Humanoid robot control methods and systems, humanoid robots, media

Abstract

The present invention discloses a humanoid robot control method and system, a humanoid robot, and a medium. The method includes: obtaining walking parameters of the humanoid robot; determining whether the humanoid robot resonates according to the walking parameters; if the humanoid robot resonates, adjusting the gait parameters of the humanoid robot; and obtaining the motion state of the humanoid robot; if it is determined based on the motion state that the lateral stability of the humanoid robot cannot meet the safe walking requirements, updating the gait parameters of the humanoid robot. The embodiment of the present application can realize the detection of the resonance phenomenon, which is conducive to improving the stability and walking efficiency of the humanoid robot, and can be widely used in the field of robotics technology.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a humanoid robot control method and system, a humanoid robot, and a medium. Background Art

[0002] When a humanoid robot is walking, due to factors such as uneven ground, stiffness, and damping coefficient, its feet may produce periodic vibrations when in contact with the ground. If the vibration frequency is consistent with the natural frequency of the robot, it may cause resonance, affecting the stability and walking efficiency of the robot. In related technologies, the detection of robot resonance is relatively simple in terms of signal collection, and the detection accuracy is often poor; therefore, the stability and walking efficiency problems caused by the resonance phenomenon still exist. Summary of the invention

[0003] The purpose of the present invention is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0004] To this end, an object of the present invention is to provide a humanoid robot control method and system, a humanoid robot, and a medium with high stability.

[0005] In order to achieve the above technical objectives, the technical solutions adopted by the embodiments of the present invention include:

[0006] On the one hand, an embodiment of the present invention provides a method for controlling a humanoid robot, comprising the following steps: obtaining walking parameters of a humanoid robot; determining whether the humanoid robot resonates according to the walking parameters; if the humanoid robot resonates, adjusting the gait parameters of the humanoid robot; and obtaining the motion state of the humanoid robot; if it is determined based on the motion state that the lateral stability of the humanoid robot cannot meet the requirements for safe walking, updating the gait parameters of the humanoid robot. The embodiment of the present application detects resonance through walking parameters, and improves the accuracy of resonance detection through multiple parameters. At the same time, the present application detects the lateral stability of the humanoid robot through the motion state, and at the same time, when the lateral stability does not meet the requirements for safe walking, the gait parameters are updated, which is beneficial to improving the stability of the humanoid robot. The embodiment of the present application can realize the detection of the resonance phenomenon, which is beneficial to improving the stability and walking efficiency of the humanoid robot.

[0007] In addition, the humanoid robot control method according to the above embodiment of the present invention may also have the following additional technical features:

[0008] Furthermore, in the humanoid robot control method of the embodiment of the present invention, determining whether the humanoid robot resonates according to the walking parameters includes:

[0009] Preprocessing each signal in the walking parameter to determine a first signal;

[0010] Extracting a first frequency from the first signal through frequency domain analysis;

[0011] If the first frequency and the natural frequency have matching frequency components, detecting a first amplitude corresponding to the first frequency; wherein the natural frequency is a design frequency of the humanoid robot;

[0012] It is determined whether resonance occurs in the humanoid robot according to the first frequency and the first amplitude.

[0013] Further, in one embodiment of the present invention, the motion state includes a rotation angle of a foot gyroscope, and if it is determined based on the motion state that the lateral stability of the humanoid robot cannot meet the safe walking requirement, updating the gait parameters of the humanoid robot includes:

[0014] Determine the foot posture change frequency of the humanoid robot according to the rotation angle of the foot gyroscope, and then determine the difference in the posture change frequency of both feet;

[0015] Determining the frequency of change of the ground contact force of both feet according to the motion state;

[0016] If the difference in the frequencies of changes in the posture of the two feet is greater than a first threshold, or the frequency of changes in the ground contact force of the two feet is greater than a second threshold, it is determined that the lateral stability of the humanoid robot cannot meet the requirements for safe walking, and the gait parameters of the humanoid robot are updated; wherein the first threshold is used to evaluate the consistency of the posture changes of the two feet of the humanoid robot during walking, and the second threshold is used to evaluate the stability of the two feet when in contact with the ground.

[0017] Furthermore, in one embodiment of the present invention, the motion state is determined by the following steps:

[0018] The contact force data are collected through the ground contact force sensor, and the rotation angle data are collected through the foot gyroscope;

[0019] The contact force data and the rotation angle data are fused to determine the motion state.

