Motion control method and device, legged robot and electronic device

Abstract

The present disclosure relates to a motion control method and device, a legged robot and an electronic device. The motion control method comprises: receiving a control instruction when the legged robot is in a standing state; wherein the control instruction is used to control the legged robot to move one step to a target position, the distance between the target position and the standing position of the legged robot is a target distance, and the target position is located in a target direction of the standing position; determining a target correction parameter based on the target distance in response to the control instruction; and controlling a lower limb assembly of the legged robot to move one step to the target position according to the target correction parameter. The method provided by the embodiments of the present disclosure can effectively simplify the walking process of the robot and improve the walking efficiency of the robot.

Description

Technical Field

[0001] This disclosure relates to the field of electronic technology, and in particular to a motion control method, device, legged robot, and electronic device. Background Technology

[0002] In related technologies, for legged robots with a single degree of freedom in the ankle, it is usually difficult to maintain balance when standing on one leg because the ankle has only one degree of freedom. Therefore, even for short-distance movement, in order to maintain stability, a legged robot with a single degree of freedom in the ankle needs to perform multiple steps in place before moving to the designated location. This makes the walking process of legged robots relatively cumbersome, resulting in a complex walking method and low walking efficiency. Summary of the Invention

[0003] This disclosure provides a motion control method, device, legged robot, and electronic device to at least solve the problem that the walking process of legged robots in related technologies is relatively cumbersome, resulting in complex walking methods and low walking efficiency. The technical solution of this disclosure is as follows:

[0004] According to a first aspect of the present disclosure, a motion control method is provided, applied to a legged robot, comprising:

[0005] When the robot is in a standing position, it receives a control command; wherein the control command is used to control the legged robot to move to a target position in one step, the distance between the target position and the standing position of the legged robot is the target distance, and the target position is located in the target direction of the standing position;

[0006] In response to the control command, target correction parameters are determined based on the target distance; wherein, the target correction parameters include center of gravity offset distance and lateral joint angle compensation parameters;

[0007] The lower limb assembly of the legged robot is controlled to move to the target position in one step according to the target correction parameters.

[0008] In one possible implementation, the target correction parameters include the center of gravity offset distance and the lateral joint angle compensation parameters.

[0009] In one possible implementation, determining the target correction parameters based on the target distance includes:

[0010] The center of gravity offset distance of the legged robot is determined based on the target distance and the preset center of gravity model.

[0011] Based on the preset correspondence between the moving distance and the angle compensation parameters, the side swing joint angle compensation parameters corresponding to the target distance are determined.

[0012] In one possible implementation, controlling the lower limb assembly of the legged robot to move to the target position in one step according to the target correction parameters includes:

[0013] The legged robot is controlled to shift its center of gravity in the center of gravity shift direction based on the center of gravity shift distance; wherein, the center of gravity shift direction is the direction in which the target direction shifts by a preset angle in a preset direction;

[0014] Based on the lateral joint angle compensation parameters, the lower limb components of the legged robot are angle-compensated.

[0015] The lower limb assembly of the legged robot, after control angle compensation, moves the target distance in the target direction.

[0016] In one possible implementation, the lateral joint angle compensation parameters include a first angle compensation parameter, a second angle compensation parameter, and a third angle compensation parameter, and the lower limb assembly includes a first lower limb and a second lower limb.

[0017] The step of performing angle compensation on the lower limb assembly of the legged robot based on the lateral joint angle compensation parameters includes:

[0018] After the legged robot raises its first lower limb, it performs angle compensation on the first lower limb based on the first angle compensation parameters.

[0019] After the legged robot lowers its first lower limb and raises its second lower limb, the first lower limb is angle-compensated based on the second angle compensation parameter, and the second lower limb is angle-compensated based on the third angle compensation parameter.

[0020] In one possible implementation, before the lower limb assembly of the legged robot, after control angle compensation, moves the target distance in the target direction, it further includes:

[0021] Based on the preset landing point determination model, the first landing point corresponding to the first lower limb and the second landing point corresponding to the second lower limb are determined;

[0022] The lower limb assembly of the legged robot, after control angle compensation, moves the target distance in the target direction, including:

[0023] After control angle compensation, the first lower limb of the legged robot moves to the first footing point;

[0024] After the first lower limb group of the legged robot lands at the first footing point and lifts the second lower limb, the second lower limb is controlled to move to the second footing point.

[0025] According to a second aspect of the present disclosure, a motion control device is provided, comprising:

[0026] A receiving module is used to receive control commands when the robot is in a standing position; wherein the control commands are used to control the legged robot to move to a target position in one step, the distance between the target position and the standing position of the legged robot is the target distance, and the target position is located in the target direction of the standing position;

[0027] The first determining module is configured to determine target correction parameters based on the target distance in response to the control command;

[0028] The walking module is used to control the lower limb assembly of the legged robot to move to the target position in one step according to the target correction parameters.

[0029] In one possible implementation, the target correction parameters include the center of gravity offset distance and the lateral joint angle compensation parameters.

