Biped robot control method, electronic device, and storage medium

Abstract

The application discloses a kind of biped robot control method, electronic equipment and storage medium.Therein, the method includes: in response to receiving the stride instruction of biped robot, the stride trajectory of biped robot is acquired, wherein, stride trajectory is used to indicate the movement trajectory of swing foot of biped robot from current posture to desired posture, biped robot also includes support foot and body, support foot is used to support body to be in stable state;Based on the current center of mass position of body and the current position of support foot, the body is controlled to move along the first direction, and the first moving position is obtained, wherein, the first direction is used to indicate the direction of support foot relative to swing foot;Stride trajectory and first moving position are used to control the body to move along the second direction, and the second moving position is obtained, wherein, the second direction is used to indicate the moving direction of swing foot in stride trajectory.The application solves the technical problem that the control effect of related biped robot is poor.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot control, in particular to a control method of a biped robot, an electronic device and a storage medium. BACKGROUND

[0002] With the continuous development of the field of robot control, remote control of the biped robot also faces many challenges. In the related art, imitation learning is used to realize remote control of the biped robot, and an existing planning control method is used to realize the walking ability of the biped robot from scratch. However, in the process of controlling the biped robot, the body of the biped robot is often unstable, which makes it difficult to accurately control the motion trajectory of the body of the biped robot, and thus the control effect of the biped robot in the related art is poor.

[0003] For the above problems, there is no effective solution at present. SUMMARY

[0004] The embodiments of the present application provide a control method of a biped robot, an electronic device and a storage medium, to at least solve the technical problem of poor control effect of the biped robot in the related art.

[0005] According to an aspect of an embodiment of the present application, a control method of a biped robot is provided, comprising: in response to receiving a stepping instruction of the biped robot, obtaining a stepping trajectory of the biped robot, wherein the stepping trajectory is used to represent a motion trajectory of a swing leg of the biped robot from a current posture to a desired posture, the biped robot further comprises a support leg and a body, and the support leg is used to support the body in a stable state; controlling the body to move in a first direction based on a current center of mass position of the body and a current position of the support leg, to obtain a first moving position, wherein the first direction is used to represent a direction of the support leg relative to the swing leg; controlling the body to move in a second direction based on the stepping trajectory and the first moving position, to obtain a second moving position, wherein the second direction is used to represent a moving direction of the swing leg in the stepping trajectory.

[0006] Further, controlling the body to move in the first direction based on the current center of mass position of the body and the current position of the support leg, to obtain the first moving position, comprises: determining a moving distance of the body based on the current center of mass position and the current position, wherein the moving distance is less than an interval distance between the current center of mass position and the current position; determining a first moving amplitude based on the moving distance and a first moving speed; controlling the body to move in the first direction based on the first moving amplitude, to obtain the first moving position.

[0007] Further, the controlling the robot body to move in the second direction based on the step trajectory and the first moving position to obtain a second moving position comprises: determining an initial position and a target position of the swing leg based on the step trajectory; constructing a position vector of the swing leg based on the initial position and the target position, wherein a direction of the position vector is used to represent the second direction, and a length of the position vector is used to represent a straight-line distance of a motion trajectory of the swing leg projected on a plane where the biped robot is located; and controlling the robot body to move in the second direction based on the first moving position and the position vector to obtain the second moving position.

[0008] Further, the controlling the robot body to move in the second direction based on the first moving position and the position vector to obtain the second moving position comprises: determining a second moving amplitude based on the position vector and a second moving speed; and controlling the robot body to move in the second direction based on the first moving position and the second moving amplitude to obtain the second moving position.

[0009] Further, the method further comprises: in response to receiving a control instruction of the biped robot, collecting a current posture of the biped robot, wherein the control instruction carries a desired posture of the bipede robot; determining a relative moving distance and a relative swing angle of the biped robot based on the current posture and the desired posture, wherein the relative moving distance is used to represent a relative position of a step of a support leg and a swing leg in a plane where the biped robot is located, and the relative swing angle is used to represent a relative angle of the step of the support leg and the swing leg in the plane, the support leg is used to support the biped robot in a stable state, and the swing leg is used to control the biped robot to reach the desired posture; and generating a step instruction based on the relative moving distance and the relative swing angle.