[0020] Furthermore, in one embodiment of the present invention, updating the gait parameters of the humanoid robot includes:

[0021] Acquire an environmental image around the humanoid robot;

[0022] Performing image processing on the environment image to determine ground information; the ground information is ground flatness information and obstacle position information;

[0023] Determine a planned path based on the ground information through a path planning algorithm;

[0024] According to the planned path and the motion state, the target parameters are calculated and the target parameters are determined to be new gait parameters; and the step of obtaining the motion state of the humanoid robot is returned; the target parameters are used to control the humanoid robot to move out of the area with uneven ground.

[0025] Furthermore, in one embodiment of the present invention, the method further comprises:

[0026] If the humanoid robot leaves the uneven ground area and walks stably, the gait parameters are adjusted to conventional gait parameters; and the process returns to the step of obtaining the walking parameters of the humanoid robot.

[0027] Furthermore, in one embodiment of the present invention, the walking parameters include step frequency, stride, ground contact force and foot posture; and obtaining the walking parameters of the humanoid robot includes:

[0028] Acquiring the step frequency through a joint motor encoder installed on the foot of the humanoid robot;

[0029] Acquiring the stride by means of a joint motor encoder installed on the leg of the humanoid robot;

[0030] Acquiring the ground contact force by means of a force sensor installed on the sole of the humanoid robot;

[0031] The foot posture is acquired through a variety of sensors to determine the direction and position of the foot in space.

[0032] On the other hand, an embodiment of the present invention provides a humanoid robot control system, comprising:

[0033] The first module is used to obtain walking parameters of the humanoid robot;

[0034] A second module is used to determine whether the humanoid robot resonates according to the walking parameters;

[0035] The third module is used to adjust the gait parameters of the humanoid robot if the humanoid robot resonates; and obtain the motion state of the humanoid robot;

[0036] The fourth module is used to update the gait parameters of the humanoid robot if it is determined based on the motion state that the lateral stability of the humanoid robot cannot meet the safety walking requirements.

[0037] On the other hand, an embodiment of the present invention provides a humanoid robot, comprising:

[0038] at least one processor;

[0039] at least one memory for storing at least one program;

[0040] When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned humanoid robot control method.

[0041] On the other hand, an embodiment of the present invention provides a storage medium storing a program executable by a processor, wherein the program executable by the processor is used to implement the above-mentioned humanoid robot control method when executed by the processor.

[0042] The method provided by the embodiment of the present invention includes: obtaining walking parameters of a humanoid robot; determining whether the humanoid robot resonates according to the walking parameters; if the humanoid robot resonates, adjusting the gait parameters of the humanoid robot; and obtaining the motion state of the humanoid robot; if it is determined based on the motion state that the lateral stability of the humanoid robot cannot meet the requirements of safe walking, updating the gait parameters of the humanoid robot. The embodiment of the present application detects resonance through walking parameters, and improves the accuracy of resonance detection through multiple parameters. At the same time, the present application detects the lateral stability of the humanoid robot through the motion state, and at the same time, when the lateral stability does not meet the requirements of safe walking, the gait parameters are updated, which is beneficial to improving the stability of the humanoid robot. The embodiment of the present application can realize the detection of the resonance phenomenon, which is beneficial to improving the stability and walking efficiency of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the embodiments of the present invention or the drawings of related technical solutions in the prior art are introduced below. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A flow chart of an embodiment of a control method for a humanoid robot provided by the present invention;

[0045] Figure 2 A flow chart of another embodiment of the control method of a humanoid robot provided by the present invention;

[0046] Figure 3 A flow chart of an embodiment of a stability control process of a humanoid robot provided by the present invention;

[0047] Figure 4 A schematic structural diagram of an embodiment of a humanoid robot control system provided by the present invention;

[0048] Figure 5 A schematic structural diagram of an embodiment of a humanoid robot provided by the present invention. DETAILED DESCRIPTION

[0049] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limitations of the present invention. For the step numbers in the following embodiments, they are only provided for the convenience of explanation, and the order between the steps is not limited in any way, and the execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0050] When a humanoid robot is walking, its feet may produce periodic vibrations when in contact with the ground due to factors such as uneven ground, stiffness, and damping coefficient. If the vibration frequency is consistent with the natural frequency of the robot, it may cause resonance and affect the robot's stability and walking efficiency.

[0051] It should be noted that the main sources of the natural frequency of humanoid robots are as follows:

[0052] Structural design: The skeleton structure, joint layout and mass distribution of a humanoid robot have a significant impact on the natural frequency. The symmetry and geometric properties of the structure determine its natural vibration mode.

