Robot trajectory determination method and device, robot, medium and program product

Abstract

The invention relates to the technical field of robots, in particular to a robot track determining method and device, a robot, a medium and a program product, the robot comprises a robot body, robot feet and a mechanical arm, and the robot feet and the mechanical arm form motion branch chains with the robot body respectively; the method comprises the steps that a state variable, a control variable and state information of the tail ends of all motion branch chains and a target object in the process that a robot is expected to complete a target task are obtained, and the state information is used for representing whether the tail ends of the motion branch chains make contact with the target object or not; constructing an evaluation model according to the state variable, the control variable and the state information; according to the evaluation model, a reference track meeting preset constraints is determined, the reference track is used for controlling the robot to complete the target task, the current situation of leg-arm separation control is broken through, and therefore the whole-body coordination of the robot is improved when the robot is controlled to complete the target task according to the reference track.

Description

Technical Field

[0001] The present disclosure relates to the field of robot technology, and in particular to a robot trajectory determination method, device, robot, medium and program product. Background Art

[0002] Leg-arm composite robots can adapt to more complex terrains and working environments, and can replace humans to complete multi-contact and long-sequence operation tasks. Therefore, they are widely used in various scenarios such as home services, industrial inspections, rescue and firefighting.

[0003] The movement of a leg-arm combined robot often has the characteristics of high nonlinearity, high degree of freedom, and mixed continuous and discrete systems. Therefore, the autonomous planning of a leg-arm combined robot is very difficult. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a robot trajectory determination method, device, robot, medium and program product.

[0005] According to a first aspect of an embodiment of the present disclosure, a robot trajectory determination method is provided, wherein the robot comprises a robot body, a robot foot, and a robot arm, wherein the robot foot and the robot arm respectively form a motion branch chain with the robot body, and the method comprises: Acquire state variables, control variables, and state information of the ends of all the motion branches and the target object in the process of the robot expected to complete the target task, wherein the state information is used to indicate whether the ends of the motion branches are in contact with the target object; constructing an evaluation model according to the state variables, the control variables and the state information; According to the evaluation model, a reference trajectory that meets preset constraints is determined, and the reference trajectory is used to instruct the robot to complete the target task.

[0006] Optionally, the process includes a plurality of target segments, at least one of the state information corresponding to all the motion branches of adjacent target segments is different, and constructing an evaluation model according to the state variables, the control variables and the state information includes: Determining the state variable, the control variable and the state information corresponding to each target segment; Constructing an evaluation model corresponding to each of the target segments according to the state variables, the control variables and the state information corresponding to each of the target segments; The step of determining a reference trajectory satisfying a preset constraint according to the evaluation model includes: Determining a target sub-trajectory satisfying the preset constraints according to an evaluation model corresponding to each of the target segments; The reference trajectory is determined according to all the target sub-trajectories.

[0007] Optionally, the method further includes: Determine a first moment corresponding to the behavior of switching the state information of the first target motion branch this time; Determining a second time corresponding to the last behavior of switching the state information of the second target motion branch, wherein the first target motion branch and the second target motion branch are any one of all the motion branches; A target segment is determined according to the first time instant and the second time instant.

[0008] Optionally, the contact types at the end of the motion branch chain include a point contact end that cannot be grasped and a surface contact end that can be grasped, and the control variables corresponding to the point contact end that cannot be grasped include contact force, and the control variables corresponding to the surface contact end that can be grasped include the contact force and contact torque.

[0009] Optionally, the contact type of the target object includes a graspable point contact target and an ungrapable surface contact target, the control variables corresponding to the graspable point contact target include the contact force, and the control variables corresponding to the ungrapable surface contact target include the contact force and the contact torque.

[0010] Optionally, the reference trajectory is determined by offline calculation.

[0011] Optionally, the control variable includes at least one of the joint torque of the robot, the velocity of the joint, and the contact force at the end of the kinematic branch chain; The state variables include at least one of the position of the robot's center of mass, the speed of the center of mass, the position of the joints, the speed of the joints, the position of the target object, the speed of the target object, the body momentum of the robot, the end displacement and the speed of the end.

