Humanoid robot motion control method, system, medium, product and equipment

Abstract

The present invention belongs to the field of robot control technology. A humanoid robot motion control method, system, medium, product and equipment are provided, wherein the forward observation point of the humanoid robot is used as the expected position of the center of mass projection, the slope of the forward observation point is obtained according to the difference between the expected position of the center of mass projection and the actual position of the center of mass projection, the forward linear velocity of the humanoid robot is obtained according to the forward observation point slope, and the humanoid robot is controlled according to the forward linear velocity to reach the forward observation point position; the present invention does not need to establish an offline trajectory library, and is an online control with a small amount of calculation and low requirements on computing power, which reduces the influence of the motion model modeling error on the robot control, can more accurately control the robot's position, and improves the control accuracy and stability.

Description

Technical Field

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

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] A humanoid robot, also known as a bionic man or a bipedal robot, is a robot designed to imitate human appearance and behavior. Humanoid robots have broad application prospects and can be applied to multiple fields such as consumer market, commercial market, and industrial application. How to control the motion of humanoid robots is a current research hotspot.

[0004] The motion control of humanoid robots mostly requires the construction of motion control models. Kinematic models are mathematical models that describe the relationship between their motion states and motion parameters. Humanoid robots have a body structure and motion mode similar to humans, and their kinematic models usually involve the motion relationship of multiple joints and links. These joints and links are interconnected through specific kinematic constraints to jointly realize various motions of humanoid robots.

[0005] However, most of the existing motion control models are relatively complex and prone to motion modeling errors. Such errors can easily cause the robot to be unable to effectively reach the target position and have poor control stability during the rapid movement of a real robot. Summary of the invention

[0006] In order to address the deficiencies in the prior art, the present invention provides a humanoid robot motion control method, system, medium, product and equipment, which reduce the impact of motion model modeling errors on robot control, can more accurately control the robot's position and posture, and improve control accuracy and stability.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a method for controlling motion of a humanoid robot.

[0009] A humanoid robot motion control method includes the following process:

[0010] Construct a rectangular coordinate system, with the forward direction of the humanoid robot as the X-axis and the horizontal direction perpendicular to the X-axis as the Y-axis. According to the robot's control frequency, gait frequency, gait cycle, and the projection of the center of mass on the Y-axis at each sampling moment in the gait cycle, obtain the actual position and posture of the center of mass projection of the humanoid robot in the current gait cycle.

[0011] The forward observation point of the humanoid robot is taken as the expected posture of the center of mass projection, and the slope of the forward observation point is obtained according to the difference between the expected posture of the center of mass projection and the actual posture of the center of mass projection. The forward linear velocity of the humanoid robot is obtained according to the forward observation point slope, and the humanoid robot is controlled according to the forward linear velocity to reach the position of the forward observation point.

[0012] As a further limitation of the first aspect of the present invention, the actual position of the center of mass projection of the humanoid robot in the current gait cycle is ( , , ), is the coordinate of the center of mass at time i projected on the X-axis direction, , i is any time, K is the control frequency, is the gait frequency, is the gait cycle, is the yaw angle, is the coordinate of the center of mass at time i projected on the Y axis.

[0013] As a further limitation of the first aspect of the present invention, the forward observation point of the humanoid robot is ( ), then the forward observation point slope for: .

[0014] As a further limitation of the first aspect of the present invention, the forward linear velocity is:

[0015] ,in, is the slope of the forward observation point, , and These are all preset parameters. To find the absolute value of a function, Function used to solve of Power.

[0016] As a further limitation of the first aspect of the present invention, according to the forward linear velocity Get angular velocity : ,in, is the radius of curvature, , The forward observation distance is, )), ))represent and ), i is the yaw angle.

[0017] As a further limitation of the first aspect of the present invention, the control input of the humanoid robot includes: ; ; ; ;in, is the hip joint steering angle, is the yaw angle, is the slip angle, is the distance from the center of gravity to the robot's left hip joint, is the distance from the center of gravity to the robot's right hip joint, and They are the input positions in the X-axis and Y-axis directions respectively.