[0053] Joint stiffness: The stiffness of a robot joint, including the stiffness of the motor or actuator, affects the dynamic response of the joint and thus the natural frequency.

[0054] Damping properties: Damping mechanisms in robot joints, such as hydraulic damping or air damping, absorb vibration energy and affect the vibration frequency.

[0055] Control algorithm: The periodic motion instructions generated by the control algorithm may cause resonance if they are close to the natural vibration frequency of the robot.

[0056] Ground interaction: How and how hard the robot contacts the ground, including the design of its feet and its gait, also affects its dynamic response frequency.

[0057] Robot mass: The total mass and mass distribution of the robot affect its overall dynamic characteristics and natural frequencies.

[0058] Material properties: Physical properties such as elastic modulus and density of the material that makes up the robot will affect the vibration frequency of the structure.

[0059] External loads: External loads carried by the robot change its mass distribution and dynamic characteristics, thus affecting the natural frequencies.

[0060] Environmental factors: The operating environment, such as the stiffness and damping characteristics of the terrain, can also have an impact on the vibration behavior of the robot.

[0061] Robot size: The size and proportions of a robot are directly related to its natural frequency. Generally speaking, larger robots will have lower natural frequencies.

[0062] The present invention proposes a humanoid robot motion control method, aiming to solve the resonance problem that the humanoid robot may encounter during walking and improve its walking stability and efficiency.

[0063] The humanoid robot control method and system according to the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. First, the humanoid robot control method according to the embodiments of the present invention will be described with reference to the accompanying drawings.

[0064] Reference Figure 1 In an embodiment of the present invention, a humanoid robot control method is provided. The humanoid robot control method in the embodiment of the present invention can be applied to a terminal, a server, or software running in a terminal or a server. The terminal can be a tablet computer, a laptop computer, a desktop computer, etc., but is not limited to this. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. Reference Figure 1 The humanoid robot control method in the embodiment of the present invention mainly includes the following steps:

[0065] S100: Obtain walking parameters of the humanoid robot;

[0066] S200: determining whether resonance occurs in the humanoid robot according to the walking parameters;

[0067] S300: If the humanoid robot resonates, adjust the gait parameters of the humanoid robot; and obtain the motion state of the humanoid robot;

[0068] S400: If it is determined based on the motion state that the lateral stability of the humanoid robot cannot meet the safety walking requirement, the gait parameters of the humanoid robot are updated.

[0069] In some possible implementations, the walking parameters in the present application include step frequency, stride length, ground contact force and foot position. The movement state includes the center of gravity position, balance state and lateral stability. Figure 2 As shown, the embodiment of the present application detects whether resonance occurs through multiple parameters in the walking parameters. When resonance is detected, the lateral stability is further determined through the motion state of the humanoid robot to further improve the stability.

[0070] Optionally, in one embodiment of the present invention, determining whether resonance occurs in the humanoid robot according to the walking parameter comprises:

[0071] Preprocessing each signal in the walking parameter to determine a first signal;

[0072] Extracting a first frequency from the first signal through frequency domain analysis;

[0073] If the first frequency and the natural frequency have matching frequency components, detecting a first amplitude corresponding to the first frequency; wherein the natural frequency is a design frequency of the humanoid robot;

[0074] It is determined whether resonance occurs in the humanoid robot according to the first frequency and the first amplitude.

[0075] In some possible implementations, the resonance detection process of the embodiment of the present application may include: data acquisition, signal processing, resonance frequency analysis, resonance detection logic, walking state evaluation, comprehensive judgment, and feedback control.

[0076] Specifically, the logic for determining whether a humanoid robot is in resonance usually involves real-time monitoring and analysis of walking parameters, as well as comparison with specific thresholds. The following is one example of steps for determining resonance:

[0077] Step S11. Data collection:

[0078] a) Collect key parameters during walking, including cadence, stride length, ground contact force, and foot posture.

[0079] b) Use sensors such as accelerometers, gyroscopes, force sensors, etc. to obtain this data.

[0080] Step S12. Signal processing:

[0081] a) Preprocess the collected signals, including filtering and denoising, to improve data quality.

[0082] b) Apply Fourier transform frequency domain analysis method to extract the frequency components of the signal.

[0083] Step S13. Resonance frequency analysis:

[0084] a) Based on the natural frequencies of the humanoid robot obtained through simulation or experiment in the design phase and stored in the control system.