[0012] According to a second aspect of an embodiment of the present disclosure, a robot trajectory determination device is provided, wherein the robot comprises a robot body, a robot foot and a robot arm, wherein the robot foot and the robot arm respectively form a motion branch chain with the robot body, and the device comprises: an acquisition module, configured to acquire state variables, control variables, and state information of the ends of all the motion branches and the target object in the process of the robot being expected to complete the target task, wherein the state information is used to indicate whether the ends of the motion branches are in contact with the target object; A construction module, configured to construct an evaluation model according to the state variables, the control variables and the state information; A first determination module is configured to determine a reference trajectory that satisfies preset constraints according to the evaluation model, wherein the reference trajectory is used to instruct the robot to complete the target task. According to a third aspect of an embodiment of the present disclosure, a robot is provided, the robot comprising a robot body, a robot foot and a robot arm, the robot foot and the robot arm respectively forming a motion branch chain with the robot body, the robot further comprising: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: Acquire state variables, control variables, and state information of the ends of all the motion branches and the target object in the process of the robot expected to complete the target task, wherein the state information is used to indicate whether the ends of the motion branches are in contact with the target object; constructing an evaluation model according to the state variables, the control variables and the state information; According to the evaluation model, a reference trajectory that meets preset constraints is determined, and the reference trajectory is used to instruct the robot to complete the target task.

[0013] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the robot trajectory determination method provided in the first aspect of the present disclosure are implemented.

[0014] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps of the robot trajectory determination method provided in the first aspect of the present disclosure.

[0015] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: the robot foot and the robot arm are equivalent to the same motion branch chain connected to the robot body, thereby breaking the current situation of separate control of the legs and arms; on this basis, an evaluation model related to all motion branches is constructed, and the evaluation model is solved to obtain a reference trajectory, thereby improving the coordination of the robot's entire body when the robot is controlled according to the reference trajectory to complete the target task.

[0016] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0018] Figure 1The figure is a flow chart of a method for determining a robot trajectory according to an exemplary embodiment.

[0019] Figure 2 The figure is a flow chart of a method for determining a robot trajectory according to an exemplary embodiment.

[0020] Figure 3 The figure is a block diagram of a robot trajectory determination device according to an exemplary embodiment.

[0021] Figure 4 is a block diagram of a robot according to an exemplary embodiment. DETAILED DESCRIPTION

[0022] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0023] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0024] Figure 1 This is a flowchart of a robot trajectory determination method according to an exemplary embodiment of the present disclosure. The robot trajectory determination method can be applied to an electronic device or a robot, and the electronic device can be implemented in various forms. For example, the electronic device described in the present disclosure may include a mobile phone, a tablet computer, a laptop computer, a desktop computer, a PDA, a portable media player (PMP), a navigation device, a wearable device, a smart bracelet, etc. If the robot trajectory determination method is applied to an electronic device, the electronic device can send the obtained reference trajectory to the robot.

[0025] The robot described in the present disclosure includes a leg-arm composite robot. As the name implies, the leg-arm composite robot is a multi-modal mobile manipulation robot that combines leg and arm mechanisms. The legs can also be called robot feet. Further, the leg-arm composite robot can be a multi-legged robot such as a bipedal robot, a quadrupedal robot, and a hexapod robot. The arms can also be called mechanical arms. Further, the leg-arm composite robot can be a dual-arm robot or a single-arm robot.

[0026] In the present disclosure, the robot may include a robot body, robot feet and a robot arm, and each robot foot and each robot arm respectively form a motion branch chain with the robot body. Further, in the following embodiments, the present disclosure takes the robot including a robot body, four robot feet and one robot arm as an example to explain and illustrate the present disclosure.

[0027] Reference Figure 1 , the robot trajectory determination method may include the following steps: In step S11, the state variables, control variables and state information of the ends of all motion branches and the target object in the process of the robot expected to complete the target task are obtained, and the state information is used to indicate whether the ends of the motion branches are in contact with the target object; In step S12, an evaluation model is constructed based on the state variables, control variables and state information; In step S13, a reference trajectory that meets preset constraints is determined according to the evaluation model, and the reference trajectory is used to control the robot to complete the target task.

[0028] Through the above method, the robot's feet and arms are equivalent to the same motion branches connected to the robot body, thus breaking the current situation of separate leg and arm control; on this basis, an evaluation model related to all motion branches is constructed, and the evaluation model is solved to obtain a reference trajectory, thereby improving the coordination of the robot's entire body when the robot is controlled according to the reference trajectory to complete the target task.