[0010] Further, the controlling the robot body to move in the second direction based on the step trajectory and the first moving position to obtain a second moving position comprises: controlling the swing leg to move based on the relative moving distance and the relative swing angle, and synchronously controlling the robot body to move in the second direction based on the step trajectory and the first moving position to obtain the second moving position.

[0011] Further, the controlling the robot body to move in the second direction based on the step trajectory and the current position comprises: inputting the step trajectory and the current position into a state machine, and performing running planning on the robot body by using the state machine to obtain a moving state of the robot body, wherein the state machine is used to represent a moving state conversion relationship of the robot body from the current position to a target position; and controlling the robot body to move in the second direction based on the moving state.

[0012] According to another aspect of the embodiment of the present application, an electronic device is also provided, comprising: a memory storing an executable program; and a processor configured to execute the program, wherein the program is configured to execute the control method of the biped robot when executed.

[0013] According to another aspect of the embodiments of the present application, a computer readable storage medium is also provided, which comprises a stored executable program, wherein the executable program controls the device where the computer readable storage medium is located to perform the control method of the biped robot when the executable program is executed.

[0014] According to another aspect of the embodiments of the present application, a computer program product is also provided, which comprises a computer program, and the computer program implements the control method of the biped robot when executed by a processor.

[0015] In the embodiments of the present application, by responding to the received stride instruction of the biped robot, the stride trajectory of the biped robot is obtained, then the body is controlled to move in the first direction based on the current center of mass position of the body and the current position of the supporting leg, to obtain a first moving position, and the body is controlled to move in the second direction based on the stride trajectory and the first moving position, to obtain a second moving position, thus achieving the purpose of accurately controlling the moving trajectory of the body of the biped robot. It is easy to note that the stride trajectory is used to represent the moving trajectory of the swinging leg of the biped robot from the current posture to the desired posture, by determining the stride trajectory of the biped robot, the trajectory of the swinging leg in the posture changing process is determined, then based on the determination of the first moving position, the body is controlled to move in the second direction according to the stride trajectory and the first moving position, to obtain the second moving position, the above process determines the stride trajectory of the biped robot, the first direction and the second direction, and then plans the moving trajectory of the body based on the stride trajectory, the first direction and the second direction, thus achieving the purpose of accurately controlling the moving trajectory of the body of the biped robot, thereby realizing the technical effect that the body of the biped robot is always kept stable in the stride process, and further solving the technical problem that the control effect of the biped robot is poor in the related art. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0017] Figure 1 is a flow chart of a control method of a biped robot according to an embodiment of the present application;

[0018] Figure 2 is a schematic diagram of a preset coordinate system of a control method of a biped robot according to an embodiment of the present application;

[0019] Figure 3 is a schematic diagram of a body planning of a biped robot according to an embodiment of the present application;

[0020] Figure 4is a control method flow chart of an optional biped robot according to an embodiment of the present application;

[0021] Figure 5 is a control device schematic diagram of a biped robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the personnel in the technical field better understand the present application scheme, the technical scheme in the embodiment of the present application will be described clearly and completely in combination with the drawings in the embodiment of the present application. Obviously, the described embodiment is only a part of the embodiment of the present application, not all. Based on the embodiment in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the protection scope of the present application.

[0023] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0024] According to an embodiment of the present application, an embodiment of a control method of a biped robot is provided. It should be noted that the steps shown in the flow chart of the drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flow chart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0025] Figure 1 is a control method flow chart of a biped robot according to an embodiment of the present application, as shown in Figure 1 The method comprises the following steps:

[0026] Step S102, in response to receiving a step instruction of the biped robot, obtaining a step trajectory of the biped robot, wherein the step trajectory is used to represent the motion trajectory of the swing leg of the biped robot from the current posture to the desired posture, the biped robot further comprises a supporting leg and a body, the supporting leg is used to support the body in a stable state.

[0027] The biped robot in the above steps is used to describe a robot with two legs that can mimic human walking. The types of biped robots can include but are not limited to bionic robots, industrial robots, etc. The specific type of biped robot should be determined according to actual needs, which is not limited here. The role of the biped robot can include but is not limited to search and rescue, home service, entertainment performance, etc.

