A robot gait trajectory planning method and related device

Abstract

The application provides a robot gait trajectory planning method and related equipment, and relates to the technical field of robot control. The application calls corresponding CPG oscillators to plan foot end trajectories based on expected step lengths and maximum leg lifting heights for each leg of a spider-type quadruped robot, obtains independent foot end trajectories of the leg in a target motion plane matching the body advancing direction and the body leg lifting direction, and performs trajectory coupling processing on the independent foot end trajectories of the four legs to obtain target foot end trajectories of the four legs when they move cooperatively in the target motion plane. Then, through trajectory high-pass filtering operation and trajectory mapping operation, the expected gait trajectories of the four legs in the body coordinate system are obtained, which are adapted to the target motion plane, so as to utilize the limit cycle stable convergence characteristics of the CPG oscillator to ensure that the spider-type quadruped robot realizes high stability gait motion function in the body advancing direction through the planned expected gait trajectories.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and more specifically, to a robot gait trajectory planning method and related equipment. Background Technology

[0002] With the continuous development of science and technology, robotics has received widespread attention from various industries due to its immense research and application value. Quadruped robots, characterized by their agility, high speed, and greater stability compared to bipedal robots, are increasingly valued for their development and motion planning and control methods. Among these, low-cost, high-stability spider-type quadruped robots represent a significant current research direction. Maintaining the stability of the quadruped robot's posture during high-dynamic motion is a key technical challenge and a critical technical hurdle in its control process.

[0003] Therefore, for low-cost spider-type quadruped robots, ensuring high stability of gait movement in the forward direction of the robot body is a crucial problem that urgently needs to be solved in current quadruped robot control technology. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a robot gait trajectory planning method and device, a spider-type quadruped robot, and a readable storage medium. Based on the limit cycle stability convergence characteristics of the CPG oscillator, the method plans desired gait trajectories for each of the four legs of the spider-type quadruped robot, which can achieve cooperative motion in the forward direction of the robot body. This allows the spider-type quadruped robot to achieve highly stable gait motion in the forward direction of the robot body through the planned desired gait trajectories, thereby improving the adaptive adjustment capability of the foot trajectory to external disturbances and the stability of robot motion during actual movement.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, this application provides a robot gait trajectory planning method applied to a spider-type quadruped robot, wherein each of the four legs of the spider-type quadruped robot is equipped with a CPG (Central Pattern Generator) oscillator, and the method includes: Obtain the desired step length of the spider-like quadruped robot in the forward direction of its body, and the maximum leg lift height of the spider-like quadruped robot in the leg lift direction of its body; For each leg of the spider-like quadruped robot, the target CPG oscillator corresponding to that leg is invoked to perform foot trajectory planning based on the expected step length and the maximum leg lift height, thereby obtaining the independent foot trajectory of that leg in the target motion plane, wherein the target motion plane is the motion plane determined based on the forward direction of the robot body and the leg lift direction of the robot body; Based on the phase distribution relationship of the oscillators among the four legs of the spider-like quadruped robot, the trajectory coupling processing is performed on the independent foot trajectory corresponding to each of the four legs to obtain the target foot trajectory when the four legs move together in the target motion plane. Based on a preset leg lift height threshold, the target foot trajectory corresponding to each of the four legs is subjected to high-pass filtering to obtain the expected foot trajectory of each of the four legs in the target motion plane. The desired foot trajectory of each of the four legs in the target motion plane is mapped to the body coordinate system of the spider-like quadruped robot to obtain the desired gait trajectory of each of the four legs in the body coordinate system that is adapted to the target motion plane.

[0006] In an optional implementation, the step of calling the target CPG oscillator corresponding to each leg of the spider-like quadruped robot to perform foot trajectory planning based on the desired step length and the maximum leg lift height, to obtain the independent foot trajectory of that leg in the target motion plane, includes: For each leg, obtain the coordinates of the center point of the limit loop in the phase plane that matches the target motion plane; The desired step length, the maximum leg lift height, and the coordinates of the center point of the limit cycle corresponding to the leg are substituted into the oscillator control model of the target CPG oscillator corresponding to the leg to solve for the output signal, thereby obtaining the independent foot trajectory corresponding to the leg.

[0007] In an optional implementation, the oscillator control model for the target CPG oscillator corresponding to a single leg is represented by the following formula: ; in, This is used to represent the output signal of the target CPG oscillator in the direction of fuselage advance. This is used to represent the output signal of the target CPG oscillator in the direction of the fuselage leg lift. This is used to represent the coordinate components of the center point of the limit ring corresponding to the leg in the forward direction of the fuselage. This is used to represent the coordinate components of the center point of the limit ring corresponding to the leg in the direction of the fuselage's leg lift. Used to represent the desired step size, Used to indicate the maximum leg lift height The oscillator frequency used to represent the target CPG oscillator. Used to represent output signal The differential, Used to represent output signal The differential, This is used to represent the convergence speed coefficient of the target CPG oscillator in the forward direction of the fuselage. This is used to represent the convergence velocity coefficient of the target CPG oscillator in the direction of the fuselage's lifting leg.

[0008] In an optional implementation, the step of performing trajectory coupling processing on the independent foot trajectory corresponding to each of the four legs based on the oscillator phase distribution relationship among the four legs of the spider-like quadruped robot to obtain the target foot trajectory when the four legs move collaboratively in the target motion plane includes: Each of the four legs is taken as the target leg in turn, and the phase coupling rotation matrix of the target leg relative to the other three legs is calculated according to the phase distribution relationship of the oscillator. Based on all the calculated phase-coupled rotation matrices and the independent foot trajectory corresponding to each of the other three legs, the independent foot trajectory corresponding to the target leg is adjusted in a coordinated manner to obtain the target foot trajectory corresponding to the target leg.

[0009] In an optional implementation, the oscillators of any two diagonally opposite legs of the four legs have the same phase, and the phase difference between the oscillators of any two off-diagonally opposite legs is 180°. The phase coupling rotation matrix of the target leg of the spider-like quadruped robot relative to any one of the other three legs is calculated using the following formula: ; in, Used to indicate the oscillator phase corresponding to the target leg. The oscillator phase is used to represent any one of the three legs other than the target leg. This is used to represent the phase-coupled rotation matrix of the target leg relative to any one of the other three legs.