[0085] b) Analyze the frequency content of walking parameters, especially the frequencies of foot forces and joint vibrations.

[0086] Step S14. Resonance detection logic:

[0087] a) Frequency matching: The frequency of the walking parameters is compared with the natural frequency of the humanoid robot. If there are close or matching frequency components, it may be resonance.

[0088] b) Amplitude analysis: Check whether the vibration amplitude corresponding to the resonant frequency increases significantly and exceeds the amplitude range of normal walking.

[0089] c) Threshold judgment: Set the thresholds of amplitude and frequency. When the amplitude and frequency of the signal exceed these thresholds at the same time, it is judged as resonance.

[0090] Step S15. Walking state assessment:

[0091] a) Center of gravity position: Calculate the center of gravity of the robot through sensor data and evaluate whether it is within the predetermined safety range.

[0092] b) Balance state: monitor the robot's posture and angular velocity to evaluate its balance state.

[0093] c) Lateral stability: Analyze the rotation angle of the foot gyroscope and the changes in ground contact force to evaluate lateral stability.

[0094] Step S16. Comprehensive judgment:

[0095] Combining the results of frequency analysis, amplitude analysis and walking state evaluation, a comprehensive judgment is made as to whether the robot resonates.

[0096] Step S17. Feedback control:

[0097] When resonance is detected, the control system will take measures to adjust gait parameters, such as changing step frequency, stride length or foot posture, to change the vibration characteristics and reduce or eliminate resonance.

[0098] Optionally, in one embodiment of the present invention, the motion state includes a rotation angle of a foot gyroscope, and if it is determined based on the motion state that the lateral stability of the humanoid robot cannot meet the safe walking requirement, updating the gait parameters of the humanoid robot includes:

[0099] Determine the foot posture change frequency of the humanoid robot according to the rotation angle of the foot gyroscope, and then determine the difference in the posture change frequency of both feet;

[0100] Determining the frequency of change of the ground contact force of both feet according to the motion state;

[0101] If the difference in the frequencies of changes in the posture of the two feet is greater than a first threshold, or the frequency of changes in the ground contact force of the two feet is greater than a second threshold, it is determined that the lateral stability of the humanoid robot cannot meet the requirements for safe walking, and the gait parameters of the humanoid robot are updated; wherein the first threshold is used to evaluate the consistency of the posture changes of the two feet of the humanoid robot during walking, and the second threshold is used to evaluate the stability of the two feet when in contact with the ground.

[0102] In some possible implementations, the rotation angle of the foot gyroscope; the frequency of change of the foot posture of the humanoid robot is determined based on the rotation angle of the foot gyroscope, and when the difference between the posture change frequencies of the left and right feet is less than a threshold, and the ground contact force change frequencies of both feet are also less than the threshold, it is determined that the lateral stability of the humanoid robot meets the normal movement safety requirements of the humanoid robot.

[0103] These two thresholds are used for different purposes, so they are usually different values. The two thresholds are:

[0104] The threshold value of the difference in foot posture change frequency (i.e., the first threshold value):

[0105] This threshold is used to evaluate the consistency of the posture changes of the left and right feet during walking. When the difference in the posture change frequency of the left and right feet is less than this threshold, it indicates that the gaits of the two feet are coordinated and the gait symmetry of the humanoid robot is good, which helps to maintain lateral stability.

[0106] The threshold of the frequency of change of the ground contact force of both feet (i.e. the second threshold):

[0107] This threshold is used to evaluate the stability of the robot's two feet when they are in contact with the ground. When the ground contact force change frequency of the two feet is less than this threshold at the same time, it indicates that the gait of the humanoid robot is smooth, without sudden or large force changes, which usually means that the humanoid robot has good stability in the current gait.

[0108] Therefore, the setting of these two thresholds is usually based on the design parameters, dynamic characteristics and walking environment requirements of the humanoid robot. They can be determined through experimental measurement and simulation analysis. In practical applications, these thresholds may need to be adjusted and optimized according to the specific usage scenarios and performance requirements of the humanoid robot.

[0109] For example, for a humanoid robot walking on smooth ground, the threshold for the frequency of ground contact force changes may be set relatively low because the environment is more consistent; while for a robot walking on complex or uneven ground, a higher threshold may need to be set to adapt to changes in ground conditions.

[0110] Optionally, in one embodiment of the present invention, the motion state is determined by the following steps:

[0111] The contact force data are collected through the ground contact force sensor, and the rotation angle data are collected through the foot gyroscope;

[0112] The contact force data and the rotation angle data are fused to determine the motion state.