[0029] It is worth noting that each robot foot and each robotic arm respectively forms a motion branch with the robot body. For example, taking the robot including the robot body, four robot feet and one robotic arm as an example, a total of 5 motion branches are included, and the 5 motion branches are respectively formed by each robot foot and the robot body, and the motion branch formed by the robotic arm and the robot body. In the present disclosure, each motion branch may include a joint and an end. Among them, the movement of the joint can cause the state of the robot to change. When the motion branch includes a robot foot, the end may refer to the foot end of the robot foot. When the motion branch includes a robotic arm, the end may refer to the end of the robotic arm.

[0030] In the present disclosure, target objects are all objects that the robot can touch during the completion of the target task. For example, taking the target task of automatically opening a door as an example, the door handle, the door panel surface and the ground are all considered as objects that the robot can touch during the completion of the automatic door opening process.

[0031] In the present disclosure, it can be seen from the above content that the state information is used to characterize whether the end of the motion branch is in contact with the target object, that is, the state information of the end of the motion branch and the target object includes contact or non-contact.

[0032] In the present disclosure, a state variable is a state that the robot is expected to reach, and the corresponding state variable is achieved by controlling the control variable. As an example, the control variable may include the torque of the joint, the velocity of the joint, and the contact force of the end; State variables may include the position and velocity of the robot's center of mass, the position and velocity of the joints, the position and velocity of certain target objects, the robot's body momentum, and the end displacement and velocity, etc., where the velocity may include at least one of linear velocity and angular velocity.

[0033] In the present disclosure, the evaluation model includes a model for measuring the optimal control variable. As an example, the evaluation model can be a model for measuring the time to complete the target task, and the one with the shortest time is the optimal control variable.

[0034] In the present disclosure, the preset constraints may be the robot's whole-body dynamics model constraints, the robot's own physical property constraints and environmental constraints. The robot's own physical property constraints may include joint angle limit constraints and joint torque limit constraints, etc.

[0035] In the present disclosure, a reference trajectory that satisfies a preset constraint can be determined based on a preset algorithm. The preset algorithm can be, for example, a sampling-based or optimization-based algorithm. Sampling-based or optimization-based algorithms are two main methods for solving trajectory planning problems. They each have different characteristics and application scenarios.

[0036] As an example, a sampling-based algorithm may be RRT (Rapidly-exploring Random Tree), which constructs a tree structure by randomly sampling points and connecting these points to find a path from a starting state to a target state. Corresponding to the present disclosure, the path here is the path to complete the target task, and the evaluation model may be a model for measuring the path cost.

[0037] As an example, an optimization-based algorithm may be DWA (dynamic window approach), which defines an optimization objective function to evaluate different trajectory candidates and select the optimal trajectory. In the present disclosure, the objective function is the evaluation model.

[0038] It is worth noting that when solving the reference trajectory, it is necessary to satisfy both the preset constraints and the optimal solution of the evaluation model.

[0039] In the present disclosure, after obtaining the reference trajectory, when the robot actually performs the target task, the reference trajectory can be used as reference data, and combined with the current state estimation of the robot to realize the motion control of the robot, so that the robot completes the execution of the target task. Among them, the current state estimation can include the robot's posture estimation and velocity estimation, as well as joint angle and velocity estimation, etc.

[0040] In the present disclosure, a reference trajectory that meets preset constraints can be determined by offline calculation, which can ensure the accuracy of the trajectory.

[0041] In a possible embodiment, the above-mentioned process of expected completion of the target task may include multiple target segments, especially when the target task is a long sequence task. The long sequence task can be understood as a task that requires multiple steps to complete, and each step can be understood as a subtask, and the combination of multiple subtasks forms the target task.

[0042] As an example, when dividing the target segments, the division can be based on whether the robot has executed the behavior of switching state information, that is, at least one of the state information corresponding to all motion branches of adjacent target segments is different. For example, in the previous target segment, the first robot foot is in the lifted state, that is, the first robot foot is not in contact with the ground; in the next target segment, the first robot foot is in the landed state, that is, the first robot foot is in contact with the ground, the previous target segment and the next target segment are adjacent target segments, and in the previous target segment and the next target segment, the state information of the motion branch corresponding to the first robot foot is different.