[0010] In an optional implementation, the trajectory coordination adjustment operation for the target leg is represented by the following formula: ; in, A differential expression used to represent the trajectory of the target foot corresponding to the target leg. Used to represent the independent foot trajectory corresponding to the target leg. This is used to represent the trajectory component of the independent foot trajectory corresponding to the target leg in the forward direction of the fuselage. This is used to represent the trajectory component of the independent foot trajectory corresponding to the target leg in the direction of the fuselage leg lift. Used to represent the desired step size, Used to indicate the maximum leg lift height The oscillator frequency used to represent the CPG oscillator corresponding to the target leg. This is used to represent the convergence velocity coefficient of the CPG oscillator corresponding to the target leg in the forward direction of the fuselage. This is used to represent the convergence velocity coefficient of the CPG oscillator corresponding to the target leg in the direction of the fuselage leg raising. Used to represent the independent foot trajectory of any one of the three legs other than the target leg. This is used to represent the phase-coupled rotation matrix of the target leg relative to any one of the other three legs.

[0011] In an optional implementation, the high-pass filtering operation of the target foot trajectory corresponding to each leg in the direction of the fuselage leg lift is represented by the following formula: ; in, This is used to represent the trajectory component of the desired foot trajectory corresponding to the leg in the direction of the fuselage leg lift. Used to represent trajectory components The differential, This is used to represent the trajectory component of the target foot trajectory corresponding to that leg in the direction of the fuselage's leg lift. Used to represent trajectory components The differential, and These parameters are used to represent the oscillator output signal tracking characteristics for that leg. Used to represent the preset leg-lifting height threshold.

[0012] Secondly, this application provides a robot gait trajectory planning device for use in a spider-type quadruped robot, wherein each of the four legs of the spider-type quadruped robot is equipped with a CPG oscillator, and the device includes: The gait parameter acquisition module is used to acquire the expected stride length of the spider-like quadruped robot in the forward direction of the body, and the maximum leg lift height of the spider-like quadruped robot in the leg lift direction of the body; The foot trajectory planning module is used to call the target CPG oscillator corresponding to each leg of the spider-type quadruped robot to perform foot trajectory planning based on the expected step length and the maximum leg lifting height, so as to obtain the independent foot trajectory of the leg in the target motion plane, wherein the target motion plane is the motion plane determined based on the forward direction of the robot body and the leg lifting direction of the robot body; The foot trajectory coupling module is used to perform trajectory coupling processing on the independent foot trajectories corresponding to each of the four legs according to the oscillator phase distribution relationship between the four legs of the spider-type quadruped robot, so as to obtain the target foot trajectory when the four legs move together in the target motion plane. The foot trajectory phase separation module is used to perform high-pass filtering on the target foot trajectory corresponding to each of the four legs according to a preset leg lifting height threshold, so as to obtain the expected foot trajectory of each of the four legs in the target motion plane. The gait trajectory conversion module is used to map the desired foot trajectory of each of the four legs in the target motion plane to the body coordinate system of the spider-type quadruped robot, so as to obtain the desired gait trajectory of each of the four legs in the body coordinate system that is adapted to the target motion plane.

[0013] Thirdly, this application provides a spider-type quadruped robot, including a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to implement the robot gait trajectory planning method described in any of the foregoing embodiments.

[0014] Fourthly, this application provides a readable storage medium storing a computer program thereon, which, when executed by a spider-type quadruped robot, implements the robot gait trajectory planning method described in any of the foregoing embodiments.

[0015] In this case, the beneficial effects of the embodiments of this application may include the following: After obtaining the expected step length and maximum leg lift height of the spider-like quadruped robot in the forward and leg-lifting directions, this application, for each leg of the quadruped robot, calls the target CPG oscillator corresponding to that leg to perform foot trajectory planning based on the expected step length and maximum leg lift height. This yields the independent foot trajectory of that leg in the target motion plane matching the forward and leg-lifting directions. Based on the oscillator phase distribution relationship among the four legs of the quadruped robot, trajectory coupling processing is performed on the independent foot trajectories of each of the four legs to obtain the target foot trajectory of each leg during cooperative motion in the target motion plane. Then, high-pass filtering is applied to the target foot trajectories of each of the four legs according to a preset leg lift height threshold to obtain... Each of the four legs has a desired foot trajectory, including a support phase trajectory and a swing phase trajectory, within the target motion plane. Finally, the desired foot trajectories of each of the four legs are mapped onto the body coordinate system of the spider-like quadruped robot to obtain the desired gait trajectories of each leg in the body coordinate system that are adapted to the target motion plane. Based on the limit cycle stability and convergence characteristics of the CPG oscillator, desired gait trajectories that can achieve cooperative motion effects in the forward direction of the body are planned for each of the four legs of the spider-like quadruped robot. This allows the spider-like quadruped robot to achieve highly stable gait motion in the forward direction of the body through the planned desired gait trajectories, thereby improving the adaptive adjustment capability of the foot trajectory to external disturbances and the stability of the robot's motion during actual movement.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram illustrating the composition of the spider-type quadruped robot provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the spider-type quadruped robot provided in the embodiments of this application; Figure 3 A flowchart illustrating the robot gait trajectory planning method provided in this application embodiment; Figure 4 for Figure 3 A flowchart illustrating the sub-steps included in step S220; Figure 5 A schematic diagram showing the convergence of the output signal of a single CPG oscillator in a phase plane that matches the target motion plane; Figure 6 for Figure 3 A flowchart illustrating the sub-steps included in step S230; Figure 7 A schematic diagram of the robot gait trajectory planning device provided in the embodiments of this application.

[0019] Icons: 10-Spider-type quadruped robot; 11-Memory; 12-Processor; 13-Communication unit; 14-CPG oscillator; 100-Robot gait trajectory planning device; 110-Gait parameter acquisition module; 120-Foot trajectory planning module; 130-Foot trajectory coupling module; 140-Foot trajectory phase separation module; 150-Gait trajectory conversion module. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0022] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0023] In the description of this application, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are used only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the equipment or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0024] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0025] Furthermore, it is understood in the description of this application that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0026] Through painstaking research, the applicant discovered that for low-cost spider-type quadruped robots, due to the limited degrees of freedom of each leg joint and the non-parallel rotational joints, the control scheme for spider-type quadruped robots typically struggles to simultaneously control the stride length in the forward direction, the offset motion in the lateral direction, and the leg lift height in the height direction. This makes it difficult for spider-type quadruped robots to directly plan the foot movement trajectory in the coronal plane (i.e., the plane constructed by the forward and height directions) in the world coordinate system, unlike quadruped robots with more degrees of freedom in their legs and parallel rotational joints (e.g., robot dogs). Consequently, spider-type quadruped robots struggle to achieve gait movement in the forward direction.