[0028] The step in the above steps is used to describe the signal issued by the control system to instruct the biped robot to take a step. The types of step instructions can include but are not limited to forward step instructions, backward step instructions, side step instructions, or turn instructions, etc. The specific step instruction needs to be determined according to the actual situation of the control system, which is not limited here. The role of the step instruction can include but is not limited to being used as a walking action trigger signal or a step action guidance instruction for the biped robot, etc.

[0029] The response in the above steps is used to describe the reaction of the biped robot to the instructions issued by the control system. The response can include but is not limited to responding to the collection instruction, collecting the current posture of the biped robot, responding to the control instruction, controlling the biped robot to reach the desired posture, etc. The specific response needs to be determined according to the needs of the control system, which is not limited here.

[0030] The step in the above steps is used to describe the movement path of the swinging foot of the biped robot from the current posture to the desired posture. The types of step trajectories can include but are not limited to linear trajectories, curved trajectories, dynamic trajectories, etc. The specific step trajectory can be determined according to the actual situation, which is not limited here. The role of the step trajectory can include but is not limited to keeping the biped robot balanced, improving the walking efficiency of the biped robot, and improving the environmental adaptability of the biped robot, etc.

[0031] The current posture in the above steps is used to describe the actual position and angle of the biped robot at the current time. The current posture is the basis for controlling the action of the biped robot and is crucial for planning the next action of the biped robot. The current posture can include but is not limited to the current position, current direction, current supporting foot, and current angle of the biped robot, etc. The specific current posture can be determined according to actual needs, which is not limited here.

[0032] The desired posture in the above steps is used to describe the target position and angle that the control system expects the biped robot to reach. The desired posture can be used to guide the biped robot how to adjust its action to achieve the goal. The types of desired postures can include but are not limited to the target position, target angle, target direction, target action of the biped robot, etc. The specific desired posture can be determined according to actual needs, which is not limited here.

[0033] The swing leg in the above step is used to describe the leg that is not in contact with the ground and is ready to step in the gait of the biped robot. The swing leg can be used to realize the transition of the gait, and the position and attitude of the robot are changed by stepping.

[0034] The support leg in the above step is used to describe the leg that is in contact with the ground and provides support in the gait of the biped robot. The support leg can be used to maintain the balance and stability of the robot, and is the basis for the transition of the gait.

[0035] In an optional embodiment, the stepping instruction of the biped robot triggers the generation of a stepping trajectory, which can plan the path of the swing leg of the robot from the current position to the target position. The above process enables the biped robot to achieve smooth and efficient motion, while reducing energy consumption and improving walking stability and efficiency. At the same time, such motion planning not only improves the maneuverability of the robot, but also enhances its adaptability in complex environments, thereby improving the practicality and flexibility of the biped robot in various application scenarios.

[0036] In step S104, the body is controlled to move in a first direction based on the current center of mass position of the body and the current position of the support leg, to obtain a first moving position, wherein the first direction is used to represent the direction of the support leg relative to the swing leg.

[0037] The center of mass in the above step is used to describe the balance point of the mass distribution of the biped robot, which is the equivalent concentrated point of all the masses of the biped robot. Determining the center of mass of the biped robot helps to determine the balance and motion of the robot. The position of the center of mass can be determined according to the design and load of the biped robot, which is not limited here.

[0038] The current center of mass position in the above step is used to describe the position of the center of mass of the biped robot at the current time. The types of the current center of mass position can include but are not limited to static center of mass position, actual center of mass position, and dynamic center of mass position. The specific types of the current center of mass position are determined according to actual needs, which are not limited here. The role of the current center of mass position can include but is not limited to determining the balance point of the biped robot and promoting the motion balance of the biped robot.

[0039] The first direction in the above step is used to describe the direction of the support leg relative to the swing leg. The types of the first direction can include but are not limited to horizontal direction, vertical direction, and diagonal direction. The specific first direction is determined according to the actual situation, which is not limited here. The role of the first direction can include but is not limited to determining the main moving direction of the biped robot during operation and controlling the running direction.

