Biped robot, control method and device thereof, and storage medium

Abstract

The application discloses a double-wheel-leg robot and a control method and device thereof and a storage medium. The robot is composed of a trunk and a wheel-leg part. A single leg is composed of a thigh and a shank in series, and the single leg comprises a hip joint, a knee joint and a wheel joint, and is respectively equipped with a driving motor. The driving motor of the knee joint is arranged in the trunk. After receiving a jumping instruction, a jumping stage in which the robot is currently located is monitored. In the process that the robot is in a ground stage, a ground balance controller is used to control the torque of each joint of the robot. In the process that the robot is in a floating stage, a floating balance controller is used to control the torque of each joint of the robot. The application subdivides the jumping stage of the double-wheel-leg robot according to the action continuity of jumping, sets the balance controllers corresponding to different stages, and uses different balance control strategies for the two different balance controllers, so that the stability of the whole jumping process of the double-wheel-leg robot can be improved.

Description

[0001] This application claims priority to Chinese Patent Application No. 202310549477.4, filed on May 16, 2023, entitled "Two-wheeled legged robot and its control method, device and storage medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of mobile robot technology, and more specifically, to a two-wheeled legged robot and its control method, device, and storage medium. Background Technology

[0003] Two-wheeled legged robots are a type of mobile robotic device. These robots combine the advantages of wheeled and legged robots, possessing both the speed of wheeled movement and the adaptability of legged robots. They can adapt to more terrains and are widely used in military, exploration, rescue, and service fields.

[0004] Most existing bipedal robots can only achieve balance control on the ground, and a few can achieve aerial jumps. However, the aerial jump phase of bipedal robots has not been studied in detail. Usually, a uniform balance control strategy is used to control the ground movements and aerial jumps of bipedal robots, which results in poor stability of the jumping movements of bipedal robots. Summary of the Invention

[0005] In view of the above problems, this application is made to provide a two-wheeled legged robot and its control method, device, and storage medium, so as to improve the stability of the control of the jumping process of the two-wheeled legged robot. The specific solution is as follows:

[0006] Firstly, a robot control method is provided, applied to the control process of a two-wheeled legged robot, the method comprising:

[0007] Upon receiving a jump command, monitor the robot's real-time jump phase, which includes a ground phase and an airborne phase.

[0008] During the robot's ground-based phase, a preset ground balance controller is used to control the output torque of each joint of the robot in order to maintain the robot's balance on the ground.

[0009] During the aerial phase of the robot, a preset aerial balance controller is used to control the output torque of each joint of the robot in order to maintain the robot's balance in the air.

[0010] Preferably, the ground phase includes three sub-phases, which are in chronological order as follows: the leg-retracting squatting phase, the leg-extending rising phase, and the ground-lifting detection phase;

[0011] During the robot's ground-based phase, a preset ground balance controller controls the output torque of each joint of the robot, including:

[0012] After receiving the jump command, the robot checks whether its current posture meets the preset jump conditions. If so, it enters the squatting phase.

[0013] During the leg-retracting and squatting phase: the height planner adjusts the robot height to the desired height H0 within the first set time, and then enters the leg-extending and rising phase;

[0014] During the leg extension and ascent phase: the height planner adjusts the robot height to the desired height H1 within a second set time, and enters the ground lift detection phase after the end of the second set time.

[0015] During the takeoff detection phase: Check whether the robot's height has reached the set appropriate takeoff height H. p If not, the jump command is terminated; if yes, it is determined that the aircraft can leave the ground and enter the airborne phase.

[0016] In the ground phase, the ground balance controller is used to control the output torque of each joint of the robot.

[0017] Preferably, detecting whether the robot's current posture meets preset jump conditions includes:

[0018] Obtain the current pitch angle of the robot's body and the robot's height;

[0019] If neither the pitch angle nor the height exceeds a preset jump threshold, the preset jump condition is deemed met; otherwise, the preset jump condition is deemed not met.

[0020] Preferably, the take-off phase includes three sub-phases, which are in chronological order as follows: take-off leg retraction phase, landing leg extension phase, and landing detection phase;

[0021] During the robot's airborne phase, a preset airborne balance controller controls the output torque of each joint of the robot, including:

[0022] During the aerial leg retraction phase: the ground balance controller is switched to the aerial balance controller, and the height planner is used to adjust the robot height to the desired height H2 within the third set time, and then the robot enters the descent and leg extension phase.

[0023] During the landing and leg extension phase: the height planner adjusts the robot height to the desired height H3 within a fourth set time period, and enters the landing detection phase after the end of the fourth set time period;

[0024] During the landing detection phase: based on the robot's status data, determine whether the landing conditions are met; if so, determine that the robot has landed.

[0025] Specifically, during the take-off phase, the take-off balance controller is used to control the output torque of each joint of the robot.

[0026] Preferably, during the take-off and leg-retraction phase, the robot's height is adjusted to the desired height H2 within a third set time period using a height planner, including:

[0027] During the take-off and leg retraction phase, a cubic spline interpolation function is used to plan the retraction height of the robot within the third set time period, and the robot height is adjusted to the desired height H2 according to the plan.