[0027] In this context, to address the aforementioned issues, this application provides a robot gait trajectory planning method and apparatus applicable to different types of spider-like quadruped robots, a spider-like quadruped robot, and a readable storage medium. This ensures that the corresponding spider-like quadruped robot can achieve highly stable gait motion in the forward direction of its body, thereby improving the spider-like quadruped robot's ability to adaptively adjust its foot trajectory in response to external disturbances and enhancing the robot's motion stability during actual movement.

[0028] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0029] Please refer to the reference. Figure 1 and Figure 2 ,in Figure 1 This is a schematic diagram of the composition of the spider-type quadruped robot 10 provided in the embodiments of this application. Figure 2 This is a schematic diagram of the structure of a spider-type quadruped robot 10 provided in this application embodiment. In this application embodiment, the spider-type quadruped robot 10 can respond to walking gait parameter requirements from a user, and based on these walking gait parameter requirements, plan highly stable desired gait trajectories for each of the four legs of the spider-type quadruped robot 10 to achieve coordinated movement in the forward direction of the robot body. This allows the planned desired gait trajectories to achieve highly stable gait movement in the forward direction of the robot body. When the spider-type quadruped robot 10 receives external interference during actual movement, it can directly adjust its foot trajectory based on the desired gait trajectory, and quickly recover the desired gait trajectory after escaping external interference to perform highly stable gait movement. This effectively improves the spider-type quadruped robot 10's ability to adaptively adjust its foot trajectory in response to external interference and enhances the robot's movement stability during actual movement. The walking gait parameter requirements may include the desired step length of the corresponding spider-type quadruped robot 10 in the forward direction of the robot body and the maximum leg lift height of the corresponding spider-type quadruped robot 10 in the leg lift direction of the robot body.

[0030] In this embodiment, the spider-like quadruped robot 10 can be a quadruped robot controlled by position, force, or a combination of force and position. The four legs of the spider-like quadruped robot can be divided into a left front leg, a right front leg, a left hind leg, and a right hind leg according to its forward direction. The joint degrees of freedom of a single leg of the spider-like quadruped robot 10 can be 3, 4, or 2. Figure 2 Taking the spider-type quadruped robot 10 shown as an example, Figure 2 The spider-like quadruped robot 10 shown has 2 degrees of freedom for each leg. The rotational joints involved in each leg can include the hip joint and the knee joint. The rotational axis of the hip joint extends perpendicularly to the rotational axis of the knee joint. The hip joint is relatively stationary with respect to the body structure of the spider-like quadruped robot 10. The hip joint does not move relative to the body structure during the robot's movement.

[0031] In this embodiment, the spider-like quadruped robot 10 may include a memory 11, a processor 12, a communication unit 13, a robot gait trajectory planning device 100, and four CPG oscillators 14. The memory 11, processor 12, communication unit 13, and four CPG oscillators 14 are electrically connected directly or indirectly to each other to achieve data transmission or interaction. For example, these components can be electrically connected via one or more communication buses or signal lines.

[0032] In this embodiment, the memory 11 may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory 11 is used to store computer programs, and the processor 12 can execute the computer programs accordingly after receiving execution instructions.

[0033] In this embodiment, the processor 12 can be an integrated circuit chip with signal processing capabilities. The processor 12 can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0034] In this embodiment, the communication unit 13 is used to establish a communication connection between the spider-like quadruped robot 10 and other electronic devices via a network, and to send and receive data through the network, wherein the network includes wired communication networks and wireless communication networks. For example, the spider-like quadruped robot 10 can obtain walking gait parameter requirements from a user-held control terminal through the communication unit 13, and plan corresponding high-steady-state expected gait trajectories for each of the four legs based on the walking gait parameter requirements.

[0035] In this embodiment, each of the four CPG oscillators 14 corresponds to one leg of the spider-like quadruped robot 10. Each CPG oscillator 14 can self-excite and plan an independent foot trajectory with stable trajectory and phase stability for its corresponding robot leg based on its limit cycle stability convergence characteristics in the phase plane. This allows the spider-like quadruped robot 10 to coordinate and couple the independent foot trajectories corresponding to the four robot legs, ensuring that the final desired gait trajectory can achieve a highly stable gait motion function in the forward direction of the robot body. The limit cycle stability convergence characteristics can be expressed as follows: if the output signal of the corresponding CPG oscillator deviates from the oscillator limit cycle, and the corresponding deviation position is any spatial position other than the center point of the oscillator limit cycle, then the CPG oscillator will automatically adjust the output signal to recover to the oscillator limit cycle in the shortest possible time.

[0036] In this embodiment, the robot gait trajectory planning device 100 includes at least one software function module that can be stored in the memory 11 in the form of software or firmware or embedded in the operating system of the spider-like quadruped robot 10. The processor 12 can be used to execute the executable modules stored in the memory 11, such as the software function modules and computer programs included in the robot gait trajectory planning device 100. The spider-like quadruped robot 10 can use the robot gait trajectory planning device 100, based on the limit cycle stability convergence characteristics of the CPG oscillator, to plan the desired gait trajectories for each of the four legs of the spider-like quadruped robot 10 in the body coordinate system of the spider-like quadruped robot 10, so as to achieve a cooperative motion effect in the forward direction of the body. This allows the spider-like quadruped robot 10 to achieve a highly stable gait motion function in the forward direction of the body through the planned desired gait trajectories, thereby improving the adaptive adjustment capability of the foot trajectory and the stability of the robot's motion in response to external interference during actual movement.