[0040] The first moving position in the above step is used to describe a new position of the body after the body is moved in the first direction. The first moving position can include but is not limited to a preset position, a dynamic position, etc. The specific first moving position is determined according to actual conditions, which is not limited here. The role of the first moving position can include but is not limited to determining the position of the body, helping the system to position and perform subsequent operations, etc.

[0041] In an optional embodiment, the first direction is first determined according to the direction of the support leg relative to the swing leg, and then the body is controlled to move in the first direction based on the current center of mass position of the body and the current position of the support leg, so that the body position reaches the first moving position. The above process determines the first direction as the moving direction of the body, improves the stability of the moving process, reduces the risk of falling, improves the movement efficiency, and at the same time can quickly adjust the body position when needed to adapt to different operation conditions.

[0042] In step S106, the body is controlled to move in the second direction based on the step trajectory and the first moving position, to obtain a second moving position, wherein the second direction is used to represent the moving direction of the swing leg in the step trajectory.

[0043] The second direction in the above step is used to describe the moving direction of the swing leg relative to the support leg in the step trajectory. The second direction can include but is not limited to a horizontal direction, a vertical direction, and an inclined direction, etc. The specific second direction should be determined according to actual needs, which is not limited here. The role of the second direction can include but is not limited to controlling the movement of the body of the biped robot, maintaining the balance of the biped robot, etc.

[0044] The second moving position in the above step is used to describe a new position of the body of the biped robot after the step action is completed. The second moving position can be any new position relative to the first moving position. The specific second moving position is determined according to the step trajectory and the second direction, which is not limited here. The role of the second moving position can include but is not limited to determining the position of the body, providing a new starting position for the next step action, etc.

[0045] In an optional embodiment, first, the second direction is determined based on the moving direction of the swing leg in the step trajectory, and then the biped robot is guided to move in the second direction based on the step trajectory and the first moving position, to ensure that the body position reaches the second moving position from the first moving position. The above process controls the body to move in the moving direction of the swing leg, which can reduce unnecessary movement, help to maintain the balance of the robot, improve the efficiency of the overall movement, and at the same time move according to the determined step trajectory, which can reduce the risk of accidental collision and improve the safety of operation.

[0046] In the embodiment of the present application, by responding to the receiving of the step instruction of the biped robot, the step trajectory of the biped robot is obtained, then the body is controlled to move along the first direction based on the current center of mass position of the body and the current position of the supporting leg, to obtain the first moving position, the body is controlled to move along the second direction based on the step trajectory and the first moving position, to obtain the second moving position, finally the purpose of accurately controlling the moving trajectory of the body of the biped robot is achieved. It is easy to note that the step trajectory is used to represent the moving trajectory of the swing leg of the biped robot from the current posture to the desired posture, by determining the step trajectory of the biped robot, the trajectory of the swing leg in the posture change process is determined, then based on the determination of the first moving position, the body is controlled to move along the second direction according to the step trajectory and the first moving position, to obtain the second moving position, the above process determines the step trajectory of the biped robot, the first direction and the second direction, and then plans the moving trajectory of the body based on the step trajectory, the first direction and the second direction, to achieve the purpose of accurately controlling the moving trajectory of the body of the biped robot, thereby realizing the technical effect that the body of the biped robot remains stable during the step process, and further solving the technical problem of poor control effect of the biped robot in the related art.

[0047] Optionally, controlling the body to move along the first direction based on the current center of mass position of the body and the current position of the supporting leg to obtain the first moving position comprises: determining the moving distance of the body based on the current center of mass position and the current position, wherein the moving distance is less than the interval distance between the current center of mass position and the current position; determining the first moving amplitude based on the moving distance and the first moving speed; controlling the body to move along the first direction based on the first moving amplitude to obtain the first moving position.

[0048] The moving distance described above is used to describe the distance of the body moving along the first direction, the moving distance is less than the interval distance between the current center of mass position of the body and the current position of the supporting leg, the types of the moving distance can include but are not limited to vertical moving distance, horizontal moving distance or straight line moving distance, etc., the specific type of the moving distance is allowed to be determined according to the relative position of the supporting leg and the current center of mass position, which is not limited here, the role of the moving distance can include but is not limited to determining the upper limit of the body movement, ensuring the safety of the body, etc.