[0028] Preferably, during the leg extension phase of the descent, the robot's height is adjusted to the desired height H3 within a fourth set time period using a height planner, including:

[0029] During the descent and leg extension phase, a cubic spline interpolation function is used to plan the robot's leg extension height within the fourth set time period, and the robot height is adjusted to the desired height H3 according to the plan.

[0030] Preferably, determining whether the landing conditions are met based on the robot's state data includes:

[0031] Obtain the vertical acceleration of the robot's torso.

[0032] Obtain the input torque T of the knee joint motor k ;

[0033] The support force F on the robot's drive wheel was obtained through force analysis. N ;

[0034] If any one or more of the following conditions are met, then the landing condition is deemed met:

[0035] Greater than the threshold

[0036] T k Greater than the threshold

[0037] F N Greater than the threshold

[0038] Preferably, the jump phase further includes a landing buffer phase, which is entered after landing is determined in the landing detection phase;

[0039] During the landing buffer phase: the robot height is adjusted to the desired height H4 within the fifth set time using the height planner, and the following controller switching strategy is adopted:

[0040] The set buffer duration t after entering the landing buffer phase buffer Within this timeframe, detect whether the robot's forward speed is less than a threshold v. buffer When the robot's forward speed is detected to be less than the threshold v buffer When the set buffer time t is reached, the airborne balance controller will be switched to the ground balance controller. buffer The robot's forward speed did not decrease to the threshold v. buffer The following refers to the set buffer duration t. buffer After completion, a prompt will be displayed to remind the user to manually switch to the ground balance controller.

[0041] Preferably, after switching the airborne balance controller to a ground balance controller, the method further includes:

[0042] Clear the robot's displacement x to zero;

[0043] Change the robot's reference state variable to X at the current moment. ref The X ref The state variable representing the robot's velocity is the current robot velocity. All other state variables are 0.

[0044] Secondly, a robot control device is provided for controlling a two-wheeled legged robot. The device includes:

[0045] The jump phase determination unit is used to monitor the real-time jump phase of the robot after receiving a jump command. The jump phase includes the ground phase and the airborne phase.

[0046] The ground control unit is used to control the output torque of each joint of the robot during the robot's ground phase using a preset ground balance controller, so as to maintain the robot's balance on the ground.

[0047] The take-off control unit is used to control the output torque of each joint of the robot during the take-off phase using a preset take-off balance controller, so as to maintain the robot's balance in the air.

[0048] Thirdly, a two-wheeled legged robot is provided, comprising:

[0049] The torso includes left and right thighs connected to the torso, left and right lower legs connected in series with the left and right thighs, and left and right drive wheels connected to the left and right lower legs. A hip joint is provided at the connection between the thigh and the torso, a knee joint is provided at the connection between the thigh and the lower leg, and a wheel joint is provided at the connection between the lower leg and the drive wheel. The drive wheel is driven by a wheel joint motor provided at the wheel joint.

[0050] Hip joint motor located at the hip joint;

[0051] Two knee joint motors are installed inside the torso, each used to drive one of the two knee joints;

[0052] The controller, located inside the torso, is used to control the robot according to the aforementioned control method.

[0053] Preferably, the two knee joint motors are connected to the left and right knee joints respectively via synchronous belts.

[0054] Fourthly, a storage medium is provided on which a computer program is stored, which, when executed by a processor, implements the various steps of the robot control method as described above.

[0055] Using the above technical solution, this application controls the two-wheeled legged robot's jumping process. Upon receiving a jump command, it monitors the robot's real-time jumping phase, which can be divided into a ground phase and an airborne phase. During the ground phase, a preset ground balance controller controls the output torque of each joint to maintain the robot's balance on the ground. During the airborne phase, a preset airborne balance controller controls the output torque of each joint to maintain the robot's balance in the air. Therefore, this application subdivides the jumping process of the two-wheeled legged robot into ground and airborne phases to ensure the continuity of the jumping action. Since the robot experiences different forces in different phases, this application specifically sets up a ground balance controller corresponding to the ground phase and an airborne balance controller corresponding to the airborne phase. These two different balance controllers employ different balance control strategies, which can improve the stability of the two-wheeled legged robot throughout the entire jumping process. Attached Figure Description

[0056] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0057] Figure 1A schematic diagram of the structural composition of the two-wheeled legged robot provided in the embodiments of this application;

[0058] Figure 2 A flowchart illustrating a control method for a two-wheeled legged robot provided in this application embodiment;

[0059] Figure 3 A schematic diagram illustrating the multi-stage division of the jumping process of a two-wheeled legged robot is provided.

[0060] Figure 4 A flowchart illustrating another control method for a two-wheeled legged robot provided in this application embodiment;

[0061] Figure 5 This is a schematic diagram of a robot control device provided in an embodiment of this application. Detailed Implementation

[0062] 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. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0063] This application provides a control scheme for a two-wheeled legged robot, which can be applied to the balance control of a two-wheeled legged robot.

