A protection method and device for a quadruped robot, an electronic device, and a storage medium
By automatically detecting key joint parameters of the quadruped robot and triggering the protection mechanism, the problem of accidental damage to the quadruped robot caused by motor coordination issues is solved, providing safety assurance and rapid response protection operations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GUANGZHOU SHIYUAN ELECTRONICS CO LTD
- Filing Date
- 2022-11-03
- Publication Date
- 2026-06-19
AI Technical Summary
Quadruped robots are prone to accidental damage when motor coordination malfunctions. Current technologies rely on manual repair, which is time-consuming and carries the risk of operational errors.
By automatically detecting whether the target joint parameters of the key joints of the quadruped robot are within the preset parameter range, a protection mechanism is triggered to perform protection operations, including multi-level detection of joint angles, speeds, and torques, and timely adjustment of the robot's posture to avoid damage.
It achieves automatic safety protection for quadruped robots in unprotected states, avoids accidental damage, and improves the safety and reliability of robot operation.
Smart Images
Figure CN117984311B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of equipment control, and more particularly to a protection method, device, electronic device, and storage medium for a quadruped robot. Background Technology
[0002] Quadruped robots rely on the coordinated operation of numerous motors to achieve stable walking on various terrains. If the coordination of these motors malfunctions due to external environmental factors or internal hardware issues, accidents can easily occur, such as the robot flying off course or its legs flying off, resulting in damage. Currently, after an accident involving a quadruped robot, manual restoration is typically performed. However, manual restoration is time-consuming, and human error can still lead to further damage. Summary of the Invention
[0003] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, this disclosure provides a protection method, device, electronic device and storage medium for a quadruped robot.
[0004] According to one aspect of the present disclosure, a method for protecting a quadruped robot is provided, comprising:
[0005] Obtain the current target state of the quadruped robot;
[0006] When the target state is a non-protected state, the target joint parameters corresponding to the key joints in the quadruped robot are detected;
[0007] Obtain the preset parameter range corresponding to the target joint parameters, wherein the preset parameter range is used to represent the parameter range of the joint parameters under the standard posture of the quadruped robot;
[0008] If the target joint parameters do not fall within the preset parameter range, the protection mechanism is triggered and the quadruped robot is controlled to perform protection operations based on the protection mechanism.
[0009] Furthermore, the target key parameters include at least: joint angle, joint velocity, and joint torque;
[0010] After obtaining the preset parameter range corresponding to the target joint parameters, the method further includes:
[0011] A multi-level detection strategy is obtained to detect whether the quadruped robot has triggered a protection mechanism, wherein the multi-level detection strategy includes a preset parameter range corresponding to each joint parameter;
[0012] The target joint parameters are detected according to the multi-level detection strategy to obtain detection results, wherein the detection results are used to indicate whether the parameter values of the target joint parameters fall within the preset parameter range.
[0013] Furthermore, the step of detecting the target joint parameters according to the multi-level detection strategy to obtain the detection results includes:
[0014] The preset angle range corresponding to each key joint is obtained from the multi-level detection strategy;
[0015] Detect whether the angle value of the joint angle of the key joint falls within the corresponding preset angle range;
[0016] If the angle value does not fall within the preset angle range, a first detection result is obtained, wherein the first detection result is used to indicate that the target joint parameter does not fall within the preset parameter range.
[0017] Furthermore, the method also includes:
[0018] If the angle value falls within the preset angle range, the preset speed range corresponding to the joint speed is obtained from the multi-level detection strategy;
[0019] Detect whether the joint velocity value of the key joint falls within the preset velocity range;
[0020] If the speed value does not fall within the preset speed range, a second detection result is obtained, wherein the second detection result is used to indicate that the target joint parameter does not fall within the preset parameter range.
[0021] Furthermore, the method also includes:
[0022] If the speed value falls within the preset speed range, the preset torque range corresponding to the joint torque is obtained from the multi-level detection strategy;
[0023] Detect whether the torque value of the joint torque of the key joint falls within the preset torque range;
[0024] If the torque value does not fall within the preset torque range, a third detection result is obtained, wherein the third detection result is used to indicate that the target joint parameter does not fall within the preset parameter range.
[0025] Furthermore, the method also includes:
[0026] When the torque value falls within the preset torque range, the roll angle and pitch angle of the quadruped robot are detected.
