well as the vertical force and planar position of the newly placed foot, are calculated.

[0017] Based on the vertical force and planar position of the current supporting foot, as well as the vertical force and planar position of the newly placed foot, the pressure center under the current posture is calculated.

[0018] According to the present invention, a method for coordinated control of foot placement and body movement of a quadruped robot is provided, which uses a first expression and a second expression to calculate the x and y positions of the pressure center under the current pose.

[0019] The first expression is:

[0020]

[0021] The second expression shown is:

[0022]

[0023] In the formula, F zi F is the vertical force of the i-th supporting foot. zσj p is the vertical force for the j-th new foot landing. σxj pσyj Let p be the x and y positions of the j-th new landing point. ix p iy Let p′ be the x and y positions of the i-th current supporting foot. cop_x p′ cop_y Let n be the x and y positions of the pressure center. σ For the number of new landings, n c This is sufficient to support the current quantity.

[0024] According to the present invention, a method for coordinated control of foot placement and body movement in a quadruped robot includes calculating the planar position of the balancing foot placement point and calculating the stable pressure center based on the planar position of the balancing foot placement point and the kinematic parameters of the current supporting foot. Specifically, the method includes:

[0025] Establish the objective optimization function;

[0026] By setting constraints and solving the objective optimization function that satisfies the constraints, the expected vertical force at the target landing point and the expected vertical force of the current supporting foot are obtained.

[0027] Calculate the stable pressure center based on the expected vertical force at the target landing point and the expected vertical force at the current supporting foot.

[0028] According to the present invention, a method for coordinated control of foot placement and body movement in a quadruped robot is provided, wherein the objective optimization function is:

[0029] minF(x)=(Ax-b) T S(Ax-b)+αx T Wx+β‖xx * ||

[0030] in,

[0031] In the formula, M m F m Here, represents the virtual resultant torque vector and virtual resultant force vector of the robot; m is the robot mass; S is the weighting matrix; W is the positive semi-definite symmetric matrix; α and β are tuning factors; x * This is the optimal solution from the previous time step; r i Let be the vector of the i-th foot relative to the center of mass of the fuselage in the world coordinate system, which includes the point of balance and the current support point.

[0032] According to the present invention, a method for coordinated control of foot placement and body movement of a quadruped robot utilizes a third expression to calculate the virtual resultant moment vector and virtual resultant force vector of the robot body. The third expression is:

[0033]

[0034] In the formula, M m F m For the virtual resultant moment vector and virtual resultant force vector of the organism; k p q is the positive definite gain matrix; q is the actual pose vector of the fuselage; q d k represents the desired pose vector of the fuselage. v It is a positive definite differential coefficient matrix; This represents the actual position and velocity vector of the fuselage. Let k be the desired attitude velocity vector of the fuselage. ff is the positive definite velocity feedforward coefficient matrix, m is the robot mass, and g is the gravitational acceleration.

[0035] The present invention provides a method for coordinated control of foot placement and body movement in a quadruped robot. This method acquires elevation information within a target area and calculates a balanced foot placement point based on the elevation information. It then calculates the kinematic parameters of the new foot and the current supporting foot, and calculates the pressure center in the current pose based on these parameters. The method also calculates the planar position of the balanced foot placement point and the stable pressure center based on the planar position of the balanced foot placement point and the kinematic parameters of the current supporting foot. By utilizing the fused information of the foot placement point and related body stability, the robot body can coordinate and adapt while ensuring safe foot placement.

[0036] Furthermore, the quadruped robot foot placement and body coordination control method provided by this invention constructs a body control model based on the offset between the pressure center and the stable pressure center, and calculates the foot force through the body control model. By incorporating the pressure center into the control algorithm and calculating the body's feedback control information, this invention improves the stability of the body, making it applicable to different gaits for large-sized obstacle crossing. Furthermore, using the foot force as input, a coordination control model is constructed, and the joint motion parameters under the current pose are calculated through this model. This allows the control device of the legged robot to output control commands based on the joint motion parameters, controlling the leg joints of the legged robot to complete corresponding actions according to the obtained joint motion parameters. This enables the robot to safely pass through large obstacles and improves its performance in complex terrain.

[0037] In summary, the quadruped robot foot landing and body coordination control method provided by this invention solves the problem of poor stability of robots when crossing large obstacles in the prior art, thereby improving the foot landing stability of legged robots when crossing obstacles, and further improving the legged robot's performance in complex terrain. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0039] Figure 1 This is one of the flowcharts illustrating the method for coordinated control of foot placement and body movement in a quadruped robot provided by the present invention.