[0018] In a second aspect, the present invention provides a humanoid robot motion control system.

[0019] A humanoid robot motion control system, comprising:

[0020] The posture solving unit is configured to: construct a rectangular coordinate system, with the forward direction of the humanoid robot as the X-axis and the horizontal direction perpendicular to the X-axis as the Y-axis, and obtain the actual posture of the center of mass projection of the humanoid robot in the current gait cycle according to the control frequency, gait frequency, gait cycle, and projection of the center of mass on the Y-axis at each sampling moment in the gait cycle of the robot;

[0021] The motion control unit is configured to: use the forward observation point of the humanoid robot as the expected posture of the center of mass projection, obtain the forward observation point slope according to the difference between the expected posture of the center of mass projection and the actual posture of the center of mass projection, obtain the forward linear velocity of the humanoid robot according to the forward observation point slope, and control the humanoid robot according to the forward linear velocity to reach the forward observation point position.

[0022] In a third aspect, the present invention provides a computer device, comprising: a processor and a computer-readable storage medium;

[0023] a processor adapted to execute a computer program;

[0024] A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the humanoid robot motion control method as described in the first aspect of the present invention is implemented.

[0025] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program is suitable for being loaded by a processor and executing the humanoid robot motion control method as described in the first aspect of the present invention.

[0026] In a fifth aspect, the present invention provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the humanoid robot motion control method as described in the first aspect of the present invention.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention innovatively uses the forward observation point of the humanoid robot as the expected posture of the center of mass projection, obtains the slope of the forward observation point according to the difference between the expected posture of the center of mass projection and the actual posture of the center of mass projection, obtains the forward linear velocity of the humanoid robot according to the forward observation point slope, and controls the humanoid robot according to the forward linear velocity to reach the forward observation point position, thereby reducing the impact of the motion model modeling error on the robot control, being able to more accurately control the posture of the robot, improving the control accuracy and stability, and improving the motion control performance of the bipedal robot in complex environments, so that it can perform tasks more accurately and stably, while reducing the demand for computing resources and broadening the application scope of humanoid robots.

[0029] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0031] Figure 1 A schematic diagram of a flow chart of a humanoid robot motion control method provided in Embodiment 1 of the present invention;

[0032] Figure 2 A schematic diagram of a humanoid robot coordinate system provided in Example 1 of the present invention;

[0033] Figure 3 A schematic diagram of a humanoid robot motion control system provided in Example 2 of the present invention;

[0034] Figure 4 A schematic diagram of a computer device provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0037] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0038] Embodiment 1:

[0039] This implementation proposes a humanoid robot motion control method, such as Figure 1 As shown, the following process is included:

[0040] S1: Construct a rectangular coordinate system, with the forward direction of the humanoid robot as the X-axis and the horizontal direction perpendicular to the X-axis as the Y-axis, such as Figure 2 As shown, according to the robot's control frequency, gait frequency, gait cycle, and the projection of the center of mass on the Y axis at each sampling moment in the gait cycle, the actual position and posture of the center of mass projection of the humanoid robot in the current gait cycle (i.e., the projection of the center of mass position and posture from a bird's eye view) is obtained;

[0041] S2: Take the forward observation point of the humanoid robot as the expected posture of the center of mass projection, obtain the slope of the forward observation point according to the difference between the expected posture of the center of mass projection and the actual posture of the center of mass projection, obtain the forward linear velocity of the humanoid robot according to the forward observation point slope, and control the humanoid robot according to the forward linear velocity to reach the position of the forward observation point.

[0042] like Figure 2 As shown, A and B are the robot hip joints; C is the projection position of the robot's center of mass; is the hip joint steering angle; is the yaw angle; is the slip angle, which is the angle between the velocity direction of the robot's center of gravity and its forward direction; is the distance from the center of gravity to the robot's left hip joint, is the distance from the center of gravity to the right hip joint of the robot.

