Quadruped robot, gait planning method and device thereof and storage medium

Abstract

The application relates to the field of quadruped robots, in particular to a quadruped robot, a gait planning method and device thereof and a storage medium. The quadruped robot keeps three feet in a supporting state when moving, and the method comprises the following steps: determining a swing point of a foot end of the quadruped robot when moving; determining a first motion trajectory of the foot end of the quadruped robot according to the swing point; and adjusting the height of the first motion trajectory according to the distribution position of the center of gravity of the quadruped robot, so as to obtain a foot end trajectory of the quadruped robot gait. The quadruped robot moves smoothly according to the adjusted first motion trajectory, which is beneficial to effectively plan the quadruped robot gait when the three feet keep the supporting state during movement, and is beneficial to improving the motion performance of the quadruped robot.

Description

Technical Field

[0001] This application relates to the field of quadruped robots, and more particularly to quadruped robots and their gait planning methods, devices and storage media. Background Technology

[0002] Quadruped robots are robots with four legs. By planning their gait, they can effectively walk and maintain balance on various terrains. Most research on gait generation and control for quadruped robots focuses on diagonal gait. For quadruped robots with diagonal gait, gait planning can be achieved using a Virtual Mode Control (VMC) or a Central Pattern Generator (CPG).

[0003] However, when a quadruped robot maintains a walking gait supported by three legs, the combination of VMC and CPG cannot be used to simplify the four legs and generate a good gait. Furthermore, for low-stiffness quadruped robots, the master control frequency is unstable, resulting in low computational power, which is not conducive to using more advanced whole-body control (WBC) and model predictive control (MPC) methods. Moreover, the triped landing characteristics and large joint errors of quadruped robots make it difficult to improve motion performance through feedback control methods and hinder effective gait planning. Summary of the Invention

[0004] In view of this, embodiments of this application provide a quadruped robot and its gait planning method, device and storage medium to solve the problem in the prior art that it is not conducive to the effective planning of the gait of quadruped robots and to improving the motion performance of quadruped robots.

[0005] A first aspect of this application provides a gait planning method for a quadruped robot, wherein the quadruped robot maintains three legs in a supporting state during movement, the method comprising:

[0006] Determine the swing point of the quadruped robot's foot during movement;

[0007] The first motion trajectory of the foot end of the quadruped robot is determined based on the swing point;

[0008] Based on the distribution of the quadruped robot's center of gravity, the height of the first motion trajectory is adjusted to obtain the foot trajectory of the quadruped robot's gait.

[0009] In conjunction with the first aspect, in a first possible implementation of the first aspect, the swing point includes a starting point, an ending point, and a process point;

[0010] Determining the first motion trajectory of the quadruped robot's foot based on the swing point includes:

[0011] The first motion trajectory is generated using the Bezier interpolation method based on the starting point, ending point, and process points.

[0012] In conjunction with the first aspect, in a second possible implementation of the first aspect, adjusting the height of the first motion trajectory based on the distribution position of the quadruped robot's center of gravity includes:

[0013] Determine the position of the quadruped robot's center of gravity relative to the first center line in the forward-backward direction;

[0014] The height of the first motion trajectory on the left and / or right side of the quadruped robot is adjusted according to the position of the center of gravity relative to the first center line.

[0015] In a third possible implementation of the first aspect, in conjunction with the second possible implementation of the first aspect, adjusting the height of the first motion trajectory on the left and / or right side of the quadruped robot based on the position of the center of gravity relative to the first centerline includes:

[0016] When the center of gravity is located on the first side of the first center line, the height of the first motion trajectory of the foot end on the first side of the quadruped robot is correspondingly increased, where the first side is either the left or right side.

[0017] In conjunction with the third possible implementation of the first aspect, in the fourth possible implementation of the first aspect, when the center of gravity is located on the first side of the first centerline, the height of the first motion trajectory of the foot end on the first side of the quadruped robot is correspondingly increased, including:

[0018] When the center of gravity is located on the first side of the first center line, the height of the process point of the swing point of the first side foot of the quadruped robot during movement is increased, or the height of the process point of the swing point of the second side foot of the quadruped robot during movement is decreased, wherein the second side is the opposite side of the first side.