[0037] Wherein, the fuselage coordinate system (e.g.) Figure 2 coordinate system in G The coordinate system of the spider-like quadruped robot is adapted to its body posture in real time. The origin of this body coordinate system (e.g., ...) is... Figure 2 The origin in The center of mass of the body of the spider-like quadruped robot 10 can coincide with that of the body; the X-axis of this body coordinate system (e.g., Figure 2 In The positive direction of the Y-axis of the body coordinate system always points in the forward direction of the spider-like quadruped robot 10; the positive direction of the Y-axis of the body coordinate system (e.g., the positive direction of the Y-axis) always points in the forward direction of the body of the spider-like quadruped robot 10. Figure 2 In The positive direction of the Z-axis of this body coordinate system always points to the left side of the spider-like quadruped robot 10 in its current body posture, to represent the lateral movement direction of the spider-like quadruped robot 10 in its current body posture; the Z-axis of this body coordinate system (e.g., the positive direction of the axis) always points to the left side of the body of the spider-like quadruped robot 10 in its current body posture. Figure 2 In The positive direction of the axis always points to the direction in which the spider-like quadruped robot 10 raises its legs in its current body posture. The coordinate system of this body coordinate system... The plane is the plane formed by the forward direction of the body and the direction of the legs raised by the spider-type quadruped robot 10. It is also the target motion plane for the spider-type quadruped robot 10 to achieve high-stability gait movement in the forward direction of the body.

[0038] When the spider-like quadruped robot 10 achieves highly stable gait movement in its forward direction, its four legs are divided diagonally. The left front leg and right hind leg are grouped into one diagonal leg combination, and the right front leg and left hind leg into another. These two diagonal legs are then alternately used for support or swinging to ensure the robot can walk normally within the target motion plane in its forward direction. Specifically, when one diagonal leg combination is in a support phase (i.e., both legs are supported on the ground), the other diagonal leg combination is in a swinging phase (i.e., both legs are swinging in the air).

[0039] Therefore, for a complete gait movement of the spider-like quadruped robot 10, its corresponding gait cycle can be composed of a foot support phase of each of the two diagonal leg combinations. The first foot support phase of the aforementioned two foot support phases can be used to indicate that the left front leg and right hind leg of the spider-like quadruped robot 10 are in the support phase state, while the right front leg and left hind leg of the spider-like quadruped robot 10 are in the swing phase state. The second foot support phase of the aforementioned two foot support phases is used to indicate that the right front leg and left hind leg of the spider-like quadruped robot 10 are in the support phase state, while the left front leg and right hind leg of the spider-like quadruped robot are in the swing phase state. For a single foot support phase, the foot support phase is the time period from the foot of the corresponding leg structure from landing to leaving the ground.

[0040] In this case, for the spider-like quadruped robot 10, any two diagonally opposite legs of the spider-like quadruped robot 10 must maintain the same phase during actual movement, and any two off-diagonally opposite legs of the spider-like quadruped robot 10 must maintain a 180° phase difference during actual movement. Therefore, the oscillator phase distribution relationship among the four legs of the spider-like quadruped robot 10 can be described as "the oscillators of any two diagonally opposite legs have the same phase, and the oscillator phase difference between any two off-diagonally opposite legs is 180°". In one embodiment of this example, the oscillator phases corresponding to the left front leg, right front leg, left hind leg, and right hind leg of the spider-like quadruped robot 10 are 0, π (180°), π (180°), and 0, respectively.

[0041] Understandable Figure 1 and Figure 2 The block diagram shown is only a schematic diagram of one possible composition of the spider-type quadruped robot 10. The spider-type quadruped robot 10 may also include components that are larger than... Figure 1 or Figure 2 The more or fewer components shown, or having the same Figure 1 or Figure 2 The different configurations shown.

[0042] In this application, to ensure that the spider-like quadruped robot 10 can achieve stable convergence based on the limit cycle characteristics of the CPG oscillator, desired gait trajectories that can achieve coordinated movement in the forward direction of the body are planned for each of the four legs of the spider-like quadruped robot 10. This allows the spider-like quadruped robot 10 to achieve highly stable gait movement in the forward direction of the body through the planned desired gait trajectories, thereby improving the adaptive adjustment capability of the foot trajectory and the stability of the robot's movement in response to external disturbances during actual movement. This application provides a robot gait trajectory planning method to achieve the aforementioned objective. The robot gait trajectory planning method provided in this application will be described in detail below.

[0043] Please refer to Figure 3 , Figure 3 This is a flowchart illustrating the robot gait trajectory planning method provided in an embodiment of this application. In this embodiment, the robot gait trajectory planning method may include steps S210 to S250.

[0044] Step S210: Obtain the expected step length of the spider-like quadruped robot in the forward direction of the body, and the maximum leg lift height of the spider-like quadruped robot in the leg lift direction of the body.

[0045] Step S220: For each leg of the spider-like quadruped robot, the target CPG oscillator corresponding to that leg is invoked to perform foot trajectory planning based on the desired step length and maximum leg lift height, thereby obtaining the independent foot trajectory of that leg in the target motion plane.

[0046] In this embodiment, the spider-like quadruped robot 10 includes four legs, each corresponding to a CPG oscillator 14. Each CPG oscillator 14 can construct a foot coordinate system at the foot end position of the corresponding leg structure, so that the positive X-axis of the foot coordinate system always points to the forward direction of the spider-like quadruped robot 10, and the positive Z-axis of the foot coordinate system always points to the leg lifting direction of the spider-like quadruped robot 10 in the current body posture. Then, the limit loop trajectory of the CPG oscillator 14 involving the walking gait parameter requirements (including the expected step length and the maximum leg lifting height) is mapped to the XOZ plane of the foot coordinate system (i.e., the target motion plane), to obtain the independent foot trajectory of the leg structure corresponding to the CPG oscillator 14 in the target motion plane, so as to ensure that the constructed independent foot trajectory has the characteristics of trajectory stability and phase stability.

[0047] Alternatively, please refer to Figure 4 , Figure 4 yes Figure 3The flowchart of step S220 is shown below. In this embodiment, step S220 may include sub-steps S221 to S222 to plan an independent foot trajectory with stable trajectory and phase for each leg of the spider-like quadruped robot 10.

[0048] Sub-step S221: For each leg, obtain the coordinates of the center point of the limit loop in the phase plane that matches the target motion plane.

[0049] In this embodiment, the coordinates of the center points of the limit cycles corresponding to the four legs of the spider-like quadruped robot 10 can be the same or different. Figure 5 Taking the output signal convergence diagram of a single CPG oscillator 14 in a phase plane matching the target motion plane as an example, the horizontal axis of the CPG oscillator 14 in the corresponding phase plane matches the forward direction of the fuselage, and the vertical axis of the CPG oscillator 14 in the corresponding phase plane corresponds to the leg-raising direction of the fuselage. Figure 5 The coordinates of the center point of the limit cycle in the equation are the origin (0,0).