[0043] Figure 2 is another flow chart of a robot trajectory determination method according to an exemplary embodiment of the present disclosure, referring to Figure 2 , under the division of multiple target segments, the step of constructing the evaluation model according to the state variables, control variables and state information may include: In step S21, the state variables, control variables and state information corresponding to each target segment are determined; In step S22, an evaluation model corresponding to each target segment is constructed according to the state variables, control variables and state information corresponding to each target segment.

[0044] In the present disclosure, it can be known from the above content that the target segment can be determined according to the detected behavior that causes the state information to change. For example, the target segment can be determined in the following manner: determine the first moment corresponding to the behavior of switching the state information of the first target motion branch this time; determine the second moment corresponding to the behavior of switching the state information of the second target motion branch last time, the first target motion branch and the second target motion branch being any one of all motion branches; determine the target segment according to the first moment and the second moment.

[0045] It can be understood that, in two adjacent behaviors of switching state information, the first target motion branch and the second target motion branch can be the same motion branch or different motion branches.

[0046] In the present disclosure, behavior refers to the action taken by the robot to change state information, such as lifting a foot.

[0047] In the present disclosure, the evaluation model of each target segment can be represented by the following formula: ; In the above formula, is the evaluation model corresponding to the kth target segment, The behavior of switching the status information. is the state information corresponding to the kth target segment, is the state variable corresponding to the tth moment, is the control variable corresponding to the tth moment, and the tth moment is the moment in the kth target segment. According to the first moment and the second moment of the target segment, the tth moment in the target segment can be determined. It can be understood that each moment from the first moment to the second moment of the tth moment.

[0048] In the present disclosure, the control variables include at least one of the robot's joint torque, the velocity of the joints, and the contact force at the end of the motion branch; the state variables include at least one of the position of the robot's center of mass, the velocity of the center of mass, the position of the joints, the velocity of the joints, the position of the target object, the velocity of the target object, the robot's body momentum, the end displacement, and the end velocity.

[0049] Continue to refer to Figure 2 When solving the reference trajectory in segments, the step of determining the reference trajectory that satisfies the preset constraints according to the evaluation model may include: In step S23, according to the evaluation model corresponding to each target segment, a target sub-trajectory satisfying the preset constraints is determined; In step S24, a reference trajectory is determined according to all target sub-trajectories.

[0050] It is worth noting that a preset algorithm can be used to solve the target sub-trajectory and the reference trajectory in the above embodiment. The preset algorithm is similar to the above preset algorithm. The solution method can refer to the above related embodiments, which will not be described in detail in this embodiment.

[0051] It is worth noting that each target segment corresponds to a target sub-track, and all target sub-tracks are spliced ​​in chronological order to obtain a reference track.

[0052] It is understandable that in the scenario where the target task is a long sequence task, the error will gradually accumulate due to the accumulation of time. Therefore, considering the segmented solution of each target sub-trajectory can reduce the error of the reference trajectory, thereby improving the applicability of robot control based on the reference trajectory in a variety of environments.

[0053] In a possible manner, the contact type of the end of the moving branch may include a point contact end that cannot be grasped and a surface contact end that can be grasped. The control variables corresponding to the point contact end that cannot be grasped include contact force, and the control variables corresponding to the surface contact end that can be grasped include contact force and contact torque.

[0054] It should be noted that whether the end of the motion branch chain can grasp describes whether the end of the motion branch chain can grasp the target object.

[0055] It should be noted that the control variables are different for different contact types at the end of the motion branch chain. For example, if there is a gripper at the end of the robot arm, the end of the corresponding motion branch chain can be defined as a surface contact end that can be grasped; if there is no gripper at the end of the robot arm, the end of the corresponding motion branch chain can be defined as a point contact end that cannot be grasped; the end of the motion branch chain corresponding to the robot foot can be defined as a point contact end that cannot be grasped.

[0056] In a possible manner, the contact type of the target object includes a graspable point contact target and an ungrapable surface contact target, the control variables corresponding to the graspable point contact target include contact force, and the control variables corresponding to the ungrapable surface contact target include contact force and contact torque.

[0057] It should be noted that, similar to the end contact type of the kinematic branch chain, the corresponding control variables for different contact types of the target object are also different. For example, taking the target task of automatic door opening as an example, the door handle is a point contact target that can be grasped, and its control variables include contact force but not contact torque, while the door panel surface is a surface contact target that cannot be grasped, and its control variables include contact force and contact torque.