[0019] In conjunction with the first aspect, in the fifth possible implementation of the first aspect, the height of the first motion trajectory is adjusted according to the distribution position of the quadruped robot's center of gravity to obtain the foot trajectory of the quadruped robot's gait, including:

[0020] Determine the position of the quadruped robot's center of gravity relative to the second center line in the left-right direction;

[0021] When the center of gravity of the quadruped robot is located on the third side of the second center line, the height of the fourth side foot is lowered and the movement trajectory of the fourth side foot is adjusted. The fourth side is the opposite side of the third side, and the third side is the front or rear side of the second center line.

[0022] In conjunction with the fifth possible implementation of the first aspect, the sixth possible implementation of the first aspect adjusts the movement trajectory of the foot on the fourth side, including:

[0023] Adjust the height of the process point of the swing point of the foot on the fourth side during movement according to a predetermined ratio;

[0024] Based on the adjusted height of the process point, the trajectory of the fourth foot end of the quadruped robot's gait is determined by combining the starting and ending points of the swing point.

[0025] A second aspect of this application provides a gait planning device for a quadruped robot, wherein the quadruped robot maintains three legs in a supporting state during movement, and the device includes:

[0026] A swing point determination unit is used to determine the swing point of the foot end of the quadruped robot during movement;

[0027] The first motion trajectory determination unit is used to determine the first motion trajectory of the foot end of the quadruped robot based on the swing point;

[0028] The trajectory adjustment unit is used to adjust the height of the first motion trajectory according to the distribution position of the center of gravity of the quadruped robot, so as to obtain the foot trajectory of the quadruped robot's gait.

[0029] In conjunction with the second aspect, in the first possible implementation of the second aspect, the swing point includes a starting point, an ending point, and a process point;

[0030] The first motion trajectory determination unit is used to generate the first motion trajectory using the Bezier interpolation method based on the starting point, ending point, and process point.

[0031] In conjunction with the second aspect, in the second possible implementation of the second aspect, the trajectory adjustment unit includes:

[0032] The first relative position determination subunit is used to determine the position of the quadruped robot's center of gravity relative to the first center line in the front-rear direction;

[0033] The first height adjustment subunit is used to adjust the height of the first motion trajectory on the left and / or right side of the quadruped robot according to the position of the center of gravity relative to the first center line.

[0034] In conjunction with the second possible implementation of the second aspect, in the third possible implementation of the second aspect, the first height adjustment subunit is used to correspondingly raise the height of the first motion trajectory of the foot end on the first side of the quadruped robot when the center of gravity is located on the first side of the first center line, wherein the first side is the left or right side.

[0035] In conjunction with the third possible implementation of the second aspect, in the fourth possible implementation of the second aspect, the first height adjustment subunit is used to raise the height of the process point of the swing point of the first side foot of the quadruped robot during movement, or lower the height of the process point of the swing point of the second side foot of the quadruped robot during movement, when the center of gravity is located on the first side of the first center line, the second side being the opposite side of the first side.

[0036] In conjunction with the second aspect, in a fifth possible implementation of the second aspect, the trajectory adjustment unit includes:

[0037] The second relative position determination subunit is used to determine the position of the quadruped robot's center of gravity relative to the second center line in the left-right direction;

[0038] When the center of gravity of the quadruped robot is located on the third side of the second center line, the height of the fourth side foot is lowered and the movement trajectory of the fourth side foot is adjusted. The fourth side is the opposite side of the third side, and the third side is the front or rear side of the second center line.

[0039] In conjunction with the fifth possible implementation of the second aspect, in the sixth possible implementation of the second aspect, the second relative position determining the sub-unit includes:

[0040] The second height adjustment submodule is used to adjust the height of the process point of the foot on the fourth side during the swing point according to a predetermined ratio.

[0041] The trajectory determination submodule is used to determine the trajectory of the fourth foot end of the quadruped robot's gait based on the adjusted height of the process points, combined with the start and end points of the swing points.

[0042] A third aspect of the application provides a quadruped robot including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method as described in any of the first aspects.

[0043] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method as described in any of the first aspects.