[0030] In one possible implementation, the first determining module includes:

[0031] The first determining unit is used to determine the center of gravity offset distance of the legged robot based on the target distance and the preset center of gravity model.

[0032] The second determining unit is used to determine the side swing joint angle compensation parameter corresponding to the target distance based on the preset correspondence between the moving distance and the angle compensation parameter.

[0033] In one possible implementation, the walking module includes:

[0034] The first control unit is used to control the legged robot to shift its center of gravity in the center of gravity shift direction based on the center of gravity shift distance; wherein, the center of gravity shift direction is the direction in which the target direction shifts to a preset direction by a preset angle;

[0035] The compensation unit is used to perform angle compensation on the lower limb assembly of the legged robot based on the side swing joint angle compensation parameters.

[0036] The second control unit controls the lower limb assembly of the legged robot after angle compensation to move the target distance in the target direction.

[0037] In one possible implementation, the lateral joint angle compensation parameters include a first angle compensation parameter, a second angle compensation parameter, and a third angle compensation parameter, and the lower limb assembly includes a first lower limb and a second lower limb.

[0038] The compensation unit includes:

[0039] The first compensation subunit is used to perform angle compensation on the first lower limb based on the first angle compensation parameter after the legged robot raises the first lower limb.

[0040] The second compensation subunit is used to perform angle compensation on the first lower limb based on the second angle compensation parameter and on the second lower limb based on the third angle compensation parameter after the legged robot lowers the first lower limb and raises the second lower limb.

[0041] In one possible implementation, the device further includes:

[0042] The second determining module is used to determine the first landing point corresponding to the first lower limb and the second landing point corresponding to the second lower limb based on the preset landing point determining model.

[0043] The second control unit includes:

[0044] The first moving subunit is used to control the first lower limb of the legged robot after angle compensation to move to the first footing point;

[0045] The second moving subunit is used to control the second lower limb to move to the second footing point after the first lower limb of the legged robot lands on the first footing point and lifts the second lower limb.

[0046] According to a third aspect of the present disclosure, a legged robot is provided, comprising:

[0047] A legged robot body, and a lower limb assembly and controller disposed on the legged robot body;

[0048] The controller is used for:

[0049] When the legged robot is in a standing position, it receives a control command; wherein the control command is used to control the legged robot to move to a target position in one step, the distance between the target position and the standing position of the legged robot is the target distance, and the target position is located in the target direction of the standing position;

[0050] In response to the control command, target correction parameters are determined based on the target distance;

[0051] The lower limb assembly of the legged robot is controlled to move to the target position in one step according to the target correction parameters.

[0052] According to a fourth aspect of the present disclosure, an electronic device is provided, comprising:

[0053] processor;

[0054] Memory used to store the processor's executable instructions;

[0055] The processor is configured to execute the instructions to implement the motion control method as described in any one of the first aspects.

[0056] According to a fifth aspect of the present disclosure, a storage medium is provided that, when instructions in the storage medium are executed by a robot's processor, enables a legged robot to perform the motion control method as described in any one of the first aspects.

[0057] According to a sixth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the motion control method as described in any one of the first aspects.

[0058] The technical solutions provided by the embodiments of this disclosure have at least the following beneficial effects:

[0059] In embodiments of this disclosure, while the legged robot is in a standing state, a control command is received to control the robot to move to a target position in one step. The distance between the target position and the standing position of the legged robot is the target distance, and the target position is located in the target direction from the standing position. In response to the control command, target correction parameters can be determined based on the target distance; then, the lower limb assembly of the legged robot is controlled to move to the target position in one step according to the target correction parameters. In this way, combined with the correction parameters, the posture of the legged robot in both standing and walking states is made more stable, allowing the legged robot to switch directly from a standing state to a walking state without taking steps, thus enabling the legged robot to move from a standing state to the target position in one step. Therefore, compared to related technologies where the robot needs to take multiple steps to move to a designated location, this effectively simplifies the robot's walking process and improves the robot's walking efficiency.

[0060] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0061] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0062] Figure 1 This is a block diagram illustrating a legged robot according to an exemplary embodiment.

[0063] Figure 2 This is a flowchart illustrating a motion control method according to an exemplary embodiment.

[0064] Figure 3 This is a schematic diagram of a lateral swing joint in the forward direction according to an exemplary embodiment.

[0065] Figure 4 This is a flowchart illustrating a motion control method according to an exemplary embodiment.

[0066] Figure 5 This is a schematic diagram illustrating a motion control method according to an exemplary embodiment.

[0067] Figure 6 This is a block diagram illustrating a motion control device according to an exemplary embodiment.

[0068] Figure 7 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0069] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0070] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0071] Legged robots can be various types of robots with lower limb components, such as bipedal robots, quadrupedal robots, hexapod robots, etc. Legged robots can be equipped with controllers, for example, such as... Figure 1 As shown, the robot's built-in controller can include a standing controller and a walking controller. The standing controller is used to control the robot to maintain a standing state, and the walking controller is used to control the robot to walk a target distance in the target direction.