[0050] In sub-step S222, the desired step length, maximum leg lift height, and coordinates of the center point of the limit cycle corresponding to the leg are substituted into the oscillator control model of the target CPG oscillator corresponding to the leg to solve for the output signal, thereby obtaining the independent foot trajectory corresponding to the leg.

[0051] In this embodiment, the oscillator control model of the target CPG oscillator corresponding to a single leg is represented by the following formula: ; in, This is used to represent the output signal of the target CPG oscillator in the direction of fuselage advance. This is used to represent the output signal of the target CPG oscillator in the direction of the fuselage leg lift. This is used to represent the coordinate components of the center point of the limit ring corresponding to the leg in the forward direction of the fuselage. This is used to represent the coordinate components of the center point of the limit ring corresponding to the leg in the direction of the fuselage's leg lift. Used to represent the desired step size, Used to indicate the maximum leg lift height The oscillator frequency used to represent the target CPG oscillator. Used to represent output signal The differential, Used to represent output signal The differential, This is used to represent the convergence speed coefficient of the target CPG oscillator in the forward direction of the fuselage. This is used to represent the convergence velocity coefficient of the target CPG oscillator in the direction of the fuselage's lifting leg.

[0052] by Figure 5 Taking the output signal convergence diagram shown as an example, the coordinates of the center point of the limit cycle are in Figure 5 The corresponding origin coordinates are (0,0), and the desired step size is in Figure 5 The distance from the origin coordinates (0,0) to the limit loop curve along the horizontal axis is the maximum leg lift height. Figure 5 The distance from the origin coordinates (0,0) to the limit cycle curve along the vertical axis is represented by the distance from the origin coordinates (0,0). Figure 5 The limit loop curve shown is used to represent the mapping trajectory of the independent foot trajectory corresponding to the leg structure in the phase plane that matches the target motion plane.

[0053] Therefore, by executing the above sub-steps S221 to S222, this application can plan an independent foot trajectory with stable trajectory and phase for each leg of the spider-type quadruped robot 10.

[0054] Step S230: Based on the phase distribution relationship of the oscillators among the four legs of the spider-type quadruped robot, the trajectory coupling processing is performed on the independent foot trajectory corresponding to each of the four legs to obtain the target foot trajectory when the four legs move together in the target motion plane.

[0055] In this embodiment, to ensure that the spider-like quadruped robot 10 can achieve a stable gait walking effect, the desired gait trajectories corresponding to each of the four legs of the spider-like quadruped robot 10 must satisfy a specific phase difference relationship, so that the four legs of the spider-like quadruped robot 10 can move in coordination. Therefore, after obtaining the independent foot trajectory corresponding to each of the four legs, the spider-like quadruped robot 10 will perform trajectory coordination coupling on the independent foot trajectory corresponding to each of the four legs according to the preset oscillator phase distribution relationship between the four legs, so that the final target foot trajectory corresponding to each of the four legs can stably maintain the desired phase difference relationship, thereby ensuring that the target foot trajectory of each of the four legs can move in coordination within the target motion plane.

[0056] Alternatively, please refer to Figure 6 , Figure 6 yes Figure 3 The flowchart of step S230 includes the sub-steps. In this embodiment, step S230 may include sub-steps S231 and S232 to ensure that the target foot trajectory corresponding to each of the four legs can stably maintain the desired phase difference relationship, so as to realize the coordinated movement of the four legs in the target motion plane.

[0057] Sub-step S231: Take each of the four legs as the target leg in turn, and calculate the phase coupling rotation matrix of the target leg relative to the other three legs according to the phase distribution relationship of the oscillator.

[0058] The phase distribution relationship of the oscillators can be expressed as "the oscillators of any two legs on the diagonal of the four legs have the same phase, and the phase difference between the oscillators of any two legs off the diagonal of the four legs is 180°". When the spider-type quadruped robot 10 takes one of the four legs as the target leg, it is necessary to calculate the phase coupling rotation matrix of the target leg relative to each of the remaining three legs of the four legs, so as to characterize the phase coupling relationship between the CPG oscillator corresponding to the target leg and the CPG oscillator corresponding to any other leg by using the calculated phase coupling rotation matrix.

[0059] It is understood that the phase-coupled rotation matrix of the target leg of the spider-like quadruped robot 10 relative to any one of the other three legs is calculated using the following formula: ; in, Used to indicate the oscillator phase corresponding to the target leg. The oscillator phase is used to represent any one of the three legs other than the target leg. This is used to represent the phase-coupled rotation matrix of the target leg relative to any one of the other three legs.

[0060] Sub-step S232: Based on all the calculated phase-coupled rotation matrices and the independent foot trajectory corresponding to each of the other three legs, perform trajectory coordination adjustment on the independent foot trajectory corresponding to the target leg to obtain the target foot trajectory corresponding to the target leg.

[0061] The trajectory coordination adjustment operation for the target leg is represented by the following formula: ; in, A differential expression used to represent the trajectory of the target foot corresponding to the target leg. Used to represent the independent foot trajectory corresponding to the target leg. This is used to represent the trajectory component of the independent foot trajectory corresponding to the target leg in the forward direction of the fuselage. This is used to represent the trajectory component of the independent foot trajectory corresponding to the target leg in the direction of the fuselage leg lift. Used to represent the desired step size, Used to indicate the maximum leg lift height The oscillator frequency used to represent the CPG oscillator 14 corresponding to the target leg. This is used to represent the convergence speed coefficient of the CPG oscillator 14 corresponding to the target leg in the forward direction of the fuselage. This is used to represent the convergence velocity coefficient of the CPG oscillator 14 corresponding to the target leg in the direction of the fuselage leg raising. Used to represent the independent foot trajectory of any one of the three legs other than the target leg. This is used to represent the phase-coupled rotation matrix of the target leg relative to any one of the other three legs.

[0062] The spider-like quadruped robot 10 obtains the actual differential expression corresponding to the target foot trajectory of the target leg by solving the operation expression of the above-mentioned trajectory coordination adjustment operation. Then, by integrating the actual differential expression, the target foot trajectory of the target leg when it coordinates with the other three legs in the target motion plane is obtained.

[0063] Therefore, by executing the above sub-steps S231 to S232, this application can ensure that the target foot trajectory of each of the four legs can stably maintain the desired phase difference relationship, thereby realizing the coordinated movement of the four legs in the target motion plane.