[0044] The beneficial effects of this application embodiment compared with the prior art are as follows: For a quadruped robot that maintains a three-legged support state, this application embodiment determines the swing point of the foot end during the movement of the quadruped robot, determines the first movement trajectory of the foot end based on the swing point, and adjusts the height of the first movement trajectory according to the distribution position of the quadruped robot's center of gravity, so that the robot moves smoothly according to the adjusted first movement trajectory. This is beneficial to effectively plan the gait of the quadruped robot that maintains a three-legged support state during movement, and is beneficial to improving the movement performance of the quadruped robot. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of the structure of a quadruped robot provided in an embodiment of this application;

[0047] Figure 2 This is a schematic diagram of the swing leg switching process of a quadruped robot provided in an embodiment of this application;

[0048] Figure 3 This is a schematic diagram illustrating the implementation process of a gait control method for a quadruped robot provided in an embodiment of this application;

[0049] Figure 4 This is a schematic diagram illustrating how to determine a motion trajectory based on a swing point, as provided in an embodiment of this application.

[0050] Figure 5 This is a schematic diagram illustrating an adjustment of motion trajectory provided in an embodiment of this application;

[0051] Figure 6 This is a schematic diagram of a motion trajectory after the height has been reduced, provided in an embodiment of this application;

[0052] Figure 7 This is a schematic diagram of a gait control device for a quadruped robot provided in an embodiment of this application;

[0053] Figure 8 This is a schematic diagram of the quadruped robot provided in the embodiments of this application. Detailed Implementation

[0054] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0055] To illustrate the technical solution described in this application, specific embodiments are provided below.

[0056] An eight-degree-of-freedom quadruped robot typically refers to a robot with four legs, each leg having two degrees of freedom. For example... Figure 1 The diagram shows a side view of an eight-DOF quadruped robot. Each leg of the quadruped robot includes two movable parts: a first movable part and a second movable part. The first and second movable parts are connected by a first joint, and the second movable part is connected to the quadruped robot body via a second joint. The first movable part can rotate around the first joint, and the second movable part can rotate around the second joint. The end of the first movable part furthest from the first joint is the foot, through which the robot contacts the ground. During the rotation of the first movable part around the first joint and the rotation of the second movable part around the second joint, the vertical height and forward direction of the foot can be changed, enabling the quadruped robot to perform a leg-swinging motion.

[0057] In this embodiment of the quadruped robot, during movement, when any one leg is raised and swung, the other three legs remain in a supporting state. For example... Figure 2 The diagram shows the switching process between the swing leg and the support leg of a quadruped robot. Figure 2 As shown in Figure A, in the initial standing state, all four legs are in a supporting state (filled lines indicate the supporting state, and unfilled lines indicate the swinging state). When the quadruped robot begins to move forward, i.e., in the X direction, it first swings its left front leg, entering the state shown in Figure B, where the left front leg is in a swinging state and the other three legs are in a supporting state. After the left front leg lands, it enters the state shown in Figure C, where the right hind leg is in a swinging state and the other three legs are in a supporting state. After the right hind leg lands, it enters the state shown in Figure D, where the right front leg is in a swinging state and the other three legs are in a supporting state. After the right front leg lands, it enters the state shown in Figure E, where the left hind leg is in a swinging state and the other three legs are in a supporting state. After the left hind leg lands, it enters the state shown in Figure B, and so on, switching cyclically to achieve the movement of the quadruped robot.

[0058] Due to the tripod landing characteristics and significant joint misjudgment inherent in quadruped robots, it is difficult to improve motion performance through feedback control and to effectively plan the gait of quadruped robots. Therefore, this application provides a gait planning method for quadruped robots, such as... Figure 3 As shown, the method includes:

[0059] In S301, the swing point of the foot of the quadruped robot during movement is determined.

[0060] The swing point of the quadruped robot's foot in this embodiment refers to the position that the end of the leg passes through when the swing is completed during the swinging process. The determined swing point may include a starting point, an ending point, and a process point. The starting point is the position of the end of the leg at the beginning of this swing, and the ending point is the position of the end of the leg at the end of this swing when the swing is completed.

[0061] Since the positions of the four legs of a quadruped robot are constantly changing during movement, the position of the swing point can be relative to the starting point. Assuming the robot's forward direction is the X-axis and the height direction is the Z-axis, a coordinate system is established. Then, the swing points of the quadruped robot's legs during movement can be determined as follows: Figure 4 As shown, the starting point is located at the origin of the coordinate system along the X-axis, and the process points are located between the starting and ending points. The number of process points can be set to different values, and the type of curve generated is determined by the set number of process points.