[0072] The motion control method, device, legged robot, and electronic equipment provided in the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0073] In one possible implementation, a preset center of gravity model can be pre-trained before the motion control method of this disclosure is executed, specifically as follows:

[0074] Based on at least one preset movement distance and the reference center of gravity offset distance corresponding to each preset movement distance, a preset model is trained to obtain a preset center of gravity model.

[0075] In this embodiment of the disclosure, the preset model may be, for example, a neural network model, and the function of the preset model can be found in formula (1).

[0076] d=a*(sin(d-pi))+b*((D)^2)+c (1)

[0077] Where d represents the center of gravity offset distance, pi represents π, D represents the target distance, and a, b, and c are preset parameters. This calculation function has few parameters and is relatively simple, which not only improves the speed of determining the center of gravity offset distance but also facilitates subsequent related debugging.

[0078] When training the preset model, training samples can be obtained first. The training samples can include at least one preset movement distance and the reference center of gravity offset distance corresponding to each preset movement distance. Then, the preset model can be trained based on each set of training data in the training samples to determine its parameters. For example, the parameters a, b, and c in formula (1) can be determined. Each set of training data can include the preset movement distance and the reference center of gravity offset distance corresponding to the preset movement distance. It is understandable that after determining the parameters a, b, and c in formula (1), parameter verification can be performed based on the verification data. The function of the preset center of gravity model can be obtained based on the parameters that pass the verification, i.e., formula (1). For example, the preset model can be trained by curve fitting to obtain the preset center of gravity model. Specifically, assume that the center of gravity is moved to the left by dy meters and forward by dy meters (forward is the positive direction). The target distance (i.e., the distance moved in the above step) D is within the preset distance range [d min d max Training is performed using discrete values ​​within d. min and d max To ensure the legged robot can stand stably after movement, a curve fitting is performed based on the center of gravity offset distance dy when the legged robot is standing and the target distance selected during training. Finally, the curve fitting formula (i.e., formula (1)) is written into the standing controller to determine the center of gravity offset parameters for center of gravity offset during the preparation stage before walking. In this way, by pre-training the preset center of gravity model through curve fitting, the error of the preset center of gravity model can be effectively improved, thereby providing a more accurate basis for the execution of the motion control method.

[0079] Figure 2 This is a flowchart illustrating a motion control method according to an exemplary embodiment. This motion control method can be applied to a legged robot and can be executed by a controller built into the legged robot. Figure 2As shown, the motion control method may include the following steps:

[0080] In step S201, when the legged robot is in a standing state, it receives control commands.

[0081] The control command is used to control the legged robot to move to the target position in one step. The distance between the target position and the standing position of the legged robot is the target distance. The target position can be located in the target direction of the standing position of the legged robot. For example, the target position can be 30 cm in front of the standing position of the legged robot, or 20 cm behind the standing position of the legged robot. The aforementioned one step can be the movement of each of the left and right lower limbs of the legged robot. It is understood that in order for the legged robot to move to the target position in one step, the value of the target distance can be set to not exceed the maximum distance that the legged robot can walk in one step. That is to say, the method of this embodiment can be applied to walking scenarios with one-step movement. For example, taking the maximum distance that the legged robot can walk forward in one step as 40 cm and the maximum distance that it can walk backward in one step as 30 cm, the upper limit of the target distance can be set to 40 cm when the target direction is forward; the upper limit of the target distance can also be 40 cm when the target direction is backward.

[0082] In this embodiment of the disclosure, when the legged robot is in a standing state, if it is necessary to control the legged robot to move a certain distance (i.e., target distance) in one step in a certain direction (i.e., target direction), that is, to control the legged robot to move to a specified position (i.e., target position) in one step, a control command can be sent to the legged robot to control the legged robot to move to the target position in one step. It is understood that the control command can be sent to the legged robot by the user through an electronic device that is connected to the legged robot, or it can be automatically generated and sent to the legged robot by the aforementioned electronic device, or it can be generated by the legged robot itself.

[0083] In step S202, in response to the control command, the target correction parameters are determined based on the target distance.

[0084] In this embodiment, considering that the legged robot may experience pose instability and positional deviation in both standing and walking states due to the movement of its lower limbs, the legged robot, upon receiving a control command, can obtain a target distance from the command and determine correction parameters, i.e., target correction parameters, based on this target distance. These target correction parameters can be used to correct the pose parameters of the legged robot in both standing and walking states, ensuring stability during these processes.

[0085] In step S203, the lower limb assembly of the legged robot is controlled to move to the target position in one step according to the target correction parameters.

[0086] In this embodiment of the disclosure, after determining the target correction parameters based on the target distance, the legged robot can control its lower limb components to move a target distance in the target direction in one step according to the target correction parameters. For example, the legged robot can correct its standing and walking postures according to the target correction parameters, and move a target distance in the target direction based on the corrected posture, that is, move to the target position in one step based on the corrected posture. In other words, the legged robot only needs to move one step to reach the target position in the target direction from its standing position, and the distance from the standing position is the target distance.