[0064] Step S240: Perform high-pass filtering on the target foot trajectory corresponding to each of the four legs according to the preset leg lifting height threshold to obtain the expected foot trajectory of each of the four legs in the target motion plane.

[0065] In this embodiment, the spider-like quadruped robot 10 maintains a consistent preset leg lift height threshold for each of its four legs, so that the desired foot trajectory for each of the four legs can effectively ensure the stability of the body posture of the spider-like quadruped robot 10 when walking on the bottom surface. Specifically, for the target foot trajectory corresponding to each leg, the trajectory component of the target foot trajectory in the leg-lifting direction of the robot body can be high-pass filtered by the preset leg-lifting height threshold. This ensures that when the trajectory component of the target foot trajectory in the leg-lifting direction is less than or equal to the preset leg-lifting height threshold, it is directly set to the preset leg-lifting height threshold. Conversely, when the trajectory component of the target foot trajectory in the leg-lifting direction is greater than the preset leg-lifting height threshold, it remains unchanged. This divides the corresponding desired foot trajectory into two trajectory stages (i.e., a swing phase trajectory stage and a support phase trajectory stage). During the support phase trajectory stage, the desired foot trajectory maintains the support phase trajectory of the preset leg-lifting height threshold, and during the swing phase trajectory stage, it outputs a swing phase trajectory consistent with the target foot trajectory. This ensures that the spider-type quadruped robot 10 can achieve coordinated movement of all four legs when moving according to their respective desired foot trajectories, and achieve a highly stable periodic gait movement effect in the forward direction of the robot body. In one embodiment, the preset leg-lifting height threshold can be 0 mm.

[0066] It is understood that the high-pass filtering operation performed by the spider-type quadruped robot 10 on the trajectory of the target foot end of a single leg in the direction of the leg lifting can adjust the limit loop trajectory of the corresponding target foot end trajectory in the phase plane that matches the target motion plane into a semi-elliptical trajectory that is truncated by a straight line representing the preset leg lifting height threshold. At this time, the straight line trajectory of the bottom edge of the semi-elliptical trajectory corresponding to the preset leg lifting height threshold matches the support phase trajectory of the corresponding desired foot end trajectory, and the elliptical curve trajectory of the non-straight line trajectory of the semi-elliptical trajectory matches the swing phase trajectory of the corresponding desired foot end trajectory.

[0067] In one embodiment of this invention, a relatively smooth high-pass filter can be applied to the target foot trajectory of each leg. In this case, the high-pass filtering operation of the target foot trajectory corresponding to each leg in the direction of the fuselage leg lifting is represented by the following formula: ; in, This is used to represent the trajectory component of the desired foot trajectory corresponding to the leg in the direction of the fuselage leg lift. Used to represent trajectory components The differential, This is used to represent the trajectory component of the target foot trajectory corresponding to that leg in the direction of the fuselage's leg lift. Used to represent trajectory components The differential, and These parameters are used to represent the oscillator output signal tracking characteristics for that leg. This is used to represent the preset leg-lifting height threshold. Wherein, The Sigmoid function is related to the preset leg-lifting height threshold. The larger the value, the less smooth the trajectory components of the expected foot trajectory corresponding to that leg are in the support phase trajectory stage, but the higher the accuracy of the trajectory components of the expected foot trajectory corresponding to that leg in the support phase trajectory stage.

[0068] Step S250: Map the desired foot trajectory of each of the four legs in the target motion plane to the body coordinate system of the spider-like quadruped robot to obtain the desired gait trajectory of each of the four legs in the body coordinate system that is adapted to the target motion plane.

[0069] In this embodiment, after the spider-like quadruped robot 10 determines the desired foot trajectory of each of its four legs in the target motion plane, it maps the desired foot trajectory of the corresponding leg structure to the body coordinate system of the spider-like quadruped robot 10 according to the relative pose relationship between the foot coordinate system of each of the four legs and the body coordinate system of the spider-like quadruped robot 10. This yields the desired gait trajectory of each of the four legs of the spider-like quadruped robot 10 acting on the target motion plane in the body coordinate system that matches the current body posture. This allows the spider-like quadruped robot 10 to achieve a highly stable gait movement function in the forward direction of the body through the planned desired gait trajectory, and simultaneously improves the adaptive adjustment capability of the foot trajectory of the spider-like quadruped robot 10 in response to external interference and the stability of robot movement during actual movement.

[0070] Therefore, by executing the above steps S210 to S250, based on the limit cycle stability convergence characteristics of the CPG oscillator, this application plans the desired gait trajectories for the four legs of the spider-type quadruped robot 10 to achieve coordinated movement in the forward direction of the body. This enables the spider-type quadruped robot 10 to achieve highly stable gait movement in the forward direction of the body through the planned desired gait trajectories, thereby improving the adaptive adjustment capability of the foot trajectory and the stability of the robot's movement in response to external interference during actual movement.

[0071] In this application, to ensure that the spider-like quadruped robot 10 can execute the aforementioned robot gait trajectory planning method through the robot gait trajectory planning device 100, this application implements the aforementioned function by dividing the robot gait trajectory planning device 100 into functional modules. The specific composition of the robot gait trajectory planning device 100 provided in this application is described below.

[0072] Please refer to Figure 7 , Figure 7 This is a schematic diagram of the robot gait trajectory planning device 100 provided in this application embodiment. In this application embodiment, the robot gait trajectory planning device 100 may include a gait parameter acquisition module 110, a foot trajectory planning module 120, a foot trajectory coupling module 130, a foot trajectory phase separation module 140, and a gait trajectory conversion module 150.

[0073] The gait parameter acquisition module 110 is used to acquire the expected step length of the spider-type quadruped robot in the forward direction of the body, and the maximum leg lift height of the spider-type quadruped robot in the leg lift direction of the body.

[0074] The foot trajectory planning module 120 is used to call the target CPG oscillator corresponding to each leg of the spider-type quadruped robot to perform foot trajectory planning based on the expected step length and maximum leg lifting height, so as to obtain the independent foot trajectory of the leg in the target motion plane, where the target motion plane is the motion plane determined based on the forward direction of the robot body and the leg lifting direction of the robot body.

[0075] The foot trajectory coupling module 130 is used to perform trajectory coupling processing on the independent foot trajectories corresponding to each of the four legs according to the phase distribution relationship of the oscillators among the four legs of the spider-type quadruped robot, so as to obtain the target foot trajectory when the four legs move together in the target motion plane.