[0049] The first moving speed described above is used to describe the speed of the body moving along the first direction, the unit of the first moving speed can include but is not limited to meter / second, millimeter / second, kilometer / hour, etc., the specific unit should be determined according to the actual situation, which is not limited here, the type of the first moving speed can include but is not limited to constant speed, variable speed or acceleration control, etc., the specific first moving speed should be determined according to the design of the control system, which is not limited here, the role of the first moving speed can include but is not limited to controlling the speed of the body movement, controlling the efficiency and response time of the movement, etc.

[0050] The first moving range is used to describe the distance of the body moving along the first direction according to the first moving speed, and the types of the first moving range can include but are not limited to a fixed moving range, a real-time moving range, etc., and the specific first moving range needs to be determined according to the system design, which is not limited here, and the functions of the first moving range can include but are not limited to controlling the body to reach the first moving position, ensuring the moving speed and the moving distance, etc.

[0051] In an optional embodiment, first, the moving distance required by the body is calculated based on the current center-of-mass position of the body and the current position of the support foot, wherein the calculated moving distance needs to be less than the actual interval distance between the center-of-mass position and the support foot position, so as to ensure that the movement is feasible and will not exceed the support range of the support foot; then, the first moving range of the body is determined according to the calculated moving distance and the preset first moving speed; finally, the body is controlled to move along the first direction according to the first moving range until the first moving position is reached. Through accurate control of the moving distance and speed, the above process can ensure that the body remains balanced during movement and avoids instability or damage caused by excessive movement.

[0052] In an optional embodiment, Figure 2 is a preset coordinate system diagram of a control method of a biped robot according to an embodiment of the application, as Figure 2 shown, the preset coordinate system includes an x-axis, a y-axis, a z-axis and an origin O, the origin O corresponds to the center-of-mass of the biped robot, the x-axis, the y-axis and the z-axis correspond to a first preset axis, a second preset axis and a third preset axis respectively, and the directions corresponding to the above-mentioned x-axis, y-axis and z-axis can be adjusted according to actual conditions, which are not limited here.

[0053] Optionally, the body is controlled to move along the second direction based on the step trajectory and the first moving position to obtain a second moving position, including: determining an initial position and a target position of the swing foot based on the step trajectory; constructing a position vector of the swing foot based on the initial position and the target position, wherein the direction of the position vector is used to represent the second direction, and the length of the position vector represents the straight-line distance of the motion trajectory of the swing foot projected on the plane where the biped robot is located; controlling the body to move along the second direction based on the first moving position and the position vector to obtain the second moving position.

[0054] The initial position is used to describe the position of the swing foot at the beginning of the step, and the initial position can be used to determine the initial state of the swing foot, and the types of the initial position can include but are not limited to a dynamic initial position and a static initial position, etc., and the specific initial position needs to be determined according to the motion state of the biped robot before the step, which is not limited here.

[0055] The target position is used to describe the position of the swing leg at the end of the step, and the types of the target position can include but are not limited to static target position and dynamic target position, and the specific target position is determined according to the task requirement, which is not limited here. The role of the target position can include but is not limited to determining the final position of the swing leg, guiding the movement direction of the swing leg, etc.

[0056] The position vector is used to describe the vector from the initial position to the target position, and the types of the position vector can include but are not limited to static position vector and dynamic position vector, and the specific position vector should be determined according to the actual demand, which is not limited here. The role of the position vector can include but is not limited to determining the second direction, determining the straight-line distance of the movement trajectory, etc.

[0057] In an optional embodiment, first, the initial position and the target position of the swing leg are determined; then, the position vector is constructed according to the initial position and the target position. The position vector can be used to indicate the direction of the swing leg movement, i.e. the second direction of the biped robot movement, and the straight-line distance of the movement trajectory of the swing leg on the plane where the robot is located can also be determined by the length of the position vector; then, based on the current first movement position of the biped robot and the position vector, the body of the biped robot is controlled to move along the second direction, so that the biped robot can accurately reach the second movement position according to the requirements of the step trajectory. The above process improves the accuracy and efficiency of the biped robot movement by calculating the position vector, and further improves the flexibility and stability of the biped robot when performing complex tasks.

[0058] Optionally, controlling the body to move along the second direction based on the first movement position and the position vector to obtain the second movement position includes: determining a second movement amplitude based on the position vector and a second movement speed; and controlling the body to move to the second direction based on the first movement position and the second movement amplitude to obtain the second movement position.