[0087] In embodiments of this disclosure, while the legged robot is in a standing state, a control command is received to control the robot to move to a target position in one step. The distance between the target position and the standing position of the legged robot is the target distance, and the target position is located in the target direction from the standing position. In response to the control command, target correction parameters can be determined based on the target distance; then, the lower limb assembly of the legged robot is controlled to move to the target position in one step according to the target correction parameters. In this way, combined with the correction parameters, the posture of the legged robot in both standing and walking states is made more stable, allowing the legged robot to switch directly from a standing state to a walking state without taking steps, thus enabling the legged robot to move from a standing state to the target position in one step. Therefore, compared to related technologies where the robot needs to take multiple steps to move to a designated location, this effectively simplifies the robot's walking process and improves the robot's walking efficiency.

[0088] In a further possible implementation, the target correction parameters may include the center of gravity offset distance and the lateral joint angle compensation parameters.

[0089] In this embodiment, considering the movement of the legged robot's lower limbs, the robot may experience instability in its center of gravity or positional deviation after reaching a designated location. Therefore, the target correction parameters may include the center of gravity offset distance of the legged robot and the lateral joint angle compensation parameters of the lower limbs during walking. In other words, the center of gravity offset distance and lateral joint angle compensation parameters can be determined based on the target distance. The center of gravity offset distance can be used to adjust the legged robot's center of gravity, preventing falls due to instability or deviation from its path during movement, ensuring a stable posture when switching from a standing to a walking state. The lateral joint angle compensation parameters can be used to compensate for the angle of the lateral joints during movement, ensuring smooth walking and preventing positional deviation due to instability.

[0090] In some possible implementations, the specific implementation of determining the target correction parameter based on the target distance in step S202 above can be as follows:

[0091] Based on the target distance and the preset center of gravity model, determine the robot's center of gravity offset distance;

[0092] Based on the preset correspondence between the moving distance and the angle compensation parameters, the side swing joint angle compensation parameters corresponding to the target distance are determined.

[0093] Among them, the preset center of gravity model can be a pre-trained model used to determine the center of gravity offset distance of the robot; the preset correspondence can be a pre-set correspondence between different movement distances and angle compensation parameters (i.e., side swing joint angle compensation parameters), and different movement distances can usually correspond to different angle compensation parameters.

[0094] In this embodiment, determining the target correction parameters based on the target distance can essentially include determining the center offset distance and the lateral joint compensation parameters based on the target distance. Specifically, when determining the center of gravity offset distance based on the target distance, a preset center of gravity model can be obtained first, the target distance can be input into the preset center of gravity model, and the center of gravity offset distance of the legged robot can be calculated based on the target distance using the preset center of gravity model. For example, the calculation function of the preset center of gravity model can be as shown in formula (1). Meanwhile, considering that when the target distance is large, if the legged robot needs to move the target distance in one step, that is, move to the target position in one step, the distance moved by each step of the legged robot's lower limbs will also be relatively large, and the required lateral joint angle compensation parameters will usually be correspondingly large; conversely, if the target distance is small, the distance moved by each step of the legged robot's lower limbs will also be relatively small, and the required lateral joint angle compensation parameters will usually be correspondingly small. Therefore, corresponding lateral joint angle compensation parameters can be preset for different movement distances. When determining the side swing joint angle compensation parameters corresponding to the target distance, the side swing joint angle compensation parameters corresponding to the target distance can be determined based on the correspondence between the moving distance and the angle compensation coefficient (i.e., the side swing joint angle compensation parameters).

[0095] In this way, by combining the target distance with a preset center of gravity model to determine the center of gravity offset distance, the determined center of gravity offset distance can better meet the actual needs, improve the accuracy of the center of gravity offset distance, and thus further improve the stability of the legged robot. At the same time, determining the lateral joint angle compensation parameters corresponding to the target distance as the lateral joint angle compensation parameters required for the legged robot's current movement can also improve the matching between the lateral joint angle compensation parameters and the target distance, thereby further improving the stability of the legged robot during movement, and also preventing the legged robot from deviating during movement.

[0096] In a further possible implementation, the above steps, including controlling the lower limb assembly of the legged robot to move to the target position in one step according to the target correction parameters, include:

[0097] The legged robot is controlled to shift its center of gravity in the direction of the shift based on the distance of the center of gravity offset.

[0098] Angle compensation is performed on the lower limb components of a legged robot based on the side swing joint angle compensation parameters.

[0099] The lower limb assembly of the legged robot, after angle compensation, moves the target distance in the target direction.

[0100] The center of gravity offset direction is the direction in which the target direction is offset by a preset angle. This preset direction can be opposite to the direction in which the legged robot moves first during walking. For example, if the left leg moves first, the preset direction could be right, with the center of gravity offset towards the right front. Conversely, if the right leg moves first, the preset direction could be left, with the center of gravity offset towards the left front. The preset angle can be a pre-set offset angle, which can be a fixed value; alternatively, different offset angles can be pre-set for different walking distances. Based on the aforementioned correspondence between walking distance and offset angle, the offset angle corresponding to the target distance is determined, which is the preset angle corresponding to the target distance.