[0062] The position and number of swing points in this embodiment can be preset. For example, the number of swing points can be preset to 5, 6, or other values. Based on setting the number of swing points, the positions of process points and termination points are further determined.

[0063] In S302, the first motion trajectory of the foot end of the quadruped robot is determined based on the swing point.

[0064] After determining the swing point of the quadruped robot's feet, the motion trajectory of the feet, i.e., the first motion trajectory, can be generated from the swing point.

[0065] There are various methods for generating the first motion trajectory based on the oscillation points. For example, it can include generating a Bézier curve based on Bézier interpolation. Alternatively, spline interpolation, Lagrange interpolation, or Newton interpolation can be used to determine the first motion trajectory. Because Bézier curves have good local controllability, modifying one or a few oscillation points will not have a significant impact on the overall curve, thus making it more conducive to adjusting and optimizing the first motion trajectory.

[0066] like Figure 4The diagram shows the first motion trajectory obtained by fitting the swing points at the ends of the quadruped robot's feet. Using Bezier interpolation, the five swing points (one starting point, one ending point, and three process points) in the diagram are fitted with fourth-order Bezier curves to obtain the first motion trajectory.

[0067] Understandably, the order of a Bézier curve can be determined based on the number of oscillation points. For example, an N-1 order Bézier curve can be determined using N oscillation points, where N is a natural number greater than 2. For instance, when using a low-order Bézier curve, a second-order Bézier curve can be generated using only 3 oscillation points.

[0068] The mathematical expression for the generated Bézier curve can be:

[0069]

[0070] Among them, B n (t) is a Bézier curve, P k Let be the position of the swing point, n be the number of swing points, k be the index of the swing point, n be the number of swing points, and t be the fitted time series.

[0071] In S303, the height of the first motion trajectory is adjusted according to the distribution position of the quadruped robot's center of gravity to obtain the foot trajectory of the quadruped robot's gait.

[0072] Because the joint servos of quadruped robots with low stiffness do not support external force control, inverse kinematics is required to realize the foot trajectory. Since the quadruped robot is a floating-base robot, the feet bear the load by default when walking on flat ground. Therefore, using a directly planned first motion trajectory may have stability issues, and the first motion trajectory needs to be adjusted, including lateral trajectory adjustment and / or forward trajectory adjustment.

[0073] Assuming the four legs of the quadruped robot are symmetrically distributed, that is, symmetrically distributed along a first centerline in the forward / backward direction and a second centerline in the left / right direction, the adjustment strategy for the first motion trajectory can be determined based on the position of the quadruped robot's center of gravity relative to the first centerline and the position of the second centerline.

[0074] like Figure 5 As shown, when the quadruped robot's center of gravity is located to the right of the first center line, the first motion trajectory of the right foot can be adjusted to increase its height. This includes increasing the height of the first motion trajectory of the right forefoot and the right hindfoot.

[0075] Methods for increasing the height of the first movement trajectory of the foot can include raising the height of local points, thereby increasing the height of a local area of ​​the first movement trajectory. Since the heights of the starting and ending points remain unchanged, this effectively adapts to the movement requirements of the foot trajectory.

[0076] When increasing the height of a local point, the height of a process point within the oscillation point can be increased. For example... Figure 5 As shown, different boost levels can be assigned to process points; the closer a point is to the midpoint between the start and end points, the greater the boost level.

[0077] After adjusting the height of the local swing point, a new first motion trajectory can be obtained by refitting using Bezier interpolation. The right leg of the quadruped robot is then controlled to move along this new trajectory.

[0078] In one possible implementation, the quadruped robot can achieve more stable movement by lowering the height of the first motion trajectory at the left foot. The method for lowering the height of the first motion trajectory is similar to the method for raising it; the height of the first motion trajectory can be adjusted by changing the height of a local swing point.

[0079] Understandably, when the quadruped robot's center of gravity is located to the left of the first center line, the height of the first motion trajectory of the left foot can be adjusted. This includes raising the height of the first motion trajectory of the right forefoot and the right hindfoot. Alternatively, the height of the first motion trajectory of the right foot can be lowered to allow the quadruped robot to achieve more stable movement.

[0080] When the center of gravity of the quadruped robot is located on the first center line, there is no need to adjust the lateral trajectory.