[0059] The second movement speed is used to describe the speed of the body of the biped robot moving in the second direction, which is usually measured by the distance moved per unit time. The unit of the second movement speed can include but is not limited to meters / second, millimeters / second, kilometers / hour, etc. The specific unit should be determined according to the actual situation, which is not limited here. The role of the second movement speed can include but is not limited to controlling the speed of the body movement, improving the efficiency and safety of the movement process, etc. The types of the second movement speed can include but are not limited to constant speed, variable speed and adaptive speed, etc. The specific second movement speed should be determined according to the actual demand, which is not limited here.

[0060] The second movement range is used to describe the distance of the body moving along the second direction according to the second movement speed. The function of the second movement range can include, but is not limited to, controlling the body to reach the second movement position, ensuring the movement speed and the movement distance, etc. The type of the second movement range can include, but is not limited to, a fixed movement range, a real-time movement range, etc. The specific second movement range needs to be determined according to the system design, which is not limited here.

[0061] In an optional embodiment, first, the second movement range of the body in the second direction is determined based on the position vector and the preset second movement speed; then, the body is controlled to move from the first movement position along the second direction according to the second movement range until the body reaches the second movement position. The above process can accurately control the movement range and the movement speed by calculating the second movement range required for movement, reduce unnecessary movement, save energy, and thus improve the speed and accuracy of task execution. In addition, the above control process can also reduce the risk of deviating from the predetermined path due to human operation errors.

[0062] In an optional embodiment, Figure 3 is a schematic diagram of a body planning of an optional biped robot according to an embodiment of the present application, as Figure 3 shown, the body planning includes four stages of the movement of the body of the biped robot, which are: stage one, a standing stable stage, the midpoint of the support foot (as shown by the solid circle in Figure 3 ) is at the middle position of the body; stage two, a support adjustment stage, the body moves 5 cm towards the left support foot, the above movement distance is only an example, and the specific movement distance needs to be determined according to the actual situation; stage three, a swing stage, the swing foot is lifted, and the body moves towards the midpoint of the desired support foot (as shown by the hollow circle in Figure 3 ); stage four, a standing back to stable stage, the body position is at the midpoint of the desired support point.

[0063] Optionally, the method further includes: in response to receiving the control instruction of the biped robot, collecting the current posture of the biped robot, wherein the control instruction carries the desired posture of the biped robot; determining the relative movement distance and the relative swing angle of the biped robot based on the current posture and the desired posture, wherein the relative movement distance is used to represent the relative position of the support foot and the swing foot in the plane of the biped robot, and the relative swing angle is used to represent the relative angle of the support foot and the swing foot in the plane, the support foot is used to support the biped robot in a stable state, and the swing foot is used to control the biped robot to reach the desired posture; and generating a step instruction based on the relative movement distance and the relative swing angle.

[0064] The control instruction is used to describe a signal sent by the control system for guiding the action or behavior of the biped robot to achieve a specific task or goal. The types of control instructions can include but are not limited to acquisition control instructions, position control instructions, attitude control instructions, and speed control instructions, and the specific control instructions should be determined according to the actual needs, which are not limited here.

[0065] The relative movement position is used to describe the relative position of the support leg and the swing leg in the gait planning of the biped robot. The relative movement position can be used to determine the specific position of the swing leg to step to, so as to realize the smooth transition of the gait.

[0066] The relative swing angle is used to describe the relative angle of the support leg and the swing leg in the gait planning of the biped robot. The relative swing angle is used to determine the rotation direction and angle of the swing leg during stepping, so as to realize the smoothness of the gait and the balance of the robot.

[0067] In an optional embodiment, the current attitude of the biped robot is acquired in response to receiving the control instruction of the biped robot, and then the relative movement position and the relative swing angle of the biped robot are determined based on the current attitude and the expected attitude. Finally, the stepping instruction is generated based on the relative movement position and the relative swing angle, so as to control the operation of the biped robot. Wherein, the expected attitude is carried by the control instruction, after obtaining the expected attitude and the current attitude of the biped robot, the relative movement position and the relative swing angle of the biped robot are determined according to the stepping relative position and the stepping relative angle between the support leg and the swing leg of the biped robot, and then the stepping instruction is generated according to the relative movement position and the relative swing angle. The above process achieves the purpose of accurately controlling the biped robot to operate according to the expected target by obtaining the relative movement position and the relative swing angle of the biped robot, thereby realizing the technical effect of remotely and accurately controlling the motion trajectory of the biped robot, and solving the technical problem of poor control effect of the biped robot in the related art.