[0064] A bipedal robot is a robotic structure that uses a wheel-leg structure to control the movement of its torso. It has two wheel-leg structures. Because the contact points between the robot and the ground are limited to the wheels, balance control issues arise when the wheel-leg arrangement itself is unstable. The wheel-leg structure refers to the drive structure consisting of jointed leg structures and wheel structures.

[0065] This application provides an optional structural configuration for a two-wheeled legged robot, such as... Figure 1 As shown, the two-wheeled legged robot includes a torso 100 and two wheeled legs on the left and right sides.

[0066] Each leg includes a thigh 201, a lower leg 202 connected in series with the thigh 201, and a drive wheel 203 connected to the lower leg 202. A hip joint 204 is provided at the connection between the thigh 201 and the torso 100. The thigh 201 and the lower leg 202 are connected by a knee joint 205. A wheel joint 206 is provided at the connection between the lower leg 202 and the drive wheel 203.

[0067] The drive wheel 203 is driven by a wheel joint motor located at the wheel joint 206.

[0068] A hip joint motor is provided at the hip joint 204 to drive the hip joint 204.

[0069] The torso 100 is equipped with two knee joint motors, which are used to drive the two knee joints 205 respectively.

[0070] The torso 100 also contains a controller for balancing the two-wheeled robot.

[0071] As shown above, the two-wheeled legged robot provided in this embodiment includes a torso, two thighs (left and right), two lower legs (left and right), and two drive wheels (left and right). The thighs and lower legs form a series structure, which is more flexible and allows for richer posture changes. Each wheeled leg includes three joints: a hip joint, a knee joint, and a wheel joint, and is equipped with corresponding hip joint motors, knee joint motors, and wheel joint motors. Thus, a two-wheeled legged robot with a 6-motor structure is formed.

[0072] Furthermore, this application places the drive motor of the hip joint (hip joint motor) inside the torso instead of directly at the hip joint, which can reduce the weight of the legs and avoid the robot's center of gravity being too low, thus increasing the difficulty of control.

[0073] Based on this, the knee joint motor and the knee joint can be connected through a transmission structure. Transmission structures include, but are not limited to, crank-rocker, chain drive, synchronous belt, ball screw, and hydraulic transmission. In this embodiment, considering the advantages and disadvantages of various transmission structures, and taking into account the advantages of synchronous belt transmission such as low noise, high transmission accuracy, and simple structure, and considering that the symmetry of the tandem leg structure provided in this embodiment can fully utilize the large range of motion of the tandem legs, the synchronous belt transmission structure can be preferentially selected.

[0074] Synchronous belt drives also include various tooth profiles, such as trapezoidal teeth, special tooth profiles, full circular arc teeth, and semi-circular arc teeth, which are suitable for different precision and load conditions. In specific applications, the appropriate tooth profile can be selected according to the different working conditions and load conditions of the robot.

[0075] Furthermore, the interior of the torso can also house inertial measurement units (IMUs), motor drive modules, power management modules, and more.

[0076] The bipedal robot provided in this application, through its tandem thigh and lower leg structure, enhances the robot's mobility and enriches the diversity of its movement postures. Furthermore, by placing the knee joint drive motor within the torso, it avoids the problems of an excessively low center of gravity and excessive control difficulty caused by directly placing the drive motor at the knee joint. Additionally, the knee joint motor and the knee joint can be connected via a synchronous belt drive structure. The symmetry of the synchronous belt drive fully utilizes the large range of motion of the tandem legs and also offers advantages such as low noise, high transmission accuracy, and simple structure.

[0077] In some embodiments of this application, a control method for a two-wheeled legged robot is further provided, detailed in reference to... Figure 2 As shown, the method may include the following steps:

[0078] Step S100: After receiving the jump command, monitor the real-time jump stage of the robot, which includes the ground stage and the airborne stage.

[0079] Specifically, when a robot switches between different jump phases, corresponding detection strategies can be set to detect the robot's current jump phase. For example, when switching from the ground phase to the airborne phase, a takeoff detection strategy can be set to determine that the robot has entered the airborne phase once the takeoff condition is met. Similarly, when switching from the airborne phase to the ground phase, a landing detection strategy can be set to determine that the robot has entered the ground phase once the landing condition is met.

[0080] Step S110: During the process of the robot being on the ground, a preset ground balance controller is used to control the output torque of each joint of the robot in order to maintain the robot's balance on the ground.

[0081] Specifically, in order to better adapt the control strategy of the robot at different stages, this application can pre-set a ground balance controller. When the robot is on the ground, the ground balance controller can be used to control the joint output torque of the robot to maintain the robot's balance control on the ground.

[0082] Step S120: During the airborne phase of the robot, a preset airborne balance controller is used to control the output torque of each joint of the robot in order to maintain the robot's balance in the air.

[0083] Similarly, in order to better adapt the control strategy of the robot at different stages, this application can further pre-set the airborne balance controller. When the robot is in the airborne stage, the airborne balance controller can be used to control the joint output torque of the robot to maintain the robot's balance control in the air.