[0040] Figure 2 This is the second flowchart illustrating the method for coordinating the landing and body movement of a quadruped robot provided by the present invention.

[0041] Figure 3 This is the third flowchart illustrating the method for coordinating the landing and body movement of a quadruped robot provided by this invention.

[0042] Figure 4 This is one of the mechanical principle diagrams of the quadruped robot's foot placement and body coordination control method provided by the present invention;

[0043] Figure 5 This is the second mechanical principle diagram of the quadruped robot's foot placement and body coordination control method provided by the present invention; Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0045] The following is combined Figures 1-5 The present invention describes a method for coordinating the landing of a quadruped robot with its body.

[0046] In one specific implementation, such as Figure 1 As shown, the present invention provides a method for coordinated control of the landing feet and body of a quadruped robot, comprising the following steps:

[0047] S110: Obtain elevation information within the target area and calculate the balance footing point based on the elevation information; the target area refers to the area within a certain range around the footing point. This range can be determined according to actual application requirements, such as within a range of 5-10cm around the footing point. In other words, the safe planar footing point position is calculated based on the elevation information near the footing area.

[0048] S120: Calculate the kinematic parameters of the new landing foot and the current supporting foot respectively, and calculate the center of pressure in the current pose based on the kinematic parameters of the new landing foot and the current supporting foot. That is, calculate the center of pressure based on the new landing point, which refers to the walking foot that will land in the next pose, and the current supporting foot refers to the walking foot that is in a supporting state in the current pose. It should be understood that since legged robots use multiple walking feet to take turns as supporting and landing feet, the new landing foot can be any walking foot, and the supporting foot can also be any walking foot. It does not specifically refer to any particular walking foot and should not be interpreted as a special limitation on any particular walking foot.

[0049] S130: Calculate the planar position of the balance foot landing point, and calculate the stable pressure center based on the planar position of the balance foot landing point and the kinematic parameters of the current supporting foot; wherein, the kinematic parameters may include parameters related to the movement of the walking foot, such as vertical force, leg positive kinematic parameters, joint angle vector, and foot position, and the planar position can be determined based on the position in the x and y directions on the plane. It should be understood that the x and y directions are the x-axis and y-axis directions of the Cartesian coordinate system.

[0050] S140: Based on the offset between the pressure center and the stable pressure center, a fuselage control model is constructed according to the change of the pressure center point, and the foot force is calculated through the fuselage control model; it should be understood that the fuselage control model is specifically a mathematical model, and the foot force is calculated by solving the mathematical model.

[0051] S150: Using the foot force as input, a coordinated control model is constructed, and the joint motion parameters under the current pose are calculated through the coordinated control model. This allows the control device of the legged robot to output control commands based on the joint motion parameters, which are used to control the leg joint movements of the legged robot. Specifically, the coordinated control model is a mathematical model. By solving the mathematical model, the joint motion parameters are calculated. The robot's control device generates corresponding control commands based on the obtained joint motion parameters to control the robot's walking foot to complete the required movements. The joint motion parameters may include joint angle vectors, joint angular velocity vectors, and desired foot force, etc.

[0052] When the safe landing point exceeds the stable control range, i.e. when the robot is taking large strides to overcome obstacles, the robot's dynamic stability will be greatly reduced, and there is even a risk of tipping over. To overcome this deficiency, the embodiments of the present invention fully consider the information of the safe landing point and the robot body. For safe terrain areas, while ensuring a safe landing, the robot body is coordinated and controlled. This ensures that the robot can safely pass over large obstacles, and also improves the robot's dynamic stability and passing efficiency when crossing large obstacles.

[0053] In some embodiments, such as Figure 2 As shown, the process of obtaining elevation information within the target area and calculating the balance foot point based on the elevation information includes the following steps:

[0054] S210: Obtain elevation information within the target area and generate an elevation map based on the elevation information; specifically, elevation information near the landing area can be established using airborne sensing sensors.

[0055] S220: Calculate the standard deviation of elevation within the target area based on the elevation information;

[0056] S230: If the elevation standard deviation is less than the preset standard deviation threshold and the elevation information is greater than the preset elevation threshold, then calculate the equilibrium footing point.