[0113] Optionally, in one embodiment of the present invention, updating the gait parameters of the humanoid robot includes:

[0114] Acquire an environmental image around the humanoid robot;

[0115] Performing image processing on the environment image to determine ground information; the ground information is ground flatness information and obstacle position information;

[0116] Determine a planned path based on the ground information through a path planning algorithm;

[0117] According to the planned path and the motion state, the target parameters are calculated and the target parameters are determined to be new gait parameters; and the step of obtaining the motion state of the humanoid robot is returned; the target parameters are used to control the humanoid robot to move out of the area with uneven ground.

[0118] In some possible implementations, if the walking state indicates that the lateral stability does not meet the requirements for safe walking of the humanoid robot, the target gait adjustment parameters are determined to optimize the walking behavior of the humanoid robot; the optimized walking behavior of the humanoid robot includes determining the ground environment through a visual sensor, finding a flatter road section without obstacles, and entering the ground environment for walking.

[0119] Specifically, in the motion control method of a humanoid robot, when it is detected that the lateral stability does not meet the safe walking requirements, a series of steps are required to determine the target gait adjustment parameters and optimize the walking behavior. The following is a specific embodiment:

[0120] Step S21. Stability assessment: Collect data from the foot gyroscope and ground contact force sensor to assess the robot's lateral stability. Analyze the sensor data to determine whether the gait needs to be adjusted to ensure safe walking.

[0121] Step S22. Data fusion and analysis: Fuse data from different sensors, including IMU (accelerometer, gyroscope) and ground contact force sensor, to obtain comprehensive walking state information. Apply algorithms (such as Kalman filter) to estimate the robot's center of gravity position and posture.

[0122] Step S23. Visual sensor data processing: Use the visual sensor (RGBD) to capture the environment image around the humanoid robot. Use image processing and computer vision algorithms (such as SLAM or visual odometer) to analyze the flatness of the ground and the location of obstacles.

[0123] Step S24. Path planning: Based on the environmental information provided by the visual sensor, a path planning algorithm (such as AStar or Dijkstra algorithm) is used to plan a path that avoids obstacles and has a flat ground. Considering the dynamic characteristics and current stability of the humanoid robot, the path is optimized to ensure safety and efficiency.

[0124] Step S25. Determine gait adjustment parameters: Calculate gait adjustment parameters such as step frequency, stride length and step width according to the planned path and current walking state. Adjust the parameters to optimize the walking behavior of the humanoid robot so that it can adapt to new environmental conditions and improve lateral stability.

[0125] Step S26: Generate control instructions: Convert the calculated gait adjustment parameters into control instructions and input them into the motion control system of the humanoid robot. Adjust the control instructions through real-time feedback to ensure that the robot walks according to the predetermined gait.

[0126] Step S27. Execution and monitoring: Execute gait adjustment, monitor the changes in the walking state of the humanoid robot, and ensure that the adjusted gait can improve lateral stability. If the walking state still does not meet the safety requirements, repeat the above steps and continue to adjust the gait parameters.

[0127] Step S28. Feedback loop: Establish a feedback loop to continuously monitor walking parameters and environmental conditions, and adjust the gait in real time to adapt to changes. Optimize the gait adjustment strategy through machine learning algorithms to improve the robot's adaptability to different environments and walking efficiency.

[0128] Through the above embodiments, the humanoid robot can optimize walking behavior by adjusting gait parameters when insufficient lateral stability is detected, thereby ensuring safe and stable walking in various environments.

[0129] Optionally, in one embodiment of the present invention, the method further comprises:

[0130] If the humanoid robot leaves the uneven ground area and walks stably, the gait parameters are adjusted to conventional gait parameters; and the process returns to the step of obtaining the walking parameters of the humanoid robot.

[0131] In some possible implementations, when moving out of an area with uneven ground, the step frequency, stride length or gait pattern of the humanoid robot is dynamically adjusted according to the target gait adjustment parameters to weaken or eliminate resonance, thereby ensuring that the humanoid robot can walk safely.

[0132] To ensure that the humanoid robot can walk safely and effectively reduce or eliminate vibration when encountering uneven ground areas, the following are the optimized implementation steps:

[0133] Step S31. Uneven ground area detection: Use IMU and ground contact force sensor to monitor ground conditions in real time. Use visual sensor to analyze the ground ahead and identify uneven areas.