[0084] The robot control method provided in this application subdivides the jumping phase of the two-wheeled legged robot into a ground phase and an airborne phase to ensure the continuity of the jumping action. Since the force situation of the robot is different in different phases, this application specifically sets up a ground balance controller corresponding to the ground phase and an airborne balance controller corresponding to the airborne phase. The two different balance controllers adopt different balance control strategies, which can improve the stability of the two-wheeled legged robot in the entire jumping process and reduce the difficulty of implementing continuous jumping.

[0085] Combination Figure 3 The example diagram illustrates the multi-stage division of the jumping process of a two-wheeled legged robot. After receiving the jump command, the robot first enters the ground stage, which can be further divided into three sub-stages, in chronological order: the leg retraction and squatting stage, the leg extension and rising stage, and the lift-off detection stage. Figure 3 (The off-ground detection phase is not shown in the image).

[0086] Upon receiving a jump command, the robot checks whether its current posture meets the preset jump conditions. If so, it enters the squatting phase; otherwise, the jump command is terminated.

[0087] This embodiment provides an optional implementation method for determining jump conditions, specifically:

[0088] Obtain the current pitch angle of the robot's body and the robot's height.

[0089] If neither the pitch angle nor the height exceeds a preset jump threshold, the preset jump condition is deemed met; otherwise, the preset jump condition is deemed not met.

[0090] Understandably, in order to ensure the robot's take-off height, the robot's pitch angle cannot be too large before take-off, and the robot's height cannot be too high, otherwise it is easy to cause take-off failure.

[0091] During the leg-retracting and squatting phase: the height planner adjusts the robot's height to the desired height H0 within the first set time, and then enters the leg-extending and rising phase.

[0092] Generally, in order to provide sufficient space for take-off, after determining that the jumping conditions are met, the robot first enters the squatting phase, that is, the robot plans the descent height of the robot within a first set time through the height planner, and adjusts the robot height according to the planned descent height until the desired height H0 is reached at the end of the first set time, and then enters the leg extension and ascent phase.

[0093] During the leg extension and ascent phase: The height of the robot is adjusted to the desired height H1 within a second set time by the height planner, and the robot enters the ground lift detection phase after the end of the second set time.

[0094] Specifically, after the robot enters the leg extension and ascent phase, a height planner is used to plan the robot's ascent height within a second set time period, and the robot's height is adjusted according to the planned ascent height until the desired height H1 is reached at the end of the second set time period, after which the robot enters the ground clearance detection phase.

[0095] Wherein, the desired height H1 is greater than the desired height H0. Generally, considering that the height planner may experience delays during the height tracking process, the desired height H1 can be set to a value slightly greater than the appropriate takeoff height H. p The value of the appropriate take-off height H p This is a pre-calculated takeoff height value that can support the robot to complete a jump.

[0096] During the takeoff detection phase: Check whether the robot's height has reached the set appropriate takeoff height H. p If not, the jump command is terminated; if yes, it is determined that the aircraft can leave the ground and enter the airborne phase.

[0097] As explained above, due to potential delays in the height tracking process by the height planner, the robot's height may not have reached the appropriate take-off height H by the end of the second set time. p Therefore, after entering the takeoff detection phase, it is necessary to check whether the robot's height has reached the appropriate takeoff height H. p If the target is not reached, the jump command is terminated; if the target is reached, the robot is allowed to leave the ground and enter the airborne phase.

[0098] Throughout the robot's ground-based phase, a ground balance controller is used to control the output torque of each joint.

[0099] Furthermore, still combined Figure 3 As shown, after the robot enters the airborne phase, this phase can be further divided into three sub-phases, in chronological order: the airborne leg retraction phase, the descent leg extension phase, and the... Figure 3 The example only illustrates the flight phase and does not show the evolution of the takeoff leg retraction phase and the landing leg extension phase, nor the landing detection phase.

[0100] As described in the foregoing embodiments, the last sub-stage of the robot's ground phase can be the takeoff detection stage. After determining that the robot can take off from the ground in the takeoff detection stage, it can enter the airborne leg retraction stage.

[0101] During the aerial leg retraction phase: the ground balance controller is switched to the aerial balance controller, and the height planner is used to adjust the robot height to the desired height H2 within the third set time, after which the robot enters the descent and leg extension phase.

[0102] Specifically, after entering the airborne leg-retraction phase, in order to actively jump and improve the robot's jumping and obstacle-crossing capabilities, a height-planned leg-retraction strategy can be adopted during this phase. A height planner is used to plan the robot's descent height within a third set time period, and the robot's height is adjusted according to the planned descent height until the desired height H2 is reached at the end of the third set time period, after which the robot enters the descent and leg-extending phase.

[0103] During the landing and leg extension phase: The height of the robot is adjusted to the desired height H3 within a fourth set time using the height planner, and the landing detection phase begins after the end of the fourth set time.