[0058] In the present disclosure, both contact force and contact moment may be three-dimensional.

[0059] Through the above method, different contact types between the motion branch and the target object are defined, so as to obtain different control variables, that is, to rationally configure each control variable and improve the accurate solution of the reference trajectory.

[0060] In the present disclosure, the control variables of the target object may also include position information and size information, and the position information may be understood as the positioning of the target object.

[0061] Figure 3 is a block diagram of a robot trajectory determination device according to an exemplary embodiment. The robot includes a robot body, a robot foot and a robot arm, wherein the robot foot and the robot arm respectively form a motion branch chain with the robot body. Figure 3 The robot trajectory determination device 300 includes an acquisition module 301, a construction module 302 and a first determination module 303.

[0062] The acquisition module 301 is configured to acquire the state variables, control variables and state information of the ends of all the motion branches and the target object in the process of the robot expected to complete the target task, wherein the state information is used to indicate whether the ends of the motion branches are in contact with the target object; The construction module 302 is configured to construct an evaluation model according to the state variables, the control variables and the state information; The first determination module 303 is configured to determine a reference trajectory that satisfies preset constraints according to the evaluation model, and the reference trajectory is used to instruct the robot to complete the target task.

[0063] Optionally, the process includes a plurality of target segments, at least one of the state information corresponding to all the motion branches of adjacent target segments is different, and the construction module 302 includes: A first determination submodule is configured to determine the state variable, the control variable and the state information corresponding to each target segment; A construction submodule, configured to construct an evaluation model corresponding to each of the target segments according to the state variables, the control variables and the state information corresponding to each of the target segments; The first determining module 303 includes: A second determination submodule is configured to determine a target sub-trajectory that satisfies the preset constraints according to an evaluation model corresponding to each of the target segments; The third determination submodule is configured to determine the reference trajectory according to all the target sub-trajectories.

[0064] Optionally, the robot trajectory determination device 300 further includes: A second determining module is configured to determine a first moment corresponding to the behavior of switching the state information of the first target motion branch this time; A third determining module is configured to determine a second time corresponding to the last behavior of switching the state information of the second target motion branch, wherein the first target motion branch and the second target motion branch are any one of all the motion branches; The fourth determination module is configured to determine a target segment according to the first moment and the second moment.

[0065] Optionally, the contact types at the end of the motion branch chain include a point contact end that cannot be grasped and a surface contact end that can be grasped, and the control variables corresponding to the point contact end that cannot be grasped include contact force, and the control variables corresponding to the surface contact end that can be grasped include the contact force and contact torque.

[0066] Optionally, the contact type of the target object includes a graspable point contact target and an ungrapable surface contact target, the control variables corresponding to the graspable point contact target include the contact force, and the control variables corresponding to the ungrapable surface contact target include the contact force and the contact torque.

[0067] Optionally, the reference trajectory is determined by offline calculation.

[0068] Optionally, the control variable includes at least one of the joint torque of the robot, the velocity of the joint, and the contact force at the end of the kinematic branch chain; The state variables include at least one of the position of the robot's center of mass, the speed of the center of mass, the position of the joints, the speed of the joints, the position of the target object, the speed of the target object, the body momentum of the robot, the end displacement and the speed of the end.

[0069] Regarding the robot trajectory determination device 300 in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0070] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and when the program instructions are executed by a processor, the steps of the robot trajectory determination method provided by the present disclosure are implemented.

[0071] Figure 4 is a block diagram of a robot according to an exemplary embodiment. Figure 4 The robot 400 may include one or more of the following components: a processing component 402 , a memory 404 , a power component 406 , a multimedia component 408 , an audio component 410 , an input / output interface 412 , a sensor component 414 , and a communication component 416 .

[0072] The processing component 402 generally controls the overall operation of the robot 400, such as operations associated with display, data communication, camera operation, and recording operation. The processing component 402 may include one or more processors 420 to execute instructions to complete all or part of the steps of the robot trajectory determination method described above. In addition, the processing component 402 may include one or more modules to facilitate the interaction between the processing component 402 and other components. For example, the processing component 402 may include a multimedia module to facilitate the interaction between the multimedia component 408 and the processing component 402.