[0027] Based on the roll angle and / or the pitch angle, determine whether the body posture of the quadruped robot exceeds the limit;
[0028] If the fuselage attitude is determined to be out of limit, a fourth detection result is obtained, wherein the fourth detection result is used to indicate that the target joint parameters do not fall within the preset parameter range.
[0029] Furthermore, controlling the quadruped robot to perform protective operations based on the protection mechanism includes:
[0030] Obtain the target mode for controlling the quadruped robot to perform protective operations;
[0031] The operating parameters of the quadruped robot are updated using the parameter update strategy corresponding to the target mode to obtain the updated operating parameters;
[0032] The quadruped robot was controlled to perform protection operations based on the updated operating parameters.
[0033] Furthermore, updating the operating parameters of the quadruped robot using the parameter update strategy corresponding to the target mode to obtain the updated operating parameters includes:
[0034] When the target mode is the position mode, the first operating parameters corresponding to the position mode are determined by the parameter update strategy. The first operating parameters include: impedance parameters of joint position, expected joint torque feedforward, and impedance parameters of expected joint position and joint velocity.
[0035] The impedance parameters of the joint position and the desired joint torque feedforward are both updated to 0, the desired joint position is updated to an arbitrary value, and the impedance parameter of the joint velocity is updated to a non-negative number.
[0036] Alternatively, when the target mode is torque mode, the second operating parameters corresponding to the position mode are determined using the parameter update strategy, wherein the second operating parameters include: impedance parameters of joint position, impedance parameters of joint velocity, desired joint position, desired joint velocity, and desired joint torque feedforward.
[0037] The impedance parameters of the joint position and the joint velocity are both updated to 0, the desired joint position and desired joint velocity are updated to arbitrary values, and the desired joint torque feedforward is updated using the current joint velocity.
[0038] According to another aspect of the embodiments of this disclosure, a protective device for a quadruped robot is also provided, comprising:
[0039] The acquisition module is used to detect the current target state of the quadruped robot;
[0040] The detection module is used to detect the target joint parameters corresponding to the key joints in the quadruped robot when the target state is an unprotected state.
[0041] The query module is used to obtain the preset parameter range corresponding to the target joint parameters, wherein the preset parameter range is used to represent the parameter range of the joint parameters under the standard posture of the quadruped robot;
[0042] The control module is used to trigger the protection mechanism when the target joint parameters do not fall within the preset parameter range, and to control the quadruped robot to perform protection operations based on the protection mechanism.
[0043] According to another aspect of the embodiments of this disclosure, a storage medium is also provided, the storage medium including a stored program that executes the above steps when the program is run.
[0044] According to another aspect of the present disclosure, an electronic device is also provided, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; wherein: the memory is used to store computer programs; and the processor is used to execute the steps in the above method by running the programs stored in the memory.
[0045] This disclosure also provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps in the above-described method.
[0046] Compared with the prior art, the above-mentioned technical solution provided by the embodiments of this disclosure has the following advantages: After the quadruped robot starts running, if it is detected that the quadruped robot is in an unprotected state, the method provided by the embodiments of this disclosure automatically detects the target joint parameters corresponding to the key joints of the quadruped robot. By checking whether the target key parameters fall within the corresponding preset parameter range, it realizes that when the quadruped robot is in an unprotected state, it automatically detects whether an accident has occurred, and when an accident occurs, it triggers the protection mechanism to take effect and performs protection operations, thus providing safety assurance for the quadruped robot and avoiding damage to the quadruped robot due to accidents. Attached Figure Description
[0047] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.
[0048] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0049] Figure 1 A flowchart illustrating a protection method for a quadruped robot provided in this embodiment of the disclosure;
[0050] Figure 2 A flowchart illustrating a protection method for a quadruped robot according to another embodiment of this disclosure;
[0051] Figure 3 A flowchart illustrating a protection method for a quadruped robot according to another embodiment of this disclosure;
[0052] Figure 4 A block diagram of a protective device for a quadruped robot provided in an embodiment of this disclosure;
[0053] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation
[0054] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. The illustrative embodiments and their descriptions are used to explain this disclosure and do not constitute an improper limitation of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.
[0055] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another similar entity or operation, 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.