[0104] Specifically, after the robot enters the landing leg extension phase, considering the significant impact upon landing, cushioning is necessary. Therefore, the robot retracts its legs through height planning after entering the landing leg extension phase. A height planner is used to plan the robot's ascent height within a fourth set time period, and the robot's height is adjusted according to the planned ascent height until the desired height H3 is reached at the end of the fourth set time period, after which the landing detection phase begins.

[0105] During the landing detection phase: Based on the robot's status data, determine whether the landing conditions are met. If so, the robot is considered to have landed; otherwise, the robot is considered to still be in the air.

[0106] This embodiment provides several optional landing detection methods, such as:

[0107] Pressure sensors can be installed on the drive wheels of a two-wheeled legged robot to detect the support force F acting on the drive wheels. N .

[0108] In addition, in this embodiment, the supporting force F on the drive wheel can be analyzed using force analysis. N .

[0109] The support force F received on the drive wheel N Then, based on this support force F N Perform landing determination, for example:

[0110] If we determine the supporting force F N Greater than the threshold If the robot lands, it can be determined that it has landed; otherwise, it is determined that the robot is still in the air.

[0111] Furthermore, this embodiment also provides a multi-threshold landing detection strategy, specifically:

[0112] Obtain the vertical acceleration of the robot's torso.

[0113] Obtain the input torque T of the knee joint motor k ;

[0114] Obtain the support force F on the drive wheel N ;

[0115] If any one or more of the following conditions are met, then the landing condition is deemed met:

[0116] Greater than the threshold

[0117] T k Greater than the threshold

[0118] F N Greater than the threshold

[0119] By employing a multi-threshold judgment strategy, it is possible to more accurately determine whether the robot has landed, thereby improving the accuracy of landing detection.

[0120] It should be noted that throughout the entire process of the robot being airborne, the output torque of each joint of the robot is controlled by an airborne balance controller.

[0121] Furthermore, for the above-mentioned robot in the airborne leg-retraction phase, the process of adjusting the robot height to the desired height H2 within the third set time period through the height planner, in order to ensure the continuity of the robot's longitudinal height, speed and acceleration, a cubic spline interpolation function can be used to plan the robot's leg-retraction height within the third set time period during the airborne leg-retraction phase, and the robot height can be adjusted to the desired height H2 according to the plan.

[0122] Similarly, for the process of adjusting the robot's height to the desired height H3 within the fourth set time period during the landing and leg extension phase of the robot, in order to ensure the continuity of the robot's longitudinal height, speed and acceleration, a cubic spline interpolation function can also be used to plan the robot's leg extension height within the fourth set time period during the landing and leg extension phase, and adjust the robot's height to the desired height H3 according to the plan.

[0123] For cubic spline interpolation functions, the initial and final states can be fitted with a cubic function line, which can ensure the continuity of the height reference value at each intermediate time point.

[0124] In some embodiments of this application, after the landing detection stage determines that the robot has landed, the process can directly proceed to the ground stage. Alternatively, to buffer the robot's landing, a landing buffer stage can be added, as described above. Figure 3 As shown (corresponding) Figure 3(The landing status in the example) After landing is determined in the aforementioned landing detection phase, it enters the landing buffer phase.

[0125] During the landing buffer phase: the robot's height is adjusted to the desired height H4 within the fifth set time using the height planner. Simultaneously, to ensure a smooth transition from the airborne state to the ground state, the following controller switching strategy is provided in this implementation:

[0126] The set buffer duration t after entering the landing buffer phase buffer Within this timeframe, detect whether the robot's forward speed is less than a threshold v. buffer When the robot's forward speed is detected to be less than the threshold v buffer At that time, the robot was determined to be in a relatively stable state, so the airborne balance controller was switched to a ground balance controller. If the set buffer time t is reached... buffer The robot's forward speed did not decrease to the threshold v. buffer The following refers to the set buffer duration t. buffer After completion, a prompt will be displayed to remind the user to manually switch to the ground balance controller.

[0127] In this embodiment, by adding a landing buffer phase, the above-mentioned controller switching strategy is adopted in this phase. The robot's forward speed can be used to determine whether the robot has smoothly transitioned to the ground phase. When the conditions are met, the airborne balance controller is switched to the ground balance controller. This will not cause the robot to lose balance due to the switch of the balance controller, thus improving the stability and robustness of the robot's balance control.

[0128] Furthermore, considering that the robot's wheels may spin freely during the airborne phase, leading to accumulated errors in the robot's displacement calculated based on the wheel's angular velocity and radius integral, this accumulated error can be eliminated by switching the airborne balance controller to a ground balance controller. Additionally, the robot's displacement x can be reset to zero. The robot's reference state variable at the current moment can then be changed to X. ref The X ref The state variable representing the robot's velocity is the current robot velocity. All other state variables are 0.

[0129] For example:

[0130] In the reference state variables, the first element represents the virtual stick angular velocity, the second element represents the robot velocity, the third element represents the angular velocity of the robot's torso pitch angle, the fourth element represents the virtual stick angle, the fifth element represents the forward distance, and the sixth element represents the robot's torso pitch angle. From the formula for the reference state variables, it can be seen that the robot velocity is the current robot velocity. All other reference state quantities are set to 0.