[0134] Step S32. Calculation of target gait adjustment parameters: When an uneven ground area is detected, the target gait adjustment parameters are immediately calculated. These parameters include but are not limited to step frequency, stride length and gait pattern, and are intended to optimize the stability of the humanoid robot when passing through uneven areas.

[0135] Step S33. Dynamic gait adjustment: dynamically adjust the step frequency, stride length or gait pattern according to the calculated target gait adjustment parameters. The purpose of the adjustment is to reduce or eliminate the resonance caused by the uneven ground and ensure the walking stability of the humanoid robot.

[0136] Step S34: Move out of the uneven area: While adjusting the gait, control the humanoid robot to gradually move out of the uneven area. Through real-time adjustment, ensure that each step of the humanoid robot on the uneven area is as stable as possible.

[0137] Step S35. Continuous monitoring and adjustment: Even after leaving the uneven area, the walking state and ground conditions of the humanoid robot are continuously monitored, and gait adjustments are continued as needed until the humanoid robot completely returns to a stable walking state.

[0138] Step S36. Restoring normal gait: Once the humanoid robot leaves the uneven area and walks stably, gradually adjust the gait parameters back to normal settings to ensure that the humanoid robot returns to an efficient and energy-saving walking mode.

[0139] Through this sequence and method, the humanoid robot can not only respond immediately when encountering uneven terrain, but also quickly return to the optimal walking state after passing through these areas, thereby improving overall walking efficiency and safety.

[0140] Optionally, in one embodiment of the present invention, the walking parameters include step frequency, stride, ground contact force and foot posture; and obtaining the walking parameters of the humanoid robot includes:

[0141] Acquiring the step frequency through a joint motor encoder installed on the foot of the humanoid robot;

[0142] Acquiring the stride by means of a joint motor encoder installed on the leg of the humanoid robot;

[0143] Acquiring the ground contact force by means of a force sensor installed on the sole of the humanoid robot;

[0144] The foot posture is acquired through a variety of sensors to determine the direction and position of the foot in space.

[0145] In some possible implementations, the method for collecting the cadence is as follows: the cadence is measured by an encoder installed on the motor of the robot's foot joint. The joint motor encoder may be optical or magnetic, and can provide accurate data on the rotation speed of the joint. The method for collecting the stride is as follows: The stride can be obtained by measuring the displacement of the robot's leg during walking. It can be measured by an encoder installed on the robot's thigh joint motor. The joint motor encoder may be optical or magnetic, and can provide accurate data on the range of joint rotation angles. The method for collecting the ground contact force is as follows: The ground contact force is measured by a force sensor on the sole of the foot, such as a pressure sensor or a strain gauge. These sensors can detect and quantify the pressure distribution when the foot contacts the ground. Using multiple small sensor arrays, the force distribution can be captured more accurately, thereby calculating the total contact force. The method for collecting the foot posture is as follows: The foot posture is measured by a combination of multiple sensors, including but not limited to gyroscopes, accelerometers and magnetometers. In this embodiment, the foot posture is collected by an inertial measurement unit IMU, and the data of these sensors are fused to accurately determine the direction and position of the foot in space.

[0146] The humanoid robot in the present application can monitor and determine whether resonance occurs in real time during walking, and dynamically adjust the gait according to the resonance situation and walking state, thereby reducing or eliminating the resonance. The present invention introduces lateral stability as an auxiliary judgment condition to ensure the safety of the robot's walking and the reliability of resonance elimination.

[0147] The humanoid robot motion control method provided by the present invention is described in detail below with reference to a specific embodiment. Figure 3 As shown, this application effectively improves walking stability and efficiency through precise monitoring and intelligent adjustment. The specific implementation steps are as follows:

[0148] Step S41, acquiring key parameters of the humanoid robot during walking in real time, including step frequency, stride, ground contact force and foot posture.

[0149] Step S42, analyzing walking parameters, measuring the rotation angle through the foot gyroscope, evaluating the frequency of posture change, and determining whether resonance occurs in the robot.

[0150] Step S43, evaluating the walking state, including the center of gravity position, balance state and lateral stability. In particular, when the difference between the left and right foot posture change frequencies and the ground contact force change frequencies are both less than a preset threshold, it is considered that the lateral stability meets the safety requirements.

[0151] Step S44, if the walking state shows that the lateral stability is insufficient, the ground environment is analyzed by the visual sensor to find and select a flat and barrier-free section for walking.