[0068] Optionally, the body is controlled to move in the second direction based on the stepping trajectory and the first movement position to obtain a second movement position, including: controlling the swing leg to move based on the relative movement distance and the relative swing angle, and synchronously controlling the body to move in the second direction based on the stepping trajectory and the first movement position to obtain the second movement position.

[0069] In an optional embodiment, a step trajectory of the biped robot is first determined, and then the biped robot is controlled to move from the first moving position to the second moving position in the second direction according to the step trajectory, in which the swing leg movement is performed simultaneously with the body movement, that is, the swing leg movement is controlled based on the relative movement distance and the relative swing angle, and the body is controlled to move from the first moving position to the second moving position in the second direction based on the step trajectory. The above process precisely controls the actions of the body and the swing leg, so that the biped robot can more effectively navigate in a complex environment, while reducing energy consumption and improving the accuracy of task execution. In addition, the above process can also reduce the instability of the device during movement and the potential risk of collision, thereby improving the overall safety and reliability.

[0070] Optionally, the body is controlled to move in the second direction based on the step trajectory and the current position, including: inputting the step trajectory and the current position into a state machine, and performing movement planning on the body by using the state machine to obtain a movement state of the body, wherein the state machine is used to represent the movement state transition relationship of the body from the current position to the target position; and controlling the body to move in the second direction based on the movement state.

[0071] The state machine described above is used to describe the transition of the biped robot from one state to another. The types of state machines can include but are not limited to finite state machines, extended state machines, or hierarchical state machines, etc. The specific state machine can be determined according to actual needs, which is not limited here. The functions of the state machine can include but are not limited to managing and controlling the behavior and action sequence of the biped robot, ensuring that the biped robot can make correct responses according to the input and the current state, etc.

[0072] The movement planning described above is used to describe generating a series of actions or paths for the biped robot to safely and effectively reach the target position and attitude from the current position and attitude. The movement planning can include but is not limited to static planning and dynamic planning, etc. The specific movement planning needs to be determined according to the actual situation of the system and the environment, which is not limited here. The functions of the movement planning can include but are not limited to ensuring that the action sequence of the biped robot is feasible, avoiding unstable situations during movement, etc.

[0073] The movement state described above is used to describe the specific situation or condition of the body during movement. The functions of the movement state can include but are not limited to planning paths, controlling body behavior, responding to environmental changes, and ensuring the safety of the body, etc. The types of movement states can include but are not limited to stationary state, forward state, deceleration state, turning state, and acceleration state, etc. The specific movement state needs to be determined according to the actual situation, which is not limited here.

[0074] In an alternative embodiment, first, the step trajectory and the data of the current position are input into the state machine; then, the state machine plans the movement of the body based on the input data to obtain the movement state of the body; finally, the body is controlled to move in the second direction based on the movement state. Through the accurate planning of the movement state by the state machine, the above process can ensure that the mobile device moves in an optimal path and manner, thereby ensuring the safety of the body movement while reducing unnecessary energy consumption and improving the movement efficiency.

[0075] In an alternative embodiment, Figure 4 is a flow chart of a control method of an alternative biped robot according to an embodiment of the present application, as Figure 4 shown, in the control method, first, the current posture and the desired posture of the biped robot are obtained through a motion capture system or a remote controller; then, a planning strategy is obtained based on the current posture and the desired posture, including a desired leg swing trajectory and a desired body trajectory; then, a foot end pose tracking control signal is obtained through a leg swing controller, and a body pose tracking control signal is obtained through a body controller; subsequently, the foot end pose tracking control signal and the body pose tracking control signal are input into a whole body control system to obtain a torque; finally, the motor controls the operation of the biped robot according to the obtained torque, thereby realizing the control of the operation state of the biped robot.