[0057] In a specific application scenario, when calculating the balance landing point based on the elevation information, the airborne sensing sensors are used to establish elevation information x near the landing area, and then the safe planar landing point position is calculated based on the elevation information. The calculation of the planar landing point position includes the following steps:

[0058] S11: Calculate the degree of terrain undulation, expressed as the standard deviation of terrain elevation:

[0059]

[0060] In the formula, σ is the standard deviation of elevation, N is the number of elevation grids, and x i Let i be the elevation value of the i-th grid. The elevation average of N grid cells;

[0061] S12: Set the terrain relief information threshold σ * The elevation threshold x of the terrain * The current fluctuation information σ is less than the set threshold σ * And x>x * When a landing zone is considered safe, the elevation value x of the safe landing zone is recorded. σ and the number of grids c x c y ;

[0062] S13: Based on the origin O and elevation information x of the local map σ Given the map grid size Δc, calculate the safe landing point p. σ :

[0063] p σ =[O x +c x Δc,O y +c yΔc,x σ ] T

[0064] Among them, O x O y The element is the origin O of the local map;

[0065] S14: Calculate the safe landing point position p on the plane σx p σy :

[0066] p σx =O x +c x Δc

[0067] p σy =O y +c y Δc

[0068] In step S120, based on the target landing point position, the kinematic parameters of the new landing foot and the current supporting foot are calculated respectively, and the pressure center in the current pose is calculated based on the kinematic parameters of the new landing foot and the current supporting foot, such as... Figure 3 As shown, the specific steps include:

[0069] S310: Utilizes robot leg kinematics algorithms and collected inertial measurement unit (IMU) data to calculate the vertical force and planar position of the current supporting foot, as well as the vertical force and planar position of the newly placed foot.

[0070] S320: Calculate the pressure center in the current pose based on the vertical force and planar position of the current supporting foot, and the vertical force and planar position of the new landing foot. In other words, calculate the new pressure center based on the vertical force and planar position of the current supporting foot and the new landing foot.

[0071] In a specific use case, such as Figure 4 As shown, the kinematic parameters of the new landing foot and the current supporting foot are used to calculate the center of pressure in the current pose, which specifically includes the following steps:

[0072] S21: Calculate the current planar position p of the supporting foot using leg kinematics and IMU information. ix p iy :

[0073] p i =R×FK(θ) i )

[0074] In the formula, FK represents the positive kinematics of the leg, and θ i Let p be the joint angle vector of the i-th supporting leg. i Let p be the foot position of the i-th supporting leg. ixp iy For p i The first two elements of the vector.

[0075] S22: Calculate the new center of pressure based on the vertical forces and planar positions of the current supporting foot and the new landing foot:

[0076]

[0077]

[0078] In the formula, F zi F is the vertical force on the i-th supporting foot. zσj p is the vertical force for the j-th new foot landing. σxj p σyj Let p be the x and y positions of the j-th new landing point. ix p iy Let p′ be the x and y positions of the i-th current supporting foot. cop_x p′ cop_y Let n be the x and y positions of the pressure center. σ For the number of new landings, n c This is sufficient to support the current quantity.

[0079] In step S130, the planar position of the balancing foot landing point is calculated, and the stable pressure center is calculated based on the planar position of the balancing foot landing point and the kinematic parameters of the current supporting foot. Specifically, this includes:

[0080] Establish the objective optimization function;

[0081] By setting constraints and solving the objective optimization function that satisfies the constraints, the expected vertical force at the target landing point and the expected vertical force of the current supporting foot are obtained.

[0082] Calculate the stable pressure center based on the expected vertical force at the target landing point and the expected vertical force at the current supporting foot.

[0083] Specifically, such as Figure 5 As shown, at the calculated stable pressure center p cop_x p cop_y First, a virtual servo controller (i.e., a fuselage control model) is established. The virtual resultant torque vector and virtual resultant force vector of the fuselage are calculated through the virtual servo controller and then distributed to the feet using a target optimization method. The expression for the virtual servo controller is:

[0084]

[0085] In the formula, M m F mFor the virtual resultant moment vector and virtual resultant force vector of the organism; k p q is the positive definite gain matrix; q is the actual pose vector of the fuselage; q d k represents the desired pose vector of the fuselage. v It is a positive definite differential coefficient matrix; This represents the actual position and velocity vector of the fuselage. Let k be the desired attitude velocity vector of the fuselage. ff is the positive definite velocity feedforward coefficient matrix, m is the robot mass, and g is the gravitational acceleration.