[0131] In the method provided in this embodiment, the accumulated error is cleared after switching the air balance controller to the ground balance controller, which ensures the stability of the jump and helps to achieve continuous jumps.

[0132] Combination Figure 4 The embodiments of this application provide a control method flow for a robot jumping process, which may specifically include:

[0133] Step S11: Support phase balancing.

[0134] That is, when the robot is on the ground, a support phase balancing strategy is adopted, that is, a ground balance controller is used to control the balance of the ground support phase.

[0135] Step S12: Squat down with your legs tucked in.

[0136] Specifically, after receiving the jump command, the robot enters the squatting phase, and the control process of this squatting phase can be referred to the relevant introduction above.

[0137] Step S13: Extend your legs and rise.

[0138] Specifically, after the squatting phase, the leg extension and rising phase begins. The control process for this leg extension and rising phase can be referred to the relevant introduction above.

[0139] Step S14: Check if the object is off the ground. If not, return to step S11. If yes, proceed to step S15.

[0140] Specifically, after the leg extension and ascent phase ends, the ground clearance detection phase begins. In this phase, it is checked whether the conditions for a jump off the ground are met. If not, the process returns to step S11; if so, it proceeds to step S15.

[0141] Step S15: Draw your legs in mid-air.

[0142] Specifically, after the aforementioned detection robot leaves the ground, it enters the airborne leg retraction phase. The control process for this airborne leg retraction phase can be referred to in the relevant introduction above.

[0143] Step S16: Lower and extend your legs.

[0144] Specifically, after the above-mentioned airborne leg retraction phase ends, the descent and leg extension phase begins. The control process for this descent and leg extension phase can be referred to the relevant introduction above.

[0145] Step S17: Landing test.

[0146] Specifically, after the aforementioned descent and leg extension phase ends, the landing detection phase begins. The control process for this landing detection phase can be referred to in the relevant description above.

[0147] Step S18, landing buffer.

[0148] Specifically, after the landing detection detects that the landing conditions are met, the landing buffer stage begins. The control process of this landing buffer stage can be referred to in the previous description. After the takeoff balance controller is switched to the ground balance controller during the landing buffer stage, step S11 is entered.

[0149] The robot control device provided in the embodiments of this application is described below. The robot control device described below can be referred to in correspondence with the robot control method described above.

[0150] See Figure 5 , Figure 5 This is a schematic diagram of a robot control device disclosed in an embodiment of this application.

[0151] like Figure 5 As shown, the device may include:

[0152] The jump phase determination unit 11 is used to monitor the real-time jump phase of the robot after receiving the jump command. The jump phase includes the ground phase and the airborne phase.

[0153] The ground control unit 12 is used to control the output torque of each joint of the robot using a preset ground balance controller during the robot's ground phase, so as to maintain the robot's balance on the ground.

[0154] The take-off control unit 13 is used to control the output torque of each joint of the robot by using a preset take-off balance controller during the take-off phase of the robot, so as to maintain the robot's balance in the air.

[0155] Optionally, the ground phase may include three sub-phases, in chronological order: a leg-retracting squatting phase, a leg-extending rising phase, and a ground-lift detection phase. Based on this, the process by which the ground control unit controls the output torque of each joint of the robot using a preset ground balance controller during the robot's ground phase may include:

[0156] After receiving the jump command, the robot checks whether its current posture meets the preset jump conditions. If so, it enters the squatting phase.

[0157] During the leg-retracting and squatting phase: the height planner adjusts the robot height to the desired height H0 within the first set time, and then enters the leg-extending and rising phase;

[0158] During the leg extension and ascent phase: the height planner adjusts the robot height to the desired height H1 within a second set time, and enters the ground lift detection phase after the end of the second set time.

[0159] During the takeoff detection phase: Check whether the robot's height has reached the set appropriate takeoff height H. p If not, the jump command is terminated; if yes, it is determined that the aircraft can leave the ground and enter the airborne phase.

[0160] In the ground phase, the ground balance controller is used to control the output torque of each joint of the robot.

[0161] Optionally, the process by which the ground control unit detects whether the robot's current posture meets the preset jump conditions may include:

[0162] Obtain the current pitch angle of the robot's body and the robot's height;

[0163] If neither the pitch angle nor the height exceeds a preset jump threshold, the preset jump condition is deemed met; otherwise, the preset jump condition is deemed not met.

[0164] Optionally, the take-off phase may include three sub-phases, in chronological order: the take-off leg retraction phase, the landing leg extension phase, and the landing detection phase. Based on this, the process by which the take-off control unit controls the output torque of each joint of the robot using a preset take-off balance controller during the robot's take-off phase may include:

[0165] During the aerial leg retraction phase: the ground balance controller is switched to the aerial balance controller, and the height planner is used to adjust the robot height to the desired height H2 within the third set time, and then the robot enters the descent and leg extension phase.