[0056] This disclosure provides a method, apparatus, electronic device, and storage medium for protecting a quadruped robot. The method provided in this invention can be applied to any desired electronic device, such as a server, terminal, or other electronic device; no specific limitation is made here, and for ease of description, it will be referred to as an electronic device below.
[0057] According to one aspect of the present disclosure, a method embodiment for protecting a quadruped robot is provided. Figure 1 A flowchart illustrating a protection method for a quadruped robot provided in this disclosure is shown below. Figure 1 As shown, the method includes:
[0058] Step S11: Obtain the current target state of the quadruped robot.
[0059] The method provided in this disclosure is applied to a quadruped robot. Specifically, after receiving a start command or action command from a control terminal (such as a mobile phone or computer), the quadruped robot initiates a pre-set start action. The action command controls the quadruped robot to perform a specified action to achieve a certain posture. For example, after starting, the quadruped robot is in a protective state. Upon receiving a corresponding control command, the robot enters a prone posture, moving to a standard prone posture. Upon receiving a standing command, the robot enters a standing posture and moves to that posture. Upon receiving a movement command, the robot can begin gait movement.
[0060] In this embodiment, the quadruped robot performs corresponding operations based on a start command or action command. After completing the corresponding operation, it obtains its current target state, which includes a protected state and a non-protected state. It should be noted that obtaining its current target state can be achieved by the quadruped robot actively detecting whether it is in a protected state after performing the corresponding action, or by receiving a status control command from a control terminal and passively entering a protected or non-protected state based on the status control command.
[0061] It should be noted that in the protected state, the quadruped robot's joint motors can adapt to external forces and will not remain in a fixed position. Also in the protected state, the quadruped robot will not suddenly generate large torques (e.g., the torque value will be controlled within a preset torque range for a preset time period) or engage in violent movements (e.g., the operating frequency of the joint motors will be controlled within a preset frequency range). Furthermore, the unprotected state can be any state other than the protected state, such as a moving state and a stationary state. The moving state can include performing operations such as lying down or standing up.
[0062] Step S12: When the target state is in an unprotected state, detect the target joint parameters corresponding to the key joints in the quadruped robot.
[0063] In this embodiment, if the quadruped robot is currently in an unprotected state, it automatically invokes sensors mounted on its key joints to detect target joint parameters corresponding to each key joint. These parameters are used to determine if an accident has occurred. If an accident occurs, a protection mechanism is automatically triggered. The key joints include: the lateral joint, the thigh joint, and the lower leg joint. The target key parameters include at least: joint angle, joint velocity, and joint torque. The protection mechanism is used for automatic recovery in the event of an accident while the quadruped robot is in an unprotected state.
[0064] Step S13: Obtain the preset parameter range corresponding to the target joint parameters, wherein the preset parameter range is used to represent the parameter range of the joint parameters under the standard posture of the quadruped robot.
[0065] In this embodiment of the disclosure, in order to accurately determine whether the target joint parameters of each key joint are abnormal, the quadruped robot obtains the preset parameter range corresponding to the pre-stored target joint parameters. Specifically, the quadruped robot obtains the historical joint parameters corresponding to each key joint through historical action records, and filters based on the historical joint parameters, removing discrete historical joint parameters from the historical joint parameters, and constructing the parameter range of the joint parameters of each key joint under the standard posture based on the remaining historical joint parameters.
[0066] After obtaining the preset parameter range corresponding to the target joint parameters, such as Figure 2 As shown, the method also includes the following steps A1-A2:
[0067] Step A1: Obtain a multi-level detection strategy for detecting whether the quadruped robot has triggered the protection mechanism. The multi-level detection strategy includes a preset parameter range for each joint parameter.
[0068] In this embodiment of the disclosure, each level of the multi-level detection strategy is set according to the priority of the joint parameters, wherein the joint angle has the highest priority, the joint velocity has the second highest priority, and the joint torque has the third highest priority.
[0069] Step A2: The target joint parameters are detected according to a multi-level detection strategy to obtain the detection results. The detection results are used to indicate whether the parameter values of the target joint parameters fall within the preset parameter range.
[0070] In this embodiment of the disclosure, the target joint parameters are detected according to a multi-level detection strategy to obtain the detection results, including: obtaining the preset angle range corresponding to each key joint from the multi-level detection strategy.