[0152] Step S45, in areas where the ground is uneven or there are obstacles, dynamically adjust the step frequency, stride length or gait pattern according to the gait adjustment parameters to weaken or eliminate resonance.

[0153] Step S46, the motion control device of the humanoid robot includes a parameter acquisition module, a state acquisition module, a determination module and an adjustment module, and each module works together to achieve real-time monitoring of walking parameters, resonance detection, state evaluation and gait adjustment.

[0154] Step S47, the humanoid robot is equipped with a processor and a memory, and the program in the memory is executed by the processor to implement the above motion control method. At the same time, a computer readable storage medium is provided to store program codes for executing the control method.

[0155] The present invention effectively solves the resonance problem of the humanoid robot during walking by real-time monitoring of walking parameters and dynamically adjusting gait, thereby improving the safety and reliability of walking.

[0156] In summary, the method provided by the present application includes: obtaining the walking parameters of a humanoid robot; determining whether the humanoid robot resonates according to the walking parameters; if the humanoid robot resonates, adjusting the gait parameters of the humanoid robot; and obtaining the motion state of the humanoid robot; if it is determined based on the motion state that the lateral stability of the humanoid robot cannot meet the requirements for safe walking, updating the gait parameters of the humanoid robot. The embodiment of the present application detects resonance through walking parameters, and improves the accuracy of resonance detection through multiple parameters. At the same time, the present application detects the lateral stability of the humanoid robot through the motion state, and at the same time, when the lateral stability does not meet the requirements for safe walking, the gait parameters are updated, which is beneficial to improving the stability of the humanoid robot. The embodiment of the present application can realize the detection of the resonance phenomenon, which is beneficial to improving the stability and walking efficiency of the humanoid robot.

[0157] Secondly, refer to the attached Figure 4 A humanoid robot control system proposed according to an embodiment of the present invention is described.

[0158] Figure 4 1 is a schematic diagram of the structure of a humanoid robot control system according to an embodiment of the present invention. The system specifically includes:

[0159] The first module 710 is used to obtain walking parameters of the humanoid robot;

[0160] A second module 720 is used to determine whether the humanoid robot resonates according to the walking parameters;

[0161] The third module 730 is used to adjust the gait parameters of the humanoid robot if the humanoid robot resonates; and obtain the motion state of the humanoid robot;

[0162] The fourth module 740 is configured to update the gait parameters of the humanoid robot if it is determined based on the motion state that the lateral stability of the humanoid robot cannot meet the safety walking requirement.

[0163] In some other embodiments, the present application may further include:

[0164] The parameter acquisition module is used to monitor the walking parameters of the humanoid robot in real time.

[0165] The state acquisition module is used to evaluate the center of gravity position, balance state and lateral stability of the humanoid robot.

[0166] The determination module is used to determine whether resonance occurs and confirm the ground environment and determine gait adjustment.

[0167] The adjustment module is used to dynamically adjust the walking behavior of the humanoid robot according to the gait adjustment parameters.

[0168] It can be seen that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0169] Reference Figure 5 , an embodiment of the present invention provides a humanoid robot, comprising:

[0170] at least one processor 810;

[0171] At least one memory 820, used to store at least one program;

[0172] When the at least one program is executed by the at least one processor 810, the at least one processor 810 implements the humanoid robot control method.

[0173] Similarly, the contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0174] An embodiment of the present invention further provides a computer-readable storage medium, in which a program executable by a processor is stored. The program executable by the processor is used to execute the above-mentioned humanoid robot control method when executed by the processor.

[0175] Similarly, the contents of the above method embodiments are all applicable to the present storage medium embodiments. The functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0176] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.

[0177] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0178] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several programs to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., various media that can store program codes.

[0179] The logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable programs for implementing logical functions, and may be embodied in any computer-readable medium for use by a program execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch and execute a program from a program execution system, device or apparatus), or in conjunction with such program execution system, device or apparatus. For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by a program execution system, device or apparatus, or in conjunction with such program execution system, device or apparatus.