[0043] In this implementation, the actual projection of the center of mass of the humanoid robot can be described as the average of the actual projection information in the Y-axis direction in a complete gait cycle. More specifically, the actual position of the center of mass projection of the humanoid robot in the current gait cycle is ( , , i ), is the coordinate in the X-axis direction:

[0044] (1);

[0045] Among them, i is any time, K is the control frequency, is the gait frequency, For the gait cycle.

[0046] In this implementation, the forward observation distance (a series of trajectory points at the expected position of the center of mass) is a set fixed value or a value related to the speed, such as , the yaw angle is , then the forward observation distance for:

[0047] ))(2);

[0048] in, ))represent and )’s Euclidean distance; the forward observation point is ( ), the slope of the forward observation point is:

[0049] (3).

[0050] In this example, the radius of curvature is defined as:

[0051] (4).

[0052] In this implementation, the forward linear velocity is:

[0053] (5);

[0054] in, is the slope of the forward observation point, , and These are all preset parameters. To find the absolute value of a function, Function used to solve of Power.

[0055] In formula (5), Decompose along the X and Y directions of the robot coordinate system. For example, the angle between the robot's front direction and the X axis of the world coordinate system is , and the angle with the Y axis of the world coordinate system is , then the velocity in the X direction of the robot coordinate system can be decomposed into: , the velocity in the Y direction can be decomposed into: .

[0056] In this implementation, according to the forward linear velocity Get angular velocity :

[0057] (6);

[0058] in, is the radius of curvature.

[0059] In this implementation, the control input of the humanoid robot includes:

[0060] (7);

[0061] (8);

[0062] (9);

[0063] (10).

[0064] in, and They are the input positions in the X-axis and Y-axis directions respectively.

[0065] According to the control input of the above-mentioned humanoid robot, the forward observation point of the humanoid robot is taken as the expected posture of the center of mass projection, and the slope of the forward observation point is obtained according to the difference between the expected posture of the center of mass projection and the actual posture of the center of mass projection. The forward linear velocity of the humanoid robot is obtained according to the forward observation point slope, and the humanoid robot is controlled according to the forward linear velocity to reach the forward observation point position, which reduces the influence of the modeling error of the motion model on the robot control, can more accurately control the posture of the robot, improves the control accuracy and stability, and improves the motion control performance of the bipedal robot in complex environments, so that it can perform tasks more accurately and stably, while reducing the demand for computing resources and broadening the application scope of humanoid robots.

[0066] Embodiment 2:

[0067] like Figure 3 As shown, this implementation provides a humanoid robot motion control system, including:

[0068] The posture solving unit is configured to: construct a rectangular coordinate system, with the forward direction of the humanoid robot as the X-axis and the horizontal direction perpendicular to the X-axis as the Y-axis, and obtain the actual posture of the center of mass projection of the humanoid robot in the current gait cycle according to the control frequency, gait frequency, gait cycle, and projection of the center of mass on the Y-axis at each sampling moment in the gait cycle of the robot;

[0069] The motion control unit is configured to: use the forward observation point of the humanoid robot as the expected posture of the center of mass projection, obtain the forward observation point slope according to the difference between the expected posture of the center of mass projection and the actual posture of the center of mass projection, obtain the forward linear velocity of the humanoid robot according to the forward observation point slope, and control the humanoid robot according to the forward linear velocity to reach the forward observation point position.

[0070] The specific working process of each of the above units is the same as the corresponding steps in Example 1, and will not be repeated here.

[0071] It is understandable that the above-mentioned units can be separately or completely combined into one or several other units to constitute, or one (some) of the units can be further divided into multiple smaller units in function to constitute, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above-mentioned units are divided based on logical functions. In practical applications, the functions of one unit can also be implemented by multiple units, or the functions of multiple units can be implemented by one unit. In other embodiments of the present application, the system may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented by the collaboration of multiple units.