[0166] During the landing and leg extension phase: the height planner adjusts the robot height to the desired height H3 within a fourth set time period, and enters the landing detection phase after the end of the fourth set time period;

[0167] During the landing detection phase: based on the robot's status data, determine whether the landing conditions are met; if so, determine that the robot has landed.

[0168] Specifically, during the take-off phase, the take-off balance controller is used to control the output torque of each joint of the robot.

[0169] Optionally, the process by which the above-mentioned takeoff control unit adjusts the robot's height to the desired height H2 within a third set time period through the height planner during the takeoff and leg retraction phase may include:

[0170] During the take-off and leg retraction phase, a cubic spline interpolation function is used to plan the retraction height of the robot within the third set time period, and the robot height is adjusted to the desired height H2 according to the plan.

[0171] Optionally, the process by which the above-mentioned take-off control unit adjusts the robot's height to the desired height H3 within a fourth set time period through the height planner during the descent and leg extension phase may include:

[0172] During the descent and leg extension phase, a cubic spline interpolation function is used to plan the robot's leg extension height within the fourth set time period, and the robot height is adjusted to the desired height H3 according to the plan.

[0173] Optionally, the process by which the take-off control unit determines whether the landing conditions are met based on the robot's state data may include:

[0174] Obtain the vertical acceleration of the robot's torso.

[0175] Obtain the input torque T of the knee joint motor k ;

[0176] The support force F on the robot's drive wheel was obtained through force analysis. N ;

[0177] If any one or more of the following conditions are met, then the landing condition is deemed met:

[0178] Greater than the threshold

[0179] T k Greater than the threshold

[0180] F N Greater than the threshold

[0181] Optionally, the aforementioned jump phase may further include a landing buffer phase, which is entered after landing is determined in the landing detection phase. Based on this, the apparatus of this application may further include:

[0182] The landing buffer control unit is used during the landing buffer phase to adjust the robot height to the desired height H4 within a fifth set time period via the height planner, and employs the following controller switching strategy:

[0183] The set buffer duration t after entering the landing buffer phase buffer Within this timeframe, detect whether the robot's forward speed is less than a threshold v. buffer When the robot's forward speed is detected to be less than the threshold v bufferWhen the set buffer time t is reached, the airborne balance controller will be switched to the ground balance controller. buffer The robot's forward speed did not decrease to the threshold v. buffer The following refers to the set buffer duration t. buffer After completion, a prompt will be displayed to remind the user to manually switch to the ground balance controller.

[0184] Optionally, after switching the airborne balance controller to a ground balance controller, the aforementioned landing buffer control unit can also be used for:

[0185] Clear the robot's displacement x to zero;

[0186] Change the robot's reference state variable to X at the current moment. ref The X ref The state variable representing the robot's velocity is the current robot velocity. All other state variables are 0.

[0187] This application embodiment also provides a storage medium that can store a program suitable for execution by a processor, the program being used for:

[0188] Upon receiving a jump command, monitor the robot's real-time jump phase, which includes a ground phase and an airborne phase.

[0189] During the robot's ground-based phase, a preset ground balance controller is used to control the output torque of each joint of the robot in order to maintain the robot's balance on the ground.

[0190] During the aerial phase of the robot, a preset aerial balance controller is used to control the output torque of each joint of the robot in order to maintain the robot's balance in the air.

[0191] Optionally, the refined and extended functions of the program can be found in the description above.

[0192] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only 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. Furthermore, 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.

[0193] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0194] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot control method, characterized in that, The methods applied to the control process of a two-wheeled legged robot include: After receiving the jump command, the robot monitors the jump phase in real time. The jump phase includes the ground phase, the air phase, and the landing buffer phase. After landing is detected in the landing detection phase, the robot enters the landing buffer phase. During the robot's ground-based phase, a preset ground balance controller is used to control the output torque of each joint of the robot in order to maintain the robot's balance on the ground. During the airborne phase of the robot, a preset airborne balance controller is used to control the output torque of each joint of the robot in order to maintain the robot's balance in the air. During the landing buffer phase, the robot height is adjusted to the desired height H4 within the fifth set time using the height planner, and the following controller switching strategy is adopted: Setting the buffer duration after entering the landing buffer phase. Within that timeframe, detect whether the robot's forward speed is less than a threshold. When the robot's forward speed is detected to be less than a threshold When the set buffer time is reached, the airborne balance controller will be switched to the ground balance controller. The robot's forward speed did not decrease to the threshold. The following refers to the set buffer duration. After completion, a prompt will be displayed to remind the user to manually switch to the ground balance controller.

2. The method according to claim 1, characterized in that, The ground phase includes three sub-phases, which are in chronological order as follows: the leg-retracting squatting phase, the leg-extending rising phase, and the ground-lifting detection phase. During the robot's ground-based phase, a preset ground balance controller controls the output torque of each joint of the robot, including: After receiving the jump command, the robot checks whether its current posture meets the preset jump conditions. If so, it enters the squatting phase. During the leg-retracting and squatting phase: the height planner adjusts the robot height to the desired height H0 within the first set time, and then enters the leg-extending and rising phase; During the leg extension and ascent phase: the height planner adjusts the robot height to the desired height H1 within a second set time, and enters the ground lift detection phase after the end of the second set time. During the takeoff detection phase: Check whether the robot's height has reached the set appropriate takeoff height H. p If not, the jump command is terminated; if yes, it is determined that the aircraft can leave the ground and enter the airborne phase. In the ground phase, the ground balance controller is used to control the output torque of each joint of the robot.