[0076] The foot trajectory phase separation module 140 is used to perform high-pass filtering on the target foot trajectory corresponding to each of the four legs according to a preset leg lifting height threshold, so as to obtain the expected foot trajectory of each of the four legs in the target motion plane.

[0077] The gait trajectory conversion module 150 is used to map the desired foot trajectory of each of the four legs in the target motion plane to the body coordinate system of the spider-type quadruped robot, so as to obtain the desired gait trajectory of each of the four legs in the body coordinate system that is adapted to the target motion plane.

[0078] It should be noted that the robot gait trajectory planning device 100 provided in this embodiment has the same basic principle and technical effect as the aforementioned robot gait trajectory planning method. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the above description of the robot gait trajectory planning method.

[0079] It is understood that the embodiments of this application can divide the robot gait trajectory planning device 100 into functional modules to varying degrees based on the various process embodiments of the above-described robot gait trajectory planning method. For example, each step function can be divided into a separate functional module, or two or more step functions can be integrated into one functional module. These functional modules can be implemented in hardware or software. It should be noted that the embodiments of this application provide... Figure 7 The functional module division shown is only an illustrative example and is merely a logical functional division. The robot gait trajectory planning device 100 described above may have other division methods in actual implementation.

[0080] Therefore, optionally, the gait parameter acquisition module 110, foot trajectory planning module 120, foot trajectory coupling module 130, foot trajectory phase separation module 140, and gait trajectory conversion module 150 can all be disassembled. For example, the gait parameter acquisition module 110, foot trajectory planning module 120, foot trajectory coupling module 130, foot trajectory phase separation module 140, and gait trajectory conversion module 150 can all be divided into more modules; the gait parameter acquisition module 110, foot trajectory planning module 120, foot trajectory coupling module 130, foot trajectory phase separation module 140, and gait trajectory conversion module 150 can also be integrated into one module. This application does not specifically limit the specific implementation of the gait parameter acquisition module 110, foot trajectory planning module 120, foot trajectory coupling module 130, foot trajectory phase separation module 140, and gait trajectory conversion module 150.

[0081] Furthermore, this application provides a readable storage medium storing a computer program, which, when executed by the aforementioned spider-like quadruped robot 10, implements the robot gait trajectory planning method disclosed in any possible implementation of the above-described method embodiments. The aforementioned readable storage medium may be, but is not limited to, various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0082] In summary, in the robot gait trajectory planning method and apparatus, spider-like quadruped robot, and readable storage medium provided in this application embodiment, after obtaining the expected step length and maximum leg lift height corresponding to the forward movement direction and the leg lift direction of the spider-like quadruped robot, this application calls the target CPG oscillator corresponding to that leg to perform foot trajectory planning based on the expected step length and maximum leg lift height for each leg of the spider-like quadruped robot. This obtains the independent foot trajectory of that leg in the target motion plane that matches the forward movement direction and the leg lift direction of the quadruped robot. Furthermore, based on the oscillator phase distribution relationship among the four legs of the spider-like quadruped robot, trajectory coupling processing is performed on the independent foot trajectories corresponding to each of the four legs to obtain the target foot trajectory when the four legs move collaboratively in the target motion plane. Then, based on a preset leg lift height threshold, the trajectory is further processed... The target foot trajectories of each of the four legs are high-pass filtered to obtain the desired foot trajectories of each leg in the target motion plane, including the support phase trajectory and the swing phase trajectory. Finally, the desired foot trajectories of each of the four legs are mapped to the body coordinate system of the spider-like quadruped robot to obtain the desired gait trajectories of each leg in the body coordinate system that are adapted to the target motion plane. Based on the limit cycle stable convergence characteristics of the CPG oscillator, desired gait trajectories that can achieve cooperative motion effects in the forward direction of the body are planned for each of the four legs of the spider-like quadruped robot. This allows the spider-like quadruped robot to achieve highly stable gait motion in the forward direction of the body through the planned desired gait trajectories, thereby improving the adaptive adjustment capability of the foot trajectory to external disturbances and the stability of the robot's motion during actual movement.

[0083] The above descriptions are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for planning robot gait trajectory, characterized in that, The method, applied to a spider-like quadruped robot, wherein each of the four legs of the spider-like quadruped robot is equipped with a CPG oscillator, comprises: Obtain the desired step length of the spider-like quadruped robot in the forward direction of its body, and the maximum leg lift height of the spider-like quadruped robot in the leg lift direction of its body; For each leg of the spider-like quadruped robot, the target CPG oscillator corresponding to that leg is invoked to perform foot trajectory planning based on the expected step length and the maximum leg lift height, thereby obtaining the independent foot trajectory of that leg in the target motion plane, wherein the target motion plane is the motion plane determined based on the forward direction of the robot body and the leg lift direction of the robot body; Based on the phase distribution relationship of the oscillators among the four legs of the spider-like quadruped robot, the trajectory coupling processing is performed on the independent foot trajectory corresponding to each of the four legs to obtain the target foot trajectory when the four legs move together in the target motion plane. Based on a preset leg-lifting height threshold, the target foot trajectory corresponding to each of the four legs is subjected to high-pass filtering to obtain the expected foot trajectory of each of the four legs in the target motion plane. Specifically, for the target foot trajectory corresponding to each leg, the trajectory component of the target foot trajectory in the fuselage leg-lifting direction is high-pass filtered by the preset leg-lifting height threshold, so that when the trajectory component of the target foot trajectory in the fuselage leg-lifting direction is less than or equal to the preset leg-lifting height threshold, it is directly set to the preset leg-lifting height threshold, and when the trajectory component of the target foot trajectory in the fuselage leg-lifting direction is greater than the preset leg-lifting height threshold, it remains unchanged. The desired foot trajectory of each of the four legs in the target motion plane is mapped to the body coordinate system of the spider-like quadruped robot to obtain the desired gait trajectory of each of the four legs in the body coordinate system that is adapted to the target motion plane.

2. The method according to claim 1, characterized in that, The step of calling the target CPG oscillator corresponding to each leg of the spider-like quadruped robot to perform foot trajectory planning based on the desired step length and the maximum leg lift height, and obtaining the independent foot trajectory of that leg in the target motion plane, includes: For each leg, obtain the coordinates of the center point of the limit loop in the phase plane that matches the target motion plane; The desired step length, the maximum leg lift height, and the coordinates of the center point of the limit cycle corresponding to the leg are substituted into the oscillator control model of the target CPG oscillator corresponding to the leg to solve for the output signal, thereby obtaining the independent foot trajectory corresponding to the leg.