[0072] According to another embodiment of the present application, the system described in this embodiment can be constructed, and the method of Example 1 of the present application can be implemented by running a computer program (including program code) capable of executing the steps involved in the corresponding method described in Example 1 on a general-purpose computing device such as a computer, which includes processing elements and storage elements such as a central processing unit (CPU), random access memory (RAM), and read-only memory (ROM). The computer program can be recorded on, for example, a computer-readable recording medium, and loaded into the above-mentioned computing device through the computer-readable recording medium and run therein.

[0073] Embodiment 3:

[0074] like Figure 4 As shown, this implementation provides an electronic device, which includes a processor 1001, a communication interface 1002, and a computer-readable storage medium 1003. The processor 1001, the communication interface 1002, and the computer-readable storage medium 1003 may be connected via a bus or other means.

[0075] Among them, the communication interface 1002 is used to receive and send data, the computer-readable storage medium 1003 can be stored in the memory of the electronic device, the computer-readable storage medium 1003 is used to store a computer program, the computer program includes program instructions, and the processor 1001 is used to execute the program instructions stored in the computer-readable storage medium 1003.

[0076] The processor 1001 (or CPU (Central Processing Unit)) is the computing core and control core of the electronic device, which is suitable for implementing one or more instructions, and specifically suitable for loading and executing one or more instructions to implement corresponding method processes or corresponding functions.

[0077] The processor 1001 is configured to execute the following process:

[0078] Construct a rectangular coordinate system, with the forward direction of the humanoid robot as the X-axis and the horizontal direction perpendicular to the X-axis as the Y-axis. According to the robot's control frequency, gait frequency, gait cycle, and the projection of the center of mass on the Y-axis at each sampling moment in the gait cycle, obtain the actual position and posture of the center of mass projection of the humanoid robot in the current gait cycle.

[0079] The forward observation point of the humanoid robot is taken as the expected posture of the center of mass projection, and the slope of the forward observation point is obtained according to the difference between the expected posture of the center of mass projection and the actual posture of the center of mass projection. The forward linear velocity of the humanoid robot is obtained according to the forward observation point slope, and the humanoid robot is controlled according to the forward linear velocity to reach the position of the forward observation point.

[0080] The specific working process is the same as the corresponding steps in Example 1 and will not be repeated here.

[0081] Embodiment 4:

[0082] This implementation provides a computer-readable storage medium (Memory), which is a memory device in an electronic device for storing programs and data. It is understandable that the computer-readable storage medium here can include both built-in storage media in the electronic device and, of course, extended storage media supported by the electronic device. The computer-readable storage medium provides a storage space that stores the processing system of the electronic device.

[0083] In addition, the storage space also stores one or more instructions suitable for being loaded and executed by the processor, and these instructions may be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here may be a high-speed RAM memory, or a non-volatile memory, such as at least one disk memory; optionally, it may also be at least one computer-readable storage medium located away from the aforementioned processor.

[0084] In one embodiment, the computer-readable storage medium stores one or more instructions; the processor loads and executes the one or more instructions stored in the computer-readable storage medium to implement the following process:

[0085] Construct a rectangular coordinate system, with the forward direction of the humanoid robot as the X-axis and the horizontal direction perpendicular to the X-axis as the Y-axis. According to the robot's control frequency, gait frequency, gait cycle, and the projection of the center of mass on the Y-axis at each sampling moment in the gait cycle, obtain the actual position and posture of the center of mass projection of the humanoid robot in the current gait cycle.

[0086] The forward observation point of the humanoid robot is taken as the expected posture of the center of mass projection, and the slope of the forward observation point is obtained according to the difference between the expected posture of the center of mass projection and the actual posture of the center of mass projection. The forward linear velocity of the humanoid robot is obtained according to the forward observation point slope, and the humanoid robot is controlled according to the forward linear velocity to reach the position of the forward observation point.

[0087] The specific working process is the same as the corresponding steps in Example 1 and will not be repeated here.

[0088] Embodiment 5:

[0089] The present implementation provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs the following process:

[0090] Construct a rectangular coordinate system, with the forward direction of the humanoid robot as the X-axis and the horizontal direction perpendicular to the X-axis as the Y-axis. According to the robot's control frequency, gait frequency, gait cycle, and the projection of the center of mass on the Y-axis at each sampling moment in the gait cycle, obtain the actual position and posture of the center of mass projection of the humanoid robot in the current gait cycle.