3. The method according to claim 2, characterized in that, Detect whether the robot's current posture meets the preset jump conditions, including: Obtain the current pitch angle of the robot's body and the robot's height; If neither the pitch angle nor the height exceeds a preset jump threshold, the preset jump condition is deemed met; otherwise, the preset jump condition is deemed not met.

4. The method according to claim 1, characterized in that, The take-off phase includes three sub-phases, which are in chronological order as follows: the take-off leg retraction phase, the landing leg extension phase, and the landing detection phase. During the robot's airborne phase, a preset airborne balance controller controls the output torque of each joint of the robot, including: During the aerial leg retraction phase: the ground balance controller is switched to the aerial balance controller, and the height planner is used to adjust the robot height to the desired height H2 within the third set time, and then the robot enters the descent and leg extension phase. During the landing and leg extension phase: the height planner adjusts the robot height to the desired height H3 within a fourth set time period, and enters the landing detection phase after the end of the fourth set time period; During the landing detection phase: based on the robot's status data, determine whether the landing conditions are met; if so, determine that the robot has landed. Specifically, during the take-off phase, the take-off balance controller is used to control the output torque of each joint of the robot.

5. The method according to claim 4, characterized in that, During the take-off and leg-retraction phase, the robot's height is adjusted to the desired height H2 within a third set time period using a height planner, including: During the take-off and leg retraction phase, a cubic spline interpolation function is used to plan the retraction height of the robot within the third set time period, and the robot height is adjusted to the desired height H2 according to the plan.

6. The method according to claim 4, characterized in that, During the descent and leg extension phase, the robot's height is adjusted to the desired height H3 within a fourth set time period using a height planner, including: During the descent and leg extension phase, a cubic spline interpolation function is used to plan the robot's leg extension height within the fourth set time period, and the robot height is adjusted to the desired height H3 according to the plan.

7. The method according to claim 4, characterized in that, Based on the robot's state data, determine whether the landing conditions are met, including: Obtain the vertical acceleration of the robot's torso. ; Obtain the input torque T of the knee joint motor k ; The support force F on the robot's drive wheel was obtained through force analysis. N ; If any one or more of the following conditions are met, then the landing condition is deemed met: Greater than the threshold ; T k Greater than the threshold ; F N Greater than the threshold .

8. The method according to claim 1, characterized in that, After switching the airborne balance controller to a ground balance controller, the method further includes: Clear the robot's displacement x to zero; Change the robot's reference state to the current moment. The The state variable representing the robot's velocity is the current robot velocity. All other state variables are 0.

9. A robot control device, characterized in that, The device, used in the control process of a two-wheeled legged robot, includes: The jump phase determination unit is used to monitor the real-time jump phase of the robot after receiving the jump command. The jump phase includes the ground phase, the airborne phase, and the landing buffer phase. After the landing detection phase determines that the robot has landed, it enters the landing buffer phase. The ground control unit is used to control the output torque of each joint of the robot during the robot's ground phase using a preset ground balance controller, so as to maintain the robot's balance on the ground. The take-off control unit is used to control the output torque of each joint of the robot during the take-off phase using a preset take-off balance controller, so as to maintain the robot's balance in the air. The landing buffer control unit is used to adjust the robot height to the desired height H4 within a fifth set time period via the height planner during the landing buffer phase, and employs the following controller switching strategy: Setting the buffer duration after entering the landing buffer phase. Within that timeframe, detect whether the robot's forward speed is less than a threshold. When the robot's forward speed is detected to be less than a threshold When the set buffer time is reached, the airborne balance controller will be switched to the ground balance controller. The robot's forward speed did not decrease to the threshold. The following refers to the set buffer duration. After completion, a prompt will be displayed to remind the user to manually switch to the ground balance controller.

10. A two-wheeled legged robot, characterized in that, include: The torso includes left and right thighs connected to the torso, left and right lower legs connected in series with the left and right thighs, and left and right drive wheels connected to the left and right lower legs. A hip joint is provided at the connection between the thigh and the torso, a knee joint is provided at the connection between the thigh and the lower leg, and a wheel joint is provided at the connection between the lower leg and the drive wheel. The drive wheel is driven by a wheel joint motor provided at the wheel joint. Hip joint motor located at the hip joint; Two knee joint motors are installed inside the torso, each used to drive one of the two knee joints; A controller disposed inside the torso is used to control the robot according to the control method described in any one of claims 1-8.

11. The robot according to claim 10, characterized in that, Two knee joint motors are connected to the left and right knee joints respectively via synchronous belts.

12. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the various steps of the robot control method as described in any one of claims 1 to 8.

Images