[0071] Specifically, since joint angles have the highest priority, the system first checks whether the angle values of key joints fall within their respective preset angle ranges. Specifically, the preset angle range for the lateral swing joint is between ±40 degrees; for the thigh joint, it's between -150 degrees and 30 degrees; and for the lower leg joint, it's between 30 degrees and 150 degrees. If the angle value does not fall within the preset angle range, a first detection result is obtained. This first detection result indicates that the target joint parameter is not within the preset parameter range, thus triggering the protection mechanism.
[0072] Secondly, if the angle value falls within the preset angle range, it indicates that the joint angle is not exceeded. At this time, the preset speed range corresponding to the joint speed is obtained from the multi-level detection strategy. The preset speed range corresponding to the joint speed is 30±3 degrees per second. The speed value of the critical joint is checked to see if it falls within the preset speed range. If the speed value does not fall within the preset speed range, a second detection result is obtained. The second detection result also indicates that the target joint parameter does not fall within the preset parameter range, thus triggering the protection mechanism.
[0073] Furthermore, if the joint velocity value falls within the preset velocity range, the preset torque range corresponding to the joint torque is obtained from the multi-level detection strategy. The preset torque range corresponding to the joint torque is 18±1Nm. The torque value of the critical joint is detected to see if it falls within the preset torque range. If the torque value does not fall within the preset torque range, a third detection result is obtained. The third detection result also indicates that the target joint parameter does not fall within the preset parameter range, thus triggering the protection mechanism.
[0074] Finally, if the joint angles, joint velocities, and joint torques all match the parameter ranges under standard posture, the quadruped robot further detects its corresponding roll and pitch angles. Based on the roll and / or pitch angles, it determines whether the quadruped robot's body posture exceeds the limits. For example, if the absolute value of the roll angle exceeds 45 degrees, or the absolute value of the pitch angle exceeds 60 degrees, it is considered that the body posture exceeds the limits. If the body posture is determined to be out of limits, a fourth detection result is obtained, which indicates that the target joint parameters do not fall within the preset parameter range.
[0075] Step S14: If the target joint parameters do not fall within the preset parameter range, the protection mechanism is triggered and the quadruped robot is controlled to perform protection operations based on the protection mechanism.
[0076] In this embodiment of the disclosure, if the target joint parameters do not fall within the preset parameter range, it indicates that the current posture of the quadruped robot is not standard or an accident has occurred. At this time, the protection mechanism is triggered and the quadruped robot is controlled to perform protection operations based on the protection mechanism.
[0077] Specifically, based on the protection mechanism, the quadruped robot is controlled to perform protective operations, such as... Figure 3 As shown, it includes the following steps B1-B3:
[0078] Step B1: Obtain the target pattern for controlling the quadruped robot to perform protective operations.
[0079] In this embodiment, during the execution of the protection mechanism, the quadruped robot first receives a control command from the control terminal and obtains the target mode from the control command. The target mode includes a torque mode and a position mode. It should be noted that the quadruped robot performs different protection operations under different target modes.
[0080] Step B2: Update the quadruped robot's operating parameters using the parameter update strategy corresponding to the target mode to obtain the updated operating parameters.
[0081] In this embodiment, the quadruped robot obtains the parameter update strategy corresponding to the target mode from the strategy library, and updates the operating parameters of the quadruped robot using the obtained parameter update strategy to obtain the updated operating parameters. The operating parameters include: impedance parameters of joint positions, impedance parameters of joint velocities, desired joint velocities, and desired joint torque feedforwards.
[0082] Specifically, the operating parameters of the quadruped robot are updated using the parameter update strategy corresponding to the target mode, resulting in the updated operating parameters, including:
[0083] When the target mode is position mode, a parameter update strategy is used to determine the first operating parameters corresponding to the position mode. The first operating parameters include: impedance parameters of joint position, expected joint torque feedforward, and impedance parameters of expected joint position and joint velocity. Then, the impedance parameters of joint position and expected joint torque feedforward are both updated to 0, the expected joint position is updated to an arbitrary value, and the impedance parameter of joint velocity is updated to a non-negative number.