[0101] In this embodiment of the disclosure, when controlling the legged robot to move to the target position in one step according to the target correction parameters, the legged robot can first be controlled to shift its center of gravity in the direction of the center of gravity shift, for example, shifting its center of gravity in the target direction by a preset angle, and the shift distance is the center of gravity shift distance. Taking the target direction as forward, when the legged robot walks, it first moves its right lower limb, and the center of gravity shift distance is d. y Taking a meter as an example, the legged robot can be controlled to move its center of gravity d to the left front within a preset time period. y Meters, that is, a deviation of d from the left at a preset angle forward. y At this point, the legged robot is in a state of readiness to walk. Then, angle compensation can be performed on the lateral joints of the legged robot based on lateral joint angle compensation parameters. For example, when the robot raises its right leg (i.e., the right lower limb), angle compensation can be performed on at least the lateral joint of the right leg; when the robot raises its left leg (i.e., the left lower limb), angle compensation can be performed on at least the lateral joint of the right leg. Afterward, the lower limb assembly of the legged robot, after angle compensation, can be controlled to move a target distance in the target direction. For example, after angle compensation of the right leg's lateral joint, the right leg of the legged robot can be controlled to move in the target direction; after angle compensation of the left leg's lateral joint, the left leg of the legged robot can be controlled to move in the target direction.

[0102] In some possible embodiments, the lateral joint angle compensation parameters may include a first angle compensation parameter, a second angle compensation parameter, and a third angle compensation parameter, and the lower limb assembly may include a first lower limb and a second lower limb.

[0103] Accordingly, in the above steps, the specific implementation method for angle compensation of the lower limb components of the legged robot based on the lateral joint angle compensation parameters can be as follows:

[0104] After the legged robot raises its first lower limb, it performs angle compensation on the first lower limb based on the first angle compensation parameters;

[0105] After the legged robot lowers its first lower limb and raises its second lower limb, the first lower limb is angle-compensated based on the second angle compensation parameter, and the second lower limb is angle-compensated based on the third angle compensation parameter.

[0106] In the embodiments of this disclosure, when a legged robot moves to a target distance in one step, it typically moves its two lower limbs alternately. For example, one lower limb may move to the target position first, followed by the other lower limb. When the legged robot moves from a standing position to raising its first lower limb, a first angle compensation parameter can be obtained, such as -0.01 rad. Angle compensation is then performed on the lateral joint of the raised first lower limb based on this first angle compensation parameter. After the legged robot lowers its first lower limb and raises its second lower limb, a second compensation parameter and a third compensation parameter can be obtained, such as 0.05 rad and 0.15 rad, respectively. Angle compensation is then performed on the first lower limb based on the second angle compensation parameter, and on the second lower limb based on the third angle compensation parameter. The direction of angle compensation for the lateral joint is opposite to the positive direction of the lateral joint. For example, as shown... Figure 3 As shown, Figure 3 Taking the clockwise direction of the lateral swing joints of the left and right lower limbs as an example, a schematic diagram of the clockwise direction of the lateral swing joint is shown, combined with... Figure 3 If the positive direction of the lateral joint is clockwise, then the direction of angle compensation is counterclockwise. Thus, by using different angle compensation parameters to compensate for the angles of different lower limb components, the stability of the legged robot can be further ensured, and the stability of the legged robot when switching from a standing state to a walking state, and from a walking state to a standing state, can be improved.

[0107] In some possible implementations, before the robot's lower limb assembly, after angle compensation, moves a target distance in the target direction as described above, the following processing may also be performed:

[0108] Based on the preset landing point determination model, the first landing point corresponding to the first lower limb and the second landing point corresponding to the second lower limb are determined.

[0109] Accordingly, in the above steps, the specific implementation method for the lower limb assembly of the legged robot after angle compensation to move the target distance in the target direction can be as follows:

[0110] After control angle compensation, the first lower limb assembly of the legged robot moves to the first footing point;

[0111] After the first lower limb of the legged robot lands at the first footing point and the second lower limb is raised, the second lower limb is controlled to move to the second footing point.

[0112] In this embodiment of the disclosure, before the lower limb assembly of the legged robot, after control angle compensation, moves a target distance in the target direction, the landing point of each lower limb of the legged robot at the target position can be determined first. For example, the landing point corresponding to the first lower limb, i.e., the first landing point, and the landing point corresponding to the second lower limb, i.e., the second landing point, can be determined based on a preset landing point determination model. The preset landing point determination model can be a model of linear inverted pendulum and angular momentum. Taking the determination of the forward landing point as an example, the function corresponding to the preset landing point determination model can be as shown in formula (2).

[0113]

[0114] in, This represents the desired position of the center of mass of the legged robot relative to the swinging foot (i.e., the swinging lower limb) at the end of the k-th step, i.e., the landing point; This represents the expected angular momentum at the end of the (k+1)th step of the legged robot. In preparation for switching to a standing state, the expected center-of-mass velocity is specified as 0, i.e., L = 0; H represents the height of the center of mass. g is the acceleration due to gravity; T represents the remaining period of the current step (e.g., T∈[0,1]); The angular momentum represents the end of the legged robot's k-th step and needs to be calculated in real time; m represents the mass of the legged robot. This represents the z-axis velocity of the centroid of the legged robot at the end of the k-th step; this value is a measured value. This represents the position of the supporting foot relative to the center of mass at the end of the k-th step of the legged robot, which needs to be calculated in real time. Understandably, the implementation methods and training processes for the linear inverted pendulum and angular momentum models are the same as related technologies, and will not be elaborated upon here.