[0081] After adjusting the lateral trajectory of the quadruped robot, the forward trajectory of the quadruped robot can be further adjusted.

[0082] When the quadruped robot's center of gravity is located in front of or behind the second center line, it may cause an imbalance during movement. When adjusting the forward trajectory, the height of the front leg or the rear supporting leg can be increased or decreased based on the position of the center of gravity relative to the second center line. Based on increasing or decreasing the height of the supporting leg, the height of the first motion trajectory of the front or rear foot can be further adjusted.

[0083] For example, when the center of gravity is behind the second center line, the height of the front foot can be lowered, and after lowering the foot height, the height of the first motion trajectory of the front foot can be lowered. At this time, the height of the first motion trajectory can be adjusted linearly. For example, when the front left leg is in a swinging state, the height of the front right leg foot can be lowered, and the first motion trajectory of the front left leg foot can be adjusted.

[0084] The height of the adjusted first trajectory can be determined using the linear equation: z' = k*z + b. Here, z' is the updated height, z is the original trajectory height, b is the coordinate intercept, and k is the adjustment ratio. Figure 6 The diagram illustrates the changes in the height of the robot's foreleg foot tip and the support height during movement. The dashed lines represent the trajectory of the foot tip during the swinging motion. The height of the swinging trajectory decreases after adjustment using a linear equation relative to the initial motion trajectory. The solid lines represent the change in the support height of the supporting leg during the support process, indicating that the height of the supporting leg is lowered just before the swinging leg lands, causing the quadruped robot's center of gravity to shift towards the center.

[0085] Understandably, when the right foreleg is in a supporting position, the height of the right foreleg foot can be lowered (by adjusting the servo of the first and / or second joints), and the height of the first motion trajectory of the left foreleg foot can be lowered.

[0086] Alternatively, when the right hind leg is in a supporting position, the height of the right hind leg foot can be increased, and the first movement trajectory of the left hind leg can be increased, so that the center of gravity of the quadruped robot moves from the back to the middle, thereby improving the stability of the quadruped robot.

[0087] Alternatively, when the left hind leg is in a supporting position, the height of the left hind leg foot can be increased, and the first movement trajectory of the right hind leg can be increased, so that the center of gravity of the quadruped robot moves from the back to the middle, thereby improving the stability of the quadruped robot.

[0088] Based on the same control method, when the center of gravity is located in front of the second center line, the same control idea can be used to increase the height of the front foot and the first motion trajectory of the front foot to move the center of gravity towards the center, or decrease the height of the rear foot and the first motion trajectory of the rear foot to move the center of gravity towards the center, thereby improving the stability of the quadruped robot.

[0089] It is understandable that the initial motion trajectory of the feet of a quadruped robot can be adjusted by lateral trajectory adjustment and / or forward trajectory adjustment to obtain the final foot trajectory.

[0090] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0091] Figure 7 This is a schematic diagram of a gait planning device for a quadruped robot provided in an embodiment of this application. The device includes:

[0092] The swing point determination unit 701 is used to determine the swing point of the foot end of the quadruped robot during movement.

[0093] The first motion trajectory determination unit 702 is used to determine the first motion trajectory of the foot end of the quadruped robot based on the swing point.

[0094] The trajectory adjustment unit 703 is used to adjust the height of the first motion trajectory according to the distribution position of the center of gravity of the quadruped robot, so as to obtain the foot trajectory of the quadruped robot's gait.

[0095] Figure 7 The gait planning device of the quadruped robot shown is... Figure 3 The gait planning method for the quadruped robot shown corresponds to this.

[0096] Figure 8 This is a schematic diagram of a quadruped robot provided in an embodiment of this application. Figure 8 As shown, the quadruped robot 8 of this embodiment includes: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80, such as a gait planning program for the quadruped robot. When the processor 80 executes the computer program 82, it implements the steps in the gait planning method embodiments of the various quadruped robots described above. Alternatively, when the processor 80 executes the computer program 82, it implements the functions of each module / unit in the various device embodiments described above.

[0097] For example, the computer program 82 can be divided into one or more modules / units, which are stored in the memory 81 and executed by the processor 80 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 82 in the quadruped robot 8.