[0091] The forward observation point of the humanoid robot is taken as the expected posture of the center of mass projection, and the slope of the forward observation point is obtained according to the difference between the expected posture of the center of mass projection and the actual posture of the center of mass projection. The forward linear velocity of the humanoid robot is obtained according to the forward observation point slope, and the humanoid robot is controlled according to the forward linear velocity to reach the position of the forward observation point.

[0092] The specific working process is the same as the corresponding steps in Example 1 and will not be repeated here.

[0093] A person skilled in the art can appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0094] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by the computer or a data processing device such as a server, a data center, etc. that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

[0095] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A humanoid robot motion control method, characterized in that: The process includes: Construct a rectangular coordinate system, with the forward direction of the humanoid robot as the X-axis and the horizontal direction perpendicular to the X-axis as the Y-axis. According to the robot's control frequency, gait frequency, gait cycle, and the projection of the center of mass on the Y-axis at each sampling moment in the gait cycle, obtain the actual position and posture of the center of mass projection of the humanoid robot in the current gait cycle. Taking the forward observation point of the humanoid robot as the expected posture of the center of mass projection, obtaining the slope of the forward observation point according to the difference between the expected posture of the center of mass projection and the actual posture of the center of mass projection, obtaining the forward linear velocity of the humanoid robot according to the forward observation point slope, and controlling the humanoid robot according to the forward linear velocity to reach the position of the forward observation point; The actual position of the center of mass projection of the humanoid robot in the current gait cycle is ( , , ), for The coordinate of the center of mass at the moment projected on the X-axis direction, , is any time, K is the control frequency, is the gait frequency, is the gait cycle, is the yaw angle, for The coordinate of the center of mass at the moment projected on the Y axis; The forward observation point of the humanoid robot is ( ), then the forward observation point slope for: ; The forward linear velocity is: ,in, is the slope of the forward observation point, , and These are all preset parameters. To find the absolute value of a function, Function used to solve of Power.

2. The humanoid robot motion control method according to claim 1, characterized in that: According to the forward linear velocity Get angular velocity : ； in, is the radius of curvature, , The forward observation distance is, )), ))represent and ), is the yaw angle.

3. The humanoid robot motion control method according to claim 2, characterized in that: Control inputs for humanoid robots, including: ； ； ； ； in, is the hip joint steering angle, is the yaw angle, is the slip angle, is the distance from the center of gravity to the robot's left hip joint, is the distance from the center of gravity to the robot's right hip joint, and They are the input positions in the X-axis and Y-axis directions respectively.

4. A humanoid robot motion control system, using the humanoid robot motion control method according to any one of claims 1 to 3, characterized in that: include: The posture solving unit is configured to: construct a rectangular coordinate system, with the forward direction of the humanoid robot as the X-axis and the horizontal direction perpendicular to the X-axis as the Y-axis, and obtain the actual posture of the center of mass projection of the humanoid robot in the current gait cycle according to the control frequency, gait frequency, gait cycle, and projection of the center of mass on the Y-axis at each sampling moment in the gait cycle of the robot; The motion control unit is configured to: use the forward observation point of the humanoid robot as the expected posture of the center of mass projection, obtain the forward observation point slope according to the difference between the expected posture of the center of mass projection and the actual posture of the center of mass projection, obtain the forward linear velocity of the humanoid robot according to the forward observation point slope, and control the humanoid robot according to the forward linear velocity to reach the forward observation point position.

5. A computer device, characterized in that: include: a processor and a computer readable storage medium; a processor adapted to execute a computer program; A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the humanoid robot motion control method according to any one of claims 1 to 3 is implemented.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor and executing the humanoid robot motion control method according to any one of claims 1 to 3.

7. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the humanoid robot motion control method according to any one of claims 1 to 3 is implemented.

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