[0115] After determining the first landing point corresponding to the first lower limb and the second landing point corresponding to the second lower limb, the first lower limb of the legged robot, after angle compensation, can be controlled to move to the first landing point. After the robot's first lower limb lands at the first landing point and the second lower limb is raised, the second lower limb can be controlled to move to the second landing point. In this way, by combining center of gravity shift and angle compensation with landing point control, the legged robot can be more smoothly and steadily moved to the target position in one step.

[0116] To make the motion control method provided in the embodiments of this disclosure clearer, the following description is in conjunction with the accompanying drawings. Figure 3 The motion control method provided in the embodiments of this disclosure will be described. Figure 4 and Figure 5 Taking the robot walking by first stepping with its right lower limb (right leg) and the target direction forward as examples, schematic diagrams of two motion control methods are shown. In the diagrams, sw_abduction represents the angle compensation parameter, such as... Figure 4 and Figure 5 As shown, the method can be as follows:

[0117] After receiving a control command to move one step while standing, the legged robot, through its standing controller, determines its center of gravity offset distance based on the target distance and a preset center of gravity model. It then prepares to start moving and, within a preset time t, moves its center of gravity to the left while simultaneously moving it towards the target direction (forward). Figure 5 (The center of mass in the middle). Then, the legged robot can switch from the standing controller to the walking controller to compensate for the lateral roll joint angles of each leg during walking, so that it can maintain a stable posture when switching back to the standing controller. Specifically, when the legged robot takes its first step and lifts its right leg, the walking controller can compensate for the lateral roll joint angle of the right leg. When switching to the right leg supporting the left leg and lifting it, it can compensate for the lateral roll joint angle of the left leg and the supporting leg of the right leg. And after the left foot lands, it can switch from the walking controller to the standing controller to control the legged robot to stand up.

[0118] The specific implementation methods and technical effects of each step in this embodiment are similar to those in the above-described method embodiments, and will not be repeated here.

[0119] Based on the same inventive concept, embodiments of this disclosure also provide a motion control device, such as... Figure 6 As shown, Figure 6 This is a block diagram illustrating a motion control device according to an exemplary embodiment. (Refer to...) Figure 6 The motion control device 600 may include:

[0120] The receiving module 610 is used to receive control commands when the legged robot is in a standing state; wherein the control commands are used to control the legged robot to move to a target position in one step, the distance between the target position and the standing position of the legged robot is the target distance, and the target position is located in the target direction of the standing position;

[0121] The first determining module 620 is configured to determine target correction parameters based on the target distance in response to the control command; wherein the target correction parameters include center of gravity offset distance and lateral joint angle compensation parameters;

[0122] The walking module 630 is used to control the lower limb assembly of the legged robot to move to the target position in one step according to the target correction parameters.

[0123] In one possible implementation, the target correction parameters include the center of gravity offset distance and the lateral joint angle compensation parameters.

[0124] In one possible implementation, the first determining module 620 includes:

[0125] The first determining unit is used to determine the center of gravity offset distance of the legged robot based on the target distance and the preset center of gravity model.

[0126] The second determining unit is used to determine the side swing joint angle compensation parameter corresponding to the target distance based on the preset correspondence between the moving distance and the angle compensation parameter.

[0127] In one possible implementation, the walking module 630 includes:

[0128] The first control unit is used to control the legged robot to shift its center of gravity in the center of gravity shift direction based on the center of gravity shift distance; wherein, the center of gravity shift direction is the direction in which the target direction shifts to a preset direction by a preset angle;

[0129] The compensation unit is used to perform angle compensation on the lower limb assembly of the legged robot based on the side swing joint angle compensation parameters.

[0130] The second control unit controls the lower limb assembly of the legged robot after angle compensation to move the target distance in the target direction.

[0131] In one possible implementation, the lateral joint angle compensation parameters include a first angle compensation parameter, a second angle compensation parameter, and a third angle compensation parameter, and the lower limb assembly includes a first lower limb and a second lower limb.

[0132] The compensation unit includes:

[0133] The first compensation subunit is used to perform angle compensation on the first lower limb based on the first angle compensation parameter after the legged robot raises the first lower limb.

[0134] The second compensation subunit is used to perform angle compensation on the first lower limb based on the second angle compensation parameter and on the second lower limb based on the third angle compensation parameter after the legged robot lowers the first lower limb and raises the second lower limb.

[0135] In one possible implementation, the device 600 further includes:

[0136] The second determining module is used to determine the first landing point corresponding to the first lower limb and the second landing point corresponding to the second lower limb based on the preset landing point determining model.