[0084] Alternatively, the operating parameters of the quadruped robot can be updated using the parameter update strategy corresponding to the target mode, resulting in updated operating parameters, including:
[0085] When the target mode is torque mode, a parameter update strategy is used to determine the second operating parameters corresponding to the position mode. These second operating parameters include: impedance parameters for joint position and joint velocity, desired joint position, desired joint velocity, and desired joint torque feedforward. The impedance parameters for joint position and joint velocity are updated to 0, while the desired joint position and desired joint velocity are updated to arbitrary values. The desired joint torque feedforward is then updated using the current joint velocity. The calculation formula for the desired joint torque feedforward is as follows: -Kv J v K v J is a non-negative number. v This indicates the current joint speed fed back from the motor.
[0086] Step B3: Control the quadruped robot to complete the protection operation based on the updated operating parameters.
[0087] In this embodiment of the application, the quadruped robot is controlled to run according to the updated operating parameters. During the process of the quadruped robot running according to the updated operating parameters, the joint parameters of each key joint of the quadruped robot are detected. If the joint parameters of each key joint are within the preset parameter range of the protection state, the protection operation is determined to be completed.
[0088] The method provided in this embodiment automatically detects the target joint parameters corresponding to the key joints of the quadruped robot if the quadruped robot is detected to be in an unprotected state after it starts running. By checking whether the target key parameters fall within the corresponding preset parameter range, the method automatically detects whether an accident has occurred when the quadruped robot is in an unprotected state. In the event of an accident, the protection mechanism is triggered and protection operations are performed, providing safety assurance for the quadruped robot and preventing damage to the quadruped robot due to accidents.
[0089] Figure 4 This is a block diagram of a protective device for a quadruped robot provided in an embodiment of this disclosure. This device can be implemented as part or all of an electronic device through software, hardware, or a combination of both. Figure 4 As shown, the device includes:
[0090] The acquisition module 41 is used to detect the current target state of the quadruped robot;
[0091] Detection module 42 is used to detect the target joint parameters corresponding to key joints in the quadruped robot when the target state is unprotected.
[0092] The query module 43 is used to obtain the preset parameter range corresponding to the target joint parameters, wherein the preset parameter range is used to represent the parameter range of the joint parameters under the standard posture of the quadruped robot;
[0093] The control module 44 is used to trigger the protection mechanism when the target joint parameters do not fall within the preset parameter range, and to control the quadruped robot to perform protection operations based on the protection mechanism.
[0094] In this embodiment of the disclosure, the target key parameters include at least: joint angle, joint velocity, and joint torque;
[0095] In this embodiment of the disclosure, the protection device for the quadruped robot further includes: a detection module, used to acquire a multi-level detection strategy for detecting whether the quadruped robot has triggered the protection mechanism, wherein the multi-level detection strategy includes a preset parameter range corresponding to each joint parameter; and to detect the target joint parameter according to the multi-level detection strategy to obtain a detection result, wherein the detection result is used to indicate whether the parameter value of the target joint parameter falls within the preset parameter range.
[0096] In this embodiment of the disclosure, the detection module is specifically used to obtain the preset angle range corresponding to each key joint from the multi-level detection strategy; detect whether the angle value of the joint angle of the key joint falls within the corresponding preset angle range; and obtain a first detection result if the angle value does not fall within the preset angle range, wherein the first detection result is used to indicate that the target joint parameter does not fall within the preset parameter range.
[0097] In this embodiment of the disclosure, the detection module is specifically used to obtain a preset speed range corresponding to the joint speed from a multi-level detection strategy when the angle value falls within a preset angle range; detect whether the speed value of the joint speed of the key joint falls within the preset speed range; and obtain a second detection result when the speed value does not fall within the preset speed range, wherein the second detection result is used to indicate that the target joint parameter does not fall within the preset parameter range.
[0098] In this embodiment of the disclosure, the detection module is specifically used to obtain the preset torque range corresponding to the joint torque from the multi-level detection strategy when the speed value falls within the preset speed range; detect whether the torque value of the joint torque of the key joint falls within the preset torque range; and obtain a third detection result when the torque value does not fall within the preset torque range, wherein the third detection result is used to indicate that the target joint parameter does not fall within the preset parameter range.
[0099] In this embodiment of the disclosure, the detection module is specifically used to detect the roll angle and pitch angle of the quadruped robot when the torque value falls within the preset torque range; determine whether the body posture of the quadruped robot exceeds the limit based on the roll angle and / or pitch angle; and obtain a fourth detection result when the body posture exceeds the limit, wherein the fourth detection result is used to indicate that the target joint parameters do not fall within the preset parameter range.