[0086] Furthermore, by setting constraints, an objective optimization function F(x) is established, and a set of solutions that satisfy the constraints and minimize the objective function is found. The objective optimization function is as follows:

[0087] min F(x)=(Ax-b) T S(Ax-b)+αx T Wx+β‖xx * ||

[0088] in,

[0089]

[0090] In the formula, S is the weighting matrix, W is a positive semi-definite symmetric matrix, and α and β are integration factors. * r is the optimal solution from the previous time step. i Let be the vector of the i-th foot relative to the center of mass of the fuselage in the world coordinate system, which includes the point of balance and the current support point.

[0091] The constraints set above are as follows:

[0092]

[0093]

[0094] In the above formula, The normal force at the i-th contact point; is the tangential force at the i-th contact point; μ is the coefficient of sliding friction.

[0095] By optimizing the solution, the desired vertical force F, including the equilibrium foot point j, can be obtained. zsj And the expected vertical force F of the current supporting foot i zdi .

[0096]

[0097]

[0098] In the formula, F zsjF is the expected vertical force for the j-th equilibrium foot. zdi p is the expected vertical force of the i-th supporting foot. sxj p syj Let n be the x and y positions of the j-th new landing point. s To balance the number of feet.

[0099] The equilibrium landing point is calculated as follows:

[0100]

[0101]

[0102] In the formula, T s For the support cycle, z0 is the robot height, v x v y v represents the robot's actual forward and lateral velocities. xd v yd These represent the robot's desired forward and lateral velocities.

[0103] In step S140, when calculating the force applied to the foot, the offset generated by the center of pressure is used as input to the aforementioned fuselage virtual servo controller, and then distributed to the foot using a target optimization method. The aforementioned fuselage virtual servo controller is a mathematical model, specifically:

[0104]

[0105] in,

[0106]

[0107]

[0108]

[0109]

[0110] In the above formula, q′ d For the new desired pose vector of the fuselage, For the new desired attitude velocity vector of the fuselage, k cop_x k cop_y These are the tuning coefficients. q d pose elements, They are respectively pose and velocity elements, These represent the changes in pose in the x and y directions.

[0111] The above expression uses the sign and min functions to represent:

[0112]

[0113]

[0114] Here, a and b represent the parameters in the function.

[0115] Thus, by using the above mathematical model and optimizing the solution method, the new foot force can be solved.

[0116] In step S150, using the new foot force as input, a coordinated control model is established as a joint controller. The expression of this coordinated control model is:

[0117]

[0118] In the formula: K pθ K vθ Here is the controller stiffness and damping coefficient matrix; θ d θ represents the desired joint angle vector; θ represents the actual joint angle vector. The desired joint angular velocity vector; τ is the actual joint angular velocity vector. ff =-J T F d For joint force feedforward term; F d denoted as the expected force at the foot end; J is the joint force Jacobian matrix; u is the joint controller input.

[0119] In the above specific embodiments, the present invention provides a method for coordinated control of foot placement and body movement in a quadruped robot. This method acquires elevation information within a target area and calculates a balanced foot placement point based on the elevation information. It then calculates the kinematic parameters of the new foot and the current supporting foot, and calculates the pressure center in the current pose based on these kinematic parameters. The method also calculates the planar position of the balanced foot placement point and the stable pressure center based on the planar position of the balanced foot placement point and the kinematic parameters of the current supporting foot. By utilizing the fused information of the foot placement point and related body stability, the robot body can coordinate and adapt while ensuring safe foot placement.

[0120] Furthermore, the quadruped robot's foot placement and body coordination control method provided by this invention constructs a body control model based on the offset between the pressure center and the stable pressure center, and calculates the foot force through the body control model. This invention improves the stability of the body by incorporating the pressure center into the control algorithm and calculating the body's feedback control information, making it applicable to different gaits for large-sized obstacle crossing. Furthermore, using the foot force as input, a coordination control model is constructed, and the joint motion parameters under the current pose are calculated through this model. This allows the control device of the legged robot to output control commands based on the joint motion parameters, controlling the leg joints of the legged robot to complete corresponding actions according to the obtained joint motion parameters. This enables the robot to safely pass through large obstacles and improves its performance in complex terrain.