[0137] The second control unit includes:

[0138] The first moving subunit is used to control the first lower limb of the legged robot after angle compensation to move to the first footing point;

[0139] The second moving subunit is used to control the second lower limb to move to the second footing point after the first lower limb of the legged robot lands on the first footing point and lifts the second lower limb.

[0140] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0141] According to embodiments of this disclosure, this disclosure also provides a legged robot, comprising:

[0142] The legged robot body, and the lower limb components and controller mounted on the legged robot body;

[0143] The controller is used for:

[0144] When the legged robot is in a standing position, it receives a control command; wherein the control command is used to control the legged robot to move to a target position in one step, the distance between the target position and the standing position of the legged robot is the target distance, and the target position is located in the target direction of the standing position;

[0145] In response to the control command, target correction parameters are determined based on the target distance;

[0146] The lower limb assembly of the legged robot is controlled to move to the target position in one step according to the target correction parameters.

[0147] In one possible implementation, the controller is further configured to:

[0148] The center of gravity offset distance of the legged robot is determined based on the target distance and the preset center of gravity model.

[0149] Based on the preset correspondence between the moving distance and the angle compensation parameters, the side swing joint angle compensation parameters corresponding to the target distance are determined.

[0150] In one possible implementation, the controller is specifically used for:

[0151] The legged robot is controlled to shift its center of gravity in the center of gravity shift direction based on the center of gravity shift distance; wherein, the center of gravity shift direction is the direction in which the target direction shifts by a preset angle in a preset direction;

[0152] Based on the lateral joint angle compensation parameters, the lower limb components of the legged robot are angle-compensated.

[0153] The lower limb assembly of the legged robot, after control angle compensation, moves the target distance in the target direction.

[0154] In one possible implementation, the controller is further configured to:

[0155] After the legged robot raises its first lower limb, it performs angle compensation on the first lower limb based on the first angle compensation parameters.

[0156] After the legged robot lowers its first lower limb and raises its second lower limb, the first lower limb is angle-compensated based on the second angle compensation parameter, and the second lower limb is angle-compensated based on the third angle compensation parameter.

[0157] In one possible implementation, the controller is further configured to:

[0158] Based on the preset landing point determination model, the first landing point corresponding to the first lower limb and the second landing point corresponding to the second lower limb are determined;

[0159] The lower limb assembly of the legged robot, after control angle compensation, moves the target distance in the target direction, including:

[0160] After control angle compensation, the first lower limb of the legged robot moves to the first footing point;

[0161] After the robot's first lower limb lands at the first footing point and the second lower limb is raised, the second lower limb is controlled to move to the second footing point.

[0162] Regarding the legged robot in the above embodiments, the specific ways in which each structure performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0163] According to embodiments of this disclosure, this disclosure also provides an electronic device, a computer-readable storage medium, and a computer program product.

[0164] Figure 7 A schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure is shown. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0165] like Figure 7As shown, the electronic device 700 includes a computing unit 701, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. The RAM 703 may also store various programs and data required for the operation of the device 700. The computing unit 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0166] Multiple components in electronic device 700 are connected to I / O interface 705, including: input unit 706, such as keyboard, mouse, etc.; output unit 707, such as various types of displays, speakers, etc.; storage unit 708, such as disk, optical disk, etc.; and communication unit 709, such as network card, modem, wireless transceiver, etc. Communication unit 709 allows electronic device 700 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0167] The computing unit 701 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 701 performs the various methods and processes described above, such as motion control methods. For example, in some embodiments, the motion control method may be implemented as a computer software program tangibly contained in a computer-readable medium, such as storage unit 708. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 700 via ROM 702 and / or communication unit 709. When the computer program is loaded into RAM 703 and executed by the computing unit 701, one or more steps of the motion control method described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured to perform motion control methods by any other suitable means (e.g., by means of firmware).

[0168] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0169] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0170] In the context of this disclosure, a computer-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A computer-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of computer-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0171] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0172] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), the Internet, and blockchain networks.

[0173] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service ecosystem, addressing the shortcomings of traditional physical hosts and VPS (Virtual Private Server, or simply "VPS") services, such as high management difficulty and weak business scalability. Servers can also be servers for distributed systems or servers incorporating blockchain technology.

[0174] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0175] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A motion control method applied to a legged robot, characterized in that, include: When the legged robot is in a standing position, it receives a control command; wherein the control command is used to control the legged robot to move to a target position in one step, the distance between the target position and the standing position of the legged robot is the target distance, and the target position is located in the target direction of the standing position; In response to the control command, target correction parameters are determined based on the target distance; Based on the target correction parameters, the lower limb assembly of the legged robot is controlled to move one step in the target direction by the target distance to the target position.

2. The motion control method according to claim 1, characterized in that, The target correction parameters include the center of gravity offset distance and the lateral joint angle compensation parameters.

3. The motion control method according to claim 2, characterized in that, The step of determining the target correction parameters based on the target distance includes: The center of gravity offset distance of the legged robot is determined based on the target distance and the preset center of gravity model. Based on the preset correspondence between the moving distance and the angle compensation parameters, the side swing joint angle compensation parameters corresponding to the target distance are determined.