[0073] The memory 404 is configured to store various types of data to support operations on the robot 400. Examples of such data include instructions for any application or method operating on the robot 400, contact data, phone book data, messages, pictures, videos, etc. The memory 404 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0074] The power supply assembly 406 provides power to various components of the robot 400. The power supply assembly 406 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the robot 400.

[0075] The multimedia component 408 includes a screen that provides an output interface between the robot 400 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 408 includes a front camera and / or a rear camera. When the robot 400 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0076] The audio component 410 is configured to output and / or input audio signals. For example, the audio component 410 includes a microphone (MIC), and when the robot 400 is in an operation mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 404 or sent via the communication component 416. In some embodiments, the audio component 410 also includes a speaker for outputting audio signals.

[0077] The input / output interface 412 provides an interface between the processing component 402 and the peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0078] The sensor assembly 414 includes one or more sensors for providing various aspects of the status assessment of the robot 400. For example, the sensor assembly 414 can detect the open / closed state of the robot 400, the relative positioning of components, such as the display and keypad of the robot 400, the sensor assembly 414 can also detect the position change of the robot 400 or a component of the robot 400, the presence or absence of user contact with the robot 400, the orientation or acceleration / deceleration of the robot 400, and the temperature change of the robot 400. The sensor assembly 414 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 414 can also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 414 can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0079] The communication component 416 is configured to facilitate wired or wireless communication between the robot 400 and other devices. The robot 400 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 416 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 416 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0080] In an exemplary embodiment, the robot 400 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-mentioned robot trajectory determination method.

[0081] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 404 including instructions, and the instructions can be executed by a processor 420 for robot trajectory determination to complete the above robot trajectory determination method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0082] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and the computer program has a code portion for executing the above robot trajectory determination method when executed by the programmable device.

[0083] Those skilled in the art may also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application may be implemented by electronic hardware, computer software, or a combination of the two. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the functions described for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present application.

[0084] In the above detailed description, reference is made to the accompanying drawings, which illustrate specific aspects of the present disclosure that can be practiced by way of illustration. In this regard, terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating directions or representing positional relationships, can be used with reference to the orientation of the described figures. Since the components of the described device can be positioned in a plurality of different orientations, directional terms can be used for illustrative purposes rather than restrictive. It should be understood that other aspects can be utilized and structural or logical changes can be made without departing from the concepts of the present disclosure. Therefore, the following detailed description should not be considered in a limiting sense.

[0085] It should be understood that, unless otherwise specifically noted, the features of some embodiments of the various present disclosures described herein may be combined with each other. As used herein, the term "and / or" includes any one of the related listed items and any combination of any two or more; similarly, "at least one of . . . " includes any one of the related listed items and any combination of any two or more.

[0086] It should be understood that, unless otherwise clearly specified and limited, the terms "joining", "attaching", "installing", "connecting", "connecting", "fixing" and the like used in the embodiments of the present disclosure should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For ordinary technicians in this field, the specific meanings of the above terms in this article can be understood according to specific circumstances.

[0087] In addition, the term "above" used in relation to a component, element or material layer formed "above" or located "above" a surface may be used herein to indicate that the component, element or material layer is "indirectly" positioned (e.g., placed, formed, deposited, etc.) on the surface such that one or more additional components, elements or layers are arranged between the surface and the component, element or material layer. However, the term "above" used in relation to a component, element or material layer formed "above" or located "above" a surface may also optionally have a specific meaning: the component, element or material layer is "directly" positioned (e.g., placed, formed, deposited, etc.) on the surface, such as in direct contact with the surface.

[0088] Although terms such as "first", "second" and "third" can be used herein to describe various components, parts, regions, layers or sections, these components, parts, regions, layers or sections are not limited to these terms. On the contrary, these terms are only used to distinguish one component, component, region, layer or section from another component, component, region, layer or section. Therefore, without departing from the teachings of each example, the first component, component, region, layer or section mentioned in the examples described herein may also be referred to as the second component, component, region, layer or section. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may expressly or implicitly include at least one of the features. In the description herein, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0089] It should be understood that spatially relative terms such as "above", "upper", "below", and "lower" are used herein to describe the relationship of one element to another element shown in the figures. In addition to the orientation depicted in the drawings, such spatially relative terms are also intended to include different orientations of the device in use or operation. For example, if the device in the drawings is turned over, the element described as being "above" or "upper" relative to another element will be "below" or "lower" relative to the other element. Therefore, depending on the spatial orientation of the device, the term "above" includes both upper and lower orientations. The device may have other orientations (e.g., rotated 90 degrees or in other orientations), and the spatially relative terms used herein should be interpreted accordingly.