3. The method according to claim 2, characterized in that, The oscillator control model for the target CPG oscillator corresponding to a single leg is represented by the following formula: ； in, This is used to represent the output signal of the target CPG oscillator in the direction of fuselage advance. This is used to represent the output signal of the target CPG oscillator in the direction of the fuselage leg lift. This is used to represent the coordinate components of the center point of the limit ring corresponding to the leg in the forward direction of the fuselage. This is used to represent the coordinate components of the center point of the limit ring corresponding to the leg in the direction of the fuselage's leg lift. Used to represent the desired step size, Used to indicate the maximum leg lift height The oscillator frequency used to represent the target CPG oscillator. Used to represent output signal The differential, Used to represent output signal The differential, This is used to represent the convergence speed coefficient of the target CPG oscillator in the forward direction of the fuselage. This is used to represent the convergence velocity coefficient of the target CPG oscillator in the direction of the fuselage lifting leg.

4. The method according to claim 1, characterized in that, The step of performing trajectory coupling processing on the independent foot trajectory corresponding to each of the four legs based on the oscillator phase distribution relationship among the four legs of the spider-like quadruped robot to obtain the target foot trajectory when the four legs move collaboratively in the target motion plane includes: Each of the four legs is taken as the target leg in turn, and the phase coupling rotation matrix of the target leg relative to the other three legs is calculated according to the phase distribution relationship of the oscillator. Based on all the calculated phase-coupled rotation matrices and the independent foot trajectory corresponding to each of the other three legs, the independent foot trajectory corresponding to the target leg is adjusted in a coordinated manner to obtain the target foot trajectory corresponding to the target leg.

5. The method according to claim 4, characterized in that, The oscillators of any two diagonally opposite legs of the four legs have the same phase, and the phase difference between the oscillators of any two off-diagonally opposite legs is 180°. The phase coupling rotation matrix of the target leg of the spider-like quadruped robot relative to any one of the other three legs is calculated using the following formula: ； in, Used to indicate the oscillator phase corresponding to the target leg. The oscillator phase is used to represent any one of the three legs other than the target leg. This is used to represent the phase-coupled rotation matrix of the target leg relative to any one of the other three legs.

6. The method according to claim 4, characterized in that, The trajectory coordination adjustment operation for the target leg is represented by the following formula: ； in, A differential expression used to represent the trajectory of the target foot corresponding to the target leg. Used to represent the independent foot trajectory corresponding to the target leg. This is used to represent the trajectory component of the independent foot trajectory corresponding to the target leg in the forward direction of the fuselage. This is used to represent the trajectory component of the independent foot trajectory corresponding to the target leg in the direction of the fuselage leg lift. Used to represent the desired step size, Used to indicate the maximum leg lift height The oscillator frequency used to represent the CPG oscillator corresponding to the target leg. This is used to represent the convergence velocity coefficient of the CPG oscillator corresponding to the target leg in the forward direction of the fuselage. This is used to represent the convergence velocity coefficient of the CPG oscillator corresponding to the target leg in the direction of the fuselage leg raising. Used to represent the independent foot trajectory of any one of the three legs other than the target leg. This is used to represent the phase-coupled rotation matrix of the target leg relative to any one of the other three legs.

7. The method according to any one of claims 1-6, characterized in that, The high-pass filtering operation of the target foot trajectory corresponding to each leg in the direction of the fuselage leg lift is represented by the following formula: ； in, This is used to represent the trajectory component of the desired foot trajectory corresponding to the leg in the direction of the fuselage leg lift. Used to represent trajectory components The differential, This is used to represent the trajectory component of the target foot trajectory corresponding to that leg in the direction of the fuselage's leg lift. Used to represent trajectory components The differential, and These parameters are used to represent the oscillator output signal tracking characteristics for that leg. This is used to represent the preset leg-lifting height threshold.

8. A robot gait trajectory planning device, characterized in that, An apparatus for use in a spider-like quadruped robot, wherein each of the four legs of the spider-like quadruped robot is equipped with a CPG oscillator, the apparatus comprising: The gait parameter acquisition module is used to acquire the expected stride length of the spider-like quadruped robot in the forward direction of the body, and the maximum leg lift height of the spider-like quadruped robot in the leg lift direction of the body; The foot trajectory planning module is used to call the target CPG oscillator corresponding to each leg of the spider-type quadruped robot to perform foot trajectory planning based on the expected step length and the maximum leg lifting height, so as to obtain the independent foot trajectory of the leg in the target motion plane, wherein the target motion plane is the motion plane determined based on the forward direction of the robot body and the leg lifting direction of the robot body; The foot trajectory coupling module is used to perform trajectory coupling processing on the independent foot trajectories corresponding to each of the four legs according to the oscillator phase distribution relationship between the four legs of the spider-type quadruped robot, so as to obtain the target foot trajectory when the four legs move together in the target motion plane. The foot trajectory phase separation module is used to perform high-pass filtering on the target foot trajectory corresponding to each of the four legs according to a preset leg lift height threshold, so as to obtain the expected foot trajectory of each of the four legs in the target motion plane; wherein, for the target foot trajectory corresponding to each leg, the trajectory component of the target foot trajectory in the fuselage leg lift direction is high-pass filtered by the preset leg lift height threshold, so that when the trajectory component of the target foot trajectory in the fuselage leg lift direction is less than or equal to the preset leg lift height threshold, it is directly set to the preset leg lift height threshold, and the trajectory component of the target foot trajectory in the fuselage leg lift direction remains unchanged when it is greater than the preset leg lift height threshold; The gait trajectory conversion module is used to map the desired foot trajectory of each of the four legs in the target motion plane to the body coordinate system of the spider-type quadruped robot, so as to obtain the desired gait trajectory of each of the four legs in the body coordinate system that is adapted to the target motion plane.

9. A spider-like quadruped robot, characterized in that, It includes a processor and a memory, the memory storing a computer program that can be executed by the processor, the processor executing the computer program to implement the robot gait trajectory planning method according to any one of claims 1-7.

10. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the spider-type quadruped robot, it implements the robot gait trajectory planning method according to any one of claims 1-7.

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