4. The motion control method according to claim 3, characterized in that, The step of controlling the lower limb assembly of the legged robot to move the target distance to the target position in one step in the target direction according to the target correction parameters includes: The legged robot is controlled to shift its center of gravity in the center of gravity shift direction based on the center of gravity shift distance; wherein, the center of gravity shift direction is the direction in which the target direction shifts by a preset angle in a preset direction; Based on the lateral joint angle compensation parameters, the lower limb components of the legged robot are angle-compensated. The lower limb assembly of the legged robot, after control angle compensation, moves the target distance in the target direction.

5. The motion control method according to claim 4, characterized in that, The lateral joint angle compensation parameters include a first angle compensation parameter, a second angle compensation parameter, and a third angle compensation parameter; the lower limb assembly includes a first lower limb and a second lower limb. The step of performing angle compensation on the lower limb assembly of the legged robot based on the lateral joint angle compensation parameters includes: After the legged robot raises its first lower limb, it performs angle compensation on the first lower limb based on the first angle compensation parameters. After the legged robot lowers its first lower limb and raises its second lower limb, the first lower limb is angle-compensated based on the second angle compensation parameter, and the second lower limb is angle-compensated based on the third angle compensation parameter.

6. The motion control method according to claim 5, characterized in that, Before the lower limb assembly of the legged robot, after control angle compensation, moves the target distance in the target direction, it further includes: Based on the preset landing point determination model, the first landing point corresponding to the first lower limb and the second landing point corresponding to the second lower limb are determined; The lower limb assembly of the legged robot, after control angle compensation, moves the target distance in the target direction, including: After control angle compensation, the first lower limb of the legged robot moves to the first footing point; After the robot's first lower limb lands at the first footing point and the second lower limb is raised, the second lower limb is controlled to move to the second footing point.

7. A motion control device for use in a legged robot, characterized in that, include: A receiving module is used to receive control commands when the legged robot is in a standing state; wherein the control commands are used to control the legged robot to move to a target position in one step, the distance between the target position and the standing position of the legged robot is the target distance, and the target position is located in the target direction of the standing position; The first determining module is configured to determine target correction parameters based on the target distance in response to the control command; The walking module is used to control the lower limb assembly of the legged robot to move the target distance to the target position in one step according to the target correction parameters.

8. The motion control device according to claim 7, characterized in that, The target correction parameters include the center of gravity offset distance and the lateral joint angle compensation parameters.

9. The motion control device according to claim 8, characterized in that, The first determining module includes: The first determining unit is used to determine the center of gravity offset distance of the legged robot based on the target distance and the preset center of gravity model. The second determining unit is used to determine the side swing joint angle compensation parameter corresponding to the target distance based on the preset correspondence between the moving distance and the angle compensation parameter.

10. The motion control device according to claim 9, characterized in that, The walking module includes: The first control unit is used to control the legged robot to shift its center of gravity in the center of gravity shift direction based on the center of gravity shift distance; wherein, the center of gravity shift direction is the direction in which the target direction shifts to a preset direction by a preset angle; The compensation unit is used to perform angle compensation on the lower limb assembly of the legged robot based on the side swing joint angle compensation parameters. The second control unit controls the lower limb assembly of the legged robot after angle compensation to move the target distance in the target direction.

11. The motion control device according to claim 10, characterized in that, The lateral joint angle compensation parameters include a first angle compensation parameter, a second angle compensation parameter, and a third angle compensation parameter; the lower limb assembly includes a first lower limb and a second lower limb. The compensation unit includes: The first compensation subunit is used to perform angle compensation on the first lower limb based on the first angle compensation parameter after the legged robot raises the first lower limb. The second compensation subunit is used to perform angle compensation on the first lower limb based on the second angle compensation parameter and on the second lower limb based on the third angle compensation parameter after the legged robot lowers the first lower limb and raises the second lower limb.

12. The motion control device according to claim 11, characterized in that, The device further includes: The second determining module is used to determine the first landing point corresponding to the first lower limb and the second landing point corresponding to the second lower limb based on the preset landing point determining model. The second control unit includes: The first moving subunit is used to control the first lower limb of the legged robot after angle compensation to move to the first footing point; The second moving subunit is used to control the second lower limb to move to the second footing point after the first lower limb of the legged robot lands on the first footing point and lifts the second lower limb.

13. A legged robot, characterized in that, include: A legged robot body, and a lower limb assembly and controller disposed on the legged robot body; The controller is used for: When the legged robot is in a standing position, it receives a control command; wherein the control command is used to control the legged robot to move to a target position in one step, the distance between the target position and the standing position of the legged robot is the target distance, and the target position is located in the target direction of the standing position; In response to the control command, target correction parameters are determined based on the target distance; Based on the target correction parameters, the lower limb assembly of the legged robot is controlled to move one step in the target direction by the target distance to the target position.

14. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the motion control method as described in any one of claims 1 to 6.

15. A computer-readable storage medium, wherein instructions in the computer-readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the motion control method as described in any one of claims 1 to 6.

16. A computer program product comprising a computer program that, when executed by a processor, implements the motion control method as described in any one of claims 1 to 6.

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