[0100] In this embodiment, the control module is used to control the quadruped robot to perform a target mode of protection operation; update the quadruped robot's operating parameters using a parameter update strategy corresponding to the target mode to obtain updated operating parameters; and control the quadruped robot to complete the protection operation based on the updated operating parameters.
[0101] In this embodiment of the disclosure, the control module is specifically used to determine the first operating parameters corresponding to the position mode using a parameter update strategy when the target mode is the position mode. The first operating parameters include: impedance parameters of the joint position, expected joint torque feedforward, impedance parameters of the expected joint position and joint velocity, updating the impedance parameters of the joint position and the expected joint torque feedforward to 0, updating the expected joint position to an arbitrary value, and updating the impedance parameters of the joint velocity to a non-negative number.
[0102] The control module is specifically used to determine the second operating parameters corresponding to the position mode using a parameter update strategy when the target mode is torque mode. The second operating parameters include: impedance parameters of joint position, impedance parameters of joint velocity, desired joint position, desired joint velocity, and desired joint torque feedforward; update the impedance parameters of joint position and joint velocity to 0, update the desired joint position and desired joint velocity to arbitrary values, and update the desired joint torque feedforward using the current joint velocity.
[0103] This disclosure also provides an electronic device, such as... Figure 5 As shown, the electronic device may include: a processor 1501, a communication interface 1502, a memory 1503, and a communication bus 1504, wherein the processor 1501, the communication interface 1502, and the memory 1503 communicate with each other through the communication bus 1504.
[0104] Memory 1503 is used to store computer programs;
[0105] When the processor 1501 executes the computer program stored in the memory 1503, it implements the steps of the above embodiments.
[0106] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.
[0107] The communication interface is used for communication between the aforementioned terminal and other devices.
[0108] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.
[0109] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be 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, or discrete hardware components.
[0110] In another embodiment provided in this disclosure, a computer-readable storage medium is also provided, which stores instructions that, when executed on a computer, cause the computer to perform any of the quadruped robot protection methods described in the above embodiments.
[0111] In yet another embodiment provided in this disclosure, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform any of the quadruped robot protection methods described in the above embodiments.
[0112] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this disclosure are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk).
[0113] The above description is merely a preferred embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure are included within the scope of protection of this disclosure.
[0114] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. 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 disclosure. Therefore, this disclosure 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 method for protecting a quadruped robot, characterized in that, include: Obtain the current target state of the quadruped robot; When the target state is a non-protected state, the target joint parameters corresponding to the key joints in the quadruped robot are detected; Obtain the preset parameter range corresponding to the target joint parameters, wherein the preset parameter range is used to represent the parameter range of the joint parameters under the standard posture of the quadruped robot; If the target joint parameters do not fall within the preset parameter range, the protection mechanism is triggered and the quadruped robot is controlled to perform protection operations based on the protection mechanism. The step of controlling the quadruped robot to perform protection operations based on the protection mechanism includes: obtaining a target mode for controlling the quadruped robot to perform protection operations; updating the operating parameters of the quadruped robot using a parameter update strategy corresponding to the target mode to obtain updated operating parameters; and controlling the quadruped robot to complete the protection operation based on the updated operating parameters. The step of updating the quadruped robot's operating parameters using the parameter update strategy corresponding to the target mode to obtain the updated operating parameters includes: when the target mode is a position mode, determining the first operating parameters corresponding to the position mode using the parameter update strategy, wherein the first operating parameters include: impedance parameters of joint position, desired joint torque feedforward, and impedance parameters of desired joint position and joint velocity; updating the impedance parameters of joint position and desired joint torque feedforward to 0, and updating the desired joint position to any value, and updating the impedance parameters of joint velocity to non-negative numbers; Alternatively, when the target mode is torque mode, the second operating parameters corresponding to the torque mode are determined using the parameter update strategy. The second operating parameters include: impedance parameters of joint position, impedance parameters of joint velocity, desired joint position, desired joint velocity, and desired joint torque feedforward. The impedance parameters of joint position and joint velocity are both updated to 0, the desired joint position and desired joint velocity are set to arbitrary values, and the desired joint torque feedforward is updated using the current joint velocity.