[0180] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0181] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable program execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0182] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0183] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0184] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A method for controlling a humanoid robot, characterized in that: The following steps are involved: Get the walking parameters of the humanoid robot; determining whether resonance occurs in the humanoid robot according to the walking parameters; If the humanoid robot resonates, adjusting the gait parameters of the humanoid robot; and obtaining the motion state of the humanoid robot; If it is determined based on the motion state that the lateral stability of the humanoid robot cannot meet the safe walking requirement, updating the gait parameters of the humanoid robot; The motion state includes a rotation angle of a foot gyroscope, and if it is determined based on the motion state that the lateral stability of the humanoid robot cannot meet the safe walking requirement, updating the gait parameters of the humanoid robot includes: Determine the foot posture change frequency of the humanoid robot according to the rotation angle of the foot gyroscope, and then determine the difference in the posture change frequency of both feet; Determining the frequency of change of the ground contact force of both feet according to the motion state; If the difference in the frequencies of changes in the posture of the two feet is greater than a first threshold, or the frequency of changes in the ground contact force of the two feet is greater than a second threshold, it is determined that the lateral stability of the humanoid robot cannot meet the requirements for safe walking, and the gait parameters of the humanoid robot are updated; wherein the first threshold is used to evaluate the consistency of the posture changes of the two feet of the humanoid robot during walking, and the second threshold is used to evaluate the stability of the two feet when in contact with the ground.

2. The humanoid robot control method according to claim 1, characterized in that: The step of determining whether resonance occurs in the humanoid robot according to the walking parameters includes: Preprocessing each signal in the walking parameter to determine a first signal; Extracting a first frequency from the first signal through frequency domain analysis; If the first frequency and the natural frequency have matching frequency components, detecting a first amplitude corresponding to the first frequency; wherein the natural frequency is a design frequency of the humanoid robot; It is determined whether resonance occurs in the humanoid robot according to the first frequency and the first amplitude.

3. The humanoid robot control method according to claim 1, characterized in that: The motion state is determined by the following steps: The contact force data are collected through the ground contact force sensor, and the rotation angle data are collected through the foot gyroscope; The contact force data and the rotation angle data are fused to determine the motion state.

4. The humanoid robot control method according to claim 1, characterized in that: The updating of the gait parameters of the humanoid robot comprises: Acquire an environmental image around the humanoid robot; Performing image processing on the environment image to determine ground information; the ground information is ground flatness information and obstacle position information; Determine a planned path based on the ground information through a path planning algorithm; According to the planned path and the motion state, the target parameters are calculated and the target parameters are determined to be new gait parameters; and the step of obtaining the motion state of the humanoid robot is returned; the target parameters are used to control the humanoid robot to move out of the area with uneven ground.

5. The humanoid robot control method according to claim 4, characterized in that: The method further comprises: If the humanoid robot leaves the uneven ground area and walks stably, the gait parameters are adjusted to conventional gait parameters; and the process returns to the step of obtaining the walking parameters of the humanoid robot.

6. The humanoid robot control method according to claim 1, characterized in that: The walking parameters include step frequency, stride, ground contact force and foot posture; the step of obtaining the walking parameters of the humanoid robot includes: Acquiring the step frequency through a joint motor encoder installed on the foot of the humanoid robot; Acquiring the stride by means of a joint motor encoder installed on the leg of the humanoid robot; Acquiring the ground contact force by means of a force sensor installed on the sole of the humanoid robot; The foot posture is acquired through a variety of sensors to determine the direction and position of the foot in space.

7. A humanoid robot control system, characterized in that: include: The first module is used to obtain walking parameters of the humanoid robot; A second module is used to determine whether the humanoid robot resonates according to the walking parameters; The third module is used to adjust the gait parameters of the humanoid robot if the humanoid robot resonates; and obtain the motion state of the humanoid robot; A fourth module is used to update the gait parameters of the humanoid robot if it is determined based on the motion state that the lateral stability of the humanoid robot cannot meet the safe walking requirements; The motion state includes the rotation angle of the foot gyroscope. The fourth module is used for: Determine the foot posture change frequency of the humanoid robot according to the rotation angle of the foot gyroscope, and then determine the difference in the posture change frequency of both feet; Determining the frequency of change of the ground contact force of both feet according to the motion state; If the difference in the frequencies of changes in the posture of the two feet is greater than a first threshold, or the frequency of changes in the ground contact force of the two feet is greater than a second threshold, it is determined that the lateral stability of the humanoid robot cannot meet the requirements for safe walking, and the gait parameters of the humanoid robot are updated; wherein the first threshold is used to evaluate the consistency of the posture changes of the two feet of the humanoid robot during walking, and the second threshold is used to evaluate the stability of the two feet when in contact with the ground.

8. A humanoid robot, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the humanoid robot control method according to any one of claims 1 to 6.

9. A computer-readable storage medium storing a program executable by a processor, characterized in that: The program executable by the processor is used to implement the humanoid robot control method according to any one of claims 1 to 6 when executed by the processor.

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