[0090] In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a specific way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0091] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and beneficial to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in a specific embodiment or claim, such terms are intended to be inclusive in a manner similar to the term "comprising".

[0092] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0093] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A robot trajectory determination method, characterized in that: The robot comprises a robot body, a robot foot and a robot arm, wherein the robot foot and the robot arm respectively form a motion branch chain with the robot body, and the method comprises: Acquire state variables, control variables, and state information of the ends of all the motion branches and the target object in the process of the robot expected to complete the target task, wherein the state information is used to indicate whether the ends of the motion branches are in contact with the target object; constructing an evaluation model according to the state variables, the control variables and the state information; According to the evaluation model, a reference trajectory that meets preset constraints is determined, and the reference trajectory is used to instruct the robot to complete the target task.

2. The method according to claim 1, characterized in that The process includes a plurality of target segments, at least one of the state information corresponding to all the motion branches of adjacent target segments is different, and constructing an evaluation model based on the state variables, the control variables and the state information, including: Determine the state variable, the control variable and the state information corresponding to each target segment; Constructing an evaluation model corresponding to each of the target segments according to the state variables, the control variables and the state information corresponding to each of the target segments; The step of determining a reference trajectory satisfying a preset constraint according to the evaluation model includes: Determining a target sub-trajectory satisfying the preset constraints according to an evaluation model corresponding to each of the target segments; The reference trajectory is determined according to all the target sub-trajectories.

3. The method according to claim 1, characterized in that The method further comprises: Determine a first moment corresponding to the behavior of switching the state information of the first target motion branch this time; Determining a second time corresponding to the last behavior of switching the state information of the second target motion branch, wherein the first target motion branch and the second target motion branch are any one of all the motion branches; A target segment is determined according to the first time instant and the second time instant.

4. The method according to claim 1, characterized in that The contact types of the ends of the motion branch chain include a point contact end that cannot be grasped and a surface contact end that can be grasped. The control variables corresponding to the point contact end that cannot be grasped include contact force, and the control variables corresponding to the surface contact end that can be grasped include contact force and contact torque.

5. The method according to claim 4, characterized in that The contact types of the target object include a graspable point contact target and an ungrapable surface contact target. The control variables corresponding to the graspable point contact target include the contact force, and the control variables corresponding to the ungrapable surface contact target include the contact force and the contact torque.

6. The method according to any one of claims 1 to 3, characterized in that: The reference trajectory is determined by an offline calculation method.

7. The method according to claim 1, characterized in that The control variable includes at least one of the joint torque of the robot, the velocity of the joint, and the contact force at the end of the kinematic branch chain; The state variables include at least one of the position of the robot's center of mass, the speed of the center of mass, the position of the joints, the speed of the joints, the position of the target object, the speed of the target object, the body momentum of the robot, the end displacement and the speed of the end.

8. A robot trajectory determination device, characterized in that: The robot comprises a robot body, a robot foot and a robot arm, wherein the robot foot and the robot arm respectively form a motion branch chain with the robot body, and the device comprises: an acquisition module, configured to acquire state variables, control variables, and state information of the ends of all the motion branches and the target object in the process of the robot being expected to complete the target task, wherein the state information is used to indicate whether the ends of the motion branches are in contact with the target object; A construction module, configured to construct an evaluation model according to the state variables, the control variables and the state information; The first determination module is configured to determine a reference trajectory that meets preset constraints according to the evaluation model, and the reference trajectory is used to instruct the robot to complete the target task.

9. A robot, characterized in that: The robot comprises a robot body, a robot foot and a robot arm, wherein the robot foot and the robot arm respectively form a motion branch chain with the robot body, and the robot further comprises: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: Acquire state variables, control variables, and state information of the ends of all the motion branches and the target object in the process of the robot expected to complete the target task, wherein the state information is used to indicate whether the ends of the motion branches are in contact with the target object; constructing an evaluation model according to the state variables, the control variables and the state information; According to the evaluation model, a reference trajectory that meets preset constraints is determined, and the reference trajectory is used to instruct the robot to complete the target task.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented.

11. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

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