2. The method of claim 1, wherein, The target joint parameters include at least: joint angle, joint velocity, and joint torque; After obtaining the preset parameter range corresponding to the target joint parameters, the method further includes: A multi-level detection strategy is obtained to detect whether the quadruped robot has triggered a protection mechanism, wherein the multi-level detection strategy includes a preset parameter range corresponding to each joint parameter; The target joint parameters are detected according to the multi-level detection strategy to obtain detection results, wherein the detection results are used to indicate whether the parameter values of the target joint parameters fall within the preset parameter range.
3. The method of claim 2, wherein, The step of detecting the target joint parameters according to the multi-level detection strategy to obtain detection results includes: The preset angle range corresponding to each key joint is obtained from the multi-level detection strategy; Detect whether the angle value of the joint angle of the key joint falls within the corresponding preset angle range; If the angle value does not fall within the preset angle range, a first detection result is obtained, wherein the first detection result is used to indicate that the target joint parameter does not fall within the preset parameter range.
4. The method of claim 3, wherein, The method further includes: If the angle value falls within the preset angle range, the preset speed range corresponding to the joint speed is obtained from the multi-level detection strategy; Detect whether the joint velocity value of the key joint falls within the preset velocity range; If the speed value does not fall within the preset speed range, a second detection result is obtained, wherein the second detection result is used to indicate that the target joint parameter does not fall within the preset parameter range.
5. The method of claim 4, wherein, The method further includes: If the speed value falls within the preset speed range, the preset torque range corresponding to the joint torque is obtained from the multi-level detection strategy; Detect whether the torque value of the joint torque of the key joint falls within the preset torque range; If the torque value does not fall within the preset torque range, a third detection result is obtained, wherein the third detection result is used to indicate that the target joint parameter does not fall within the preset parameter range.
6. The method according to claim 5, characterized in that, The method further includes: When the torque value falls within the preset torque range, the roll angle and pitch angle of the quadruped robot are detected. Based on the roll angle and / or the pitch angle, determine whether the body posture of the quadruped robot exceeds the limit; If the fuselage attitude is determined to be out of limit, a fourth detection result is obtained, wherein the fourth detection result is used to indicate that the target joint parameters do not fall within the preset parameter range.
7. A protective device for a quadruped robot, characterized in that, include: The acquisition module is used to detect the current target state of the quadruped robot; The detection module is used to detect the target joint parameters corresponding to the key joints in the quadruped robot when the target state is an unprotected state. The query module is used to obtain the preset parameter range corresponding to the target joint parameters, wherein the preset parameter range is used to represent the parameter range of the joint parameters under the standard posture of the quadruped robot; The control module is used to trigger the protection mechanism when the target joint parameters do not fall within the preset parameter range, and to control the quadruped robot to perform protection operations based on the protection mechanism. The control module is specifically used to acquire a target mode for controlling the quadruped robot to perform protection operations; update the operating parameters of the quadruped robot using a parameter update strategy corresponding to the target mode to obtain updated operating parameters; and control the quadruped robot to complete the protection operation based on the updated operating parameters. The control module is specifically used to determine the first operating parameters corresponding to the position mode using the parameter update strategy when the target mode is the position mode. The first operating parameters include: impedance parameters of joint position, expected joint torque feedforward, and impedance parameters of expected joint position and joint velocity. The control module updates the impedance parameters of joint position and expected joint torque feedforward to 0, updates the expected joint position to any value, and updates the impedance parameters of joint velocity to a non-negative number. The control module is specifically used to determine the second operating parameters corresponding to the torque mode using the parameter update strategy when the target mode is torque mode. The second operating parameters include: impedance parameters of joint position, impedance parameters of joint speed, desired joint position, desired joint speed, and desired joint torque feedforward; update the impedance parameters of joint position and joint speed to 0, update the desired joint position and desired joint speed to arbitrary values, and update the desired joint torque feedforward using the current joint speed.
8. A storage medium, characterized in that, The storage medium includes a stored program, wherein the program, when executed, performs the method steps of any one of claims 1 to 6.
9. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, communication interface, and memory communicate with each other through the communication bus; wherein: Memory, used to store computer programs; A processor for executing the method steps of any one of claims 1 to 6 by running a program stored in memory.