[0121] In summary, the quadruped robot foot landing and body coordination control method provided by this invention solves the problem of poor stability of robots when crossing large obstacles in the prior art, thereby improving the foot landing stability of legged robots when crossing obstacles, and further improving the legged robot's performance in complex terrain.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for coordinated control of foot placement and body movement in a quadruped robot, characterized in that, include: Obtain elevation information within the target area and calculate the balance footing point based on the elevation information; Using the robot's leg kinematics algorithm and collected inertial data, the vertical force and planar position of the current supporting foot, as well as the vertical force and planar position of the new landing foot, are calculated; based on the vertical force and planar position of the current supporting foot, as well as the vertical force and planar position of the new landing foot, the pressure center in the current pose is calculated. Establish the objective optimization function; By setting constraints and solving the objective optimization function that satisfies the constraints, the expected vertical force at the equilibrium foot and the expected vertical force of the current supporting foot are obtained; based on the expected vertical force at the equilibrium foot and the expected vertical force of the current supporting foot, the stable pressure center is calculated. A fuselage control model is constructed based on the offset between the pressure center and the stable pressure center, and the foot force is calculated using the fuselage control model. Using the foot force as input, a coordinated control model is constructed, and the joint motion parameters under the current pose are calculated through the coordinated control model, so that the control device of the leg robot outputs control commands according to the joint motion parameters. The control commands are used to control the leg joint movements of the leg robot. The constraint conditions are used to ensure that the normal force at the contact point is not less than the minimum normal force, and that the tangential force at the contact point is not greater than the product of the normal force and the coefficient of sliding friction. The objective optimization function is: ； ； ， ； In the formula, , For the virtual resultant moment vector and virtual resultant force vector of the organism; For robot quality; The total number of feet, including the balance point and the current support point; This is the weighting matrix for the virtual resultant moment error and the virtual resultant force error of the organism; It is a positive semi-definite symmetric matrix; , The tuning factor; This is the optimal solution from the previous time step; To map the foot-end force vectors of each foot to the virtual resultant moment vector and the virtual resultant force vector of the body; They are respectively from number 1 to number 2. An antisymmetric matrix consisting of the vectors of each foot relative to the center of mass of the fuselage in the world coordinate system; It is a third-order identity matrix; It is a column vector composed of the virtual resultant moment vector and the virtual resultant force vector of the organism; For the reason The column vector formed; They are respectively number 1 to number 2. The force vector at the end of the foot; for and The L2 norm of the difference; The x and y positions of the steady pressure center can be calculated using the following expressions: ； ； In the formula, The serial number is used to identify the supporting foot; The serial number is used to indicate the foot placement for balance; For the first The expected vertical force of each supporting foot; For the first The expected vertical force for a balanced landing point; , For the first The new x and y positions of the landing site; , For the first The current support position in the x and y directions; , To stabilize the position of the pressure center in the x and y directions; To balance the number of feet; This is sufficient to support the current quantity.

2. The method for coordinated control of foot placement and body movement of a quadruped robot according to claim 1, characterized in that, Obtaining elevation information within the target area and calculating the balance foot point based on the elevation information specifically includes: Obtain elevation information within the target area and generate an elevation map based on the elevation information; Calculate the standard deviation of elevation within the target area based on the elevation information; If the elevation standard deviation is less than a preset standard deviation threshold and the elevation information is greater than a preset elevation threshold, then the equilibrium footing point is calculated.

3. The method for coordinated control of foot placement and body movement in a quadruped robot according to claim 1, characterized in that, Using the first and second expressions, calculate the x and y positions of the pressure center in the current pose; The first expression is: ； The second expression shown is: ； In the formula, For the first The vertical force of the supporting foot For the first The vertical force that the new foot lands on. , For the first A new place to settle , Direction and position , For the first The current support is sufficient. , Direction and position , pressure center , Direction and position For the new number of landings, This is sufficient to support the current quantity.

4. The method for coordinated control of foot placement and body movement of a quadruped robot according to claim 1, characterized in that, Using the third expression to calculate the virtual resultant moment vector and virtual resultant force vector of the computer body, the third expression is: ； In the formula, , For the virtual resultant moment vector and virtual resultant force vector of the organism; It is a positive definite gain matrix; This represents the actual pose vector of the fuselage. The desired pose vector of the fuselage; It is a positive definite differential coefficient matrix; This represents the actual position and velocity vector of the fuselage. Let V be the desired attitude velocity vector of the fuselage. The positive definite velocity feedforward coefficient matrix, For robot quality, This is the acceleration due to gravity.

Images