[0098] The quadruped robot may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will understand that... Figure 8 This is merely an example of the quadruped robot 8 and does not constitute a limitation on the quadruped robot 8. It may include more or fewer parts than shown, or combine certain parts, or different parts. For example, the quadruped robot may also include input / output devices, network access devices, buses, etc.

[0099] The processor 80 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0100] The memory 81 can be an internal storage unit of the quadruped robot 8, such as a hard disk or memory. The memory 81 can also be an external storage device of the quadruped robot 8, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the quadruped robot 8. Furthermore, the memory 81 can include both internal and external storage units of the quadruped robot 8. The memory 81 is used to store the computer program and other programs and data required by the quadruped robot. The memory 81 can also be used to temporarily store data that has been output or will be output.

[0101] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0102] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0103] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0104] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0105] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0106] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0107] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by hardware related to computer program instructions. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0108] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A gait planning method for a quadruped robot, characterized in that, The quadruped robot maintains a supported state with three legs during movement, and the method includes: Determine the swing point of the quadruped robot's foot during movement; The first motion trajectory of the foot end of the quadruped robot is determined based on the swing point; Based on the distribution of the quadruped robot's center of gravity, the height of the first motion trajectory is adjusted to obtain the foot trajectory of the quadruped robot's gait. Adjusting the height of the first motion trajectory based on the distribution of the quadruped robot's center of gravity includes: Determine the position of the quadruped robot's center of gravity relative to the first center line in the forward-backward direction; The height of the first motion trajectory on the left and / or right side of the quadruped robot is adjusted according to the position of the center of gravity relative to the first center line.

2. The method according to claim 1, characterized in that, The swing points include the starting point, the ending point, and the process point; Determining the first motion trajectory of the quadruped robot's foot based on the swing point includes: The first motion trajectory is generated using the Bezier interpolation method based on the starting point, ending point, and process points.

3. The method according to claim 1, characterized in that, Adjusting the height of the first motion trajectory on the left and / or right sides of the quadruped robot according to the position of the center of gravity relative to the first center line includes: When the center of gravity is located on the first side of the first center line, the height of the first motion trajectory of the foot end on the first side of the quadruped robot is correspondingly increased, where the first side is either the left or right side.

4. The method according to claim 3, characterized in that, When the center of gravity is located on the first side of the first centerline, the height of the first motion trajectory of the foot end on the first side of the quadruped robot is correspondingly increased, including: When the center of gravity is located on the first side of the first center line, the height of the process point of the swing point of the first side foot of the quadruped robot during movement is increased, or the height of the process point of the swing point of the second side foot of the quadruped robot during movement is decreased, wherein the second side is the opposite side of the first side.

5. The method according to any one of claims 1-4, characterized in that, Based on the distribution of the quadruped robot's center of gravity, the height of the first motion trajectory is adjusted to obtain the foot trajectory of the quadruped robot's gait, including: Determine the position of the quadruped robot's center of gravity relative to the second center line in the left-right direction; When the center of gravity of the quadruped robot is located on the third side of the second center line, the height of the fourth side foot is lowered and the movement trajectory of the fourth side foot is adjusted. The fourth side is the opposite side of the third side, and the third side is the front or rear side of the second center line.

6. The method according to claim 5, characterized in that, Adjusting the movement trajectory of the fourth side of the foot, including: Adjust the height of the process point of the swing point of the foot on the fourth side during movement according to a predetermined ratio; Based on the adjusted height of the process point, the trajectory of the fourth foot end of the quadruped robot's gait is determined by combining the starting and ending points of the swing point.

7. A gait planning device for a quadruped robot, characterized in that, The quadruped robot maintains a supported state with three legs during movement, and the device includes: A swing point determination unit is used to determine the swing point of the foot end of the quadruped robot during movement; The first motion trajectory determination unit is used to determine the first motion trajectory of the foot end of the quadruped robot based on the swing point; The trajectory adjustment unit is used to adjust the height of the first motion trajectory according to the distribution position of the center of gravity of the quadruped robot, so as to obtain the foot trajectory of the quadruped robot's gait. The trajectory adjustment unit includes: The first relative position determination subunit is used to determine the position of the quadruped robot's center of gravity relative to the first center line in the front-rear direction; The first height adjustment subunit is used to adjust the height of the first motion trajectory on the left and / or right side of the quadruped robot according to the position of the center of gravity relative to the first center line.

8. A quadruped robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 6.

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