[0076] The current posture and the desired posture of the biped robot obtained through the motion capture system or the remote controller can include but are not limited to the following ways:

[0077] In the motion capture system scenario, the motion capture system captures the motion of the motion capture actor and converts the motion of the motion capture actor at the current time into a control instruction sent to the biped robot. When the biped robot receives the control instruction, first, the current posture of the biped robot at this time is collected, and then the motion of the motion capture actor at the current time, i.e., the desired posture of the biped robot, is started to run according to the control instruction, thereby obtaining the current posture and the desired posture of the biped robot.

[0078] In the remote controller scenario, the remote control operation instruction is converted into a control instruction sent to the biped robot. When the biped robot receives the control instruction, first, the current posture of the biped robot is collected, and then the remote control operation instruction, i.e., the desired posture of the biped robot, is started to run according to the control instruction, thereby obtaining the current posture and the desired posture of the biped robot.

[0079] The above-mentioned ways of obtaining the current posture of the biped robot can include but are not limited to the motion capture system and the remote controller, and the specific obtaining method can be determined according to the actual situation, which is not limited here.

[0080] According to another aspect of the embodiments of the present application, a control device of a biped robot is also provided, which can execute the control method of the biped robot provided in the above embodiments, and the specific implementation and preferred application scenarios are the same as those of the above embodiments, which will not be repeated here.

[0081] Figure 5 is a schematic diagram of a control device of a biped robot according to an embodiment of the present application, as shown in Figure 5 the device comprises: an acquisition module 502, configured to acquire a stride trajectory of the biped robot in response to receiving a stride instruction of the biped robot, wherein the stride trajectory is used to represent a movement trajectory of a swing leg of the biped robot from a current posture to a desired posture, and the biped robot further comprises a support leg and a body, and the support leg is used to support the body in a stable state; a first control module 504, configured to control the body to move in a first direction based on a current center of mass position of the body and a current position of the support leg, to obtain a first movement position, wherein the first direction is used to represent a direction of the support leg relative to the swing leg; and a second control module 506, configured to control the body to move in a second direction based on the stride trajectory and the first movement position, to obtain a second movement position, wherein the second direction is used to represent a movement direction of the swing leg in the stride trajectory.

[0082] Optionally, the first control module comprises: a first determination unit, configured to determine a movement distance of the body based on the current center of mass position and the current position, wherein the movement distance is less than an interval distance between the current center of mass position and the current position; a second determination unit, configured to determine a first movement amplitude based on the movement distance and a first movement speed; and a first control unit, configured to control the body to move in the first direction based on the first movement amplitude, to obtain the first movement position.

[0083] Optionally, the second control module comprises: a third determination unit, configured to determine an initial position and a target position of the swing leg based on the stride trajectory; a construction unit, configured to construct a position vector of the swing leg based on the initial position and the target position, wherein a direction of the position vector is used to represent the second direction, and a length of the position vector represents a straight-line distance of a movement trajectory of the swing leg projected on a plane where the biped robot is located; and a second control unit, configured to control the body to move in the second direction based on the first movement position and the position vector, to obtain the second movement position.

[0084] Optionally, the second control unit comprises: determining a second movement amplitude based on the position vector and a second movement speed; and controlling the body to move in the second direction based on the first movement position and the second movement amplitude, to obtain the second movement position.

[0085] Optionally, the apparatus further comprises: a collecting module, configured to collect a current posture of the biped robot in response to receiving the control instruction of the biped robot, wherein the control instruction carries a desired posture of the biped robot; a determining module, configured to determine a relative moving distance and a relative swing angle of the biped robot based on the current posture and the desired posture, wherein the relative moving distance is used to represent a relative position of a supporting leg and a swinging leg in a plane where the biped robot is located, and the relative swing angle is used to represent a relative angle of the supporting leg and the swinging leg in the plane, the supporting leg is used to support the biped robot in a stable state, and the swinging leg is used to control the biped robot to reach the desired posture; and a generating module, configured to generate a step instruction based on the relative moving distance and the relative swing angle.

[0086] Optionally, the second control module comprises: a third control unit, configured to control the swinging leg to move based on the relative moving distance and the relative swing angle, and control the body to move in the second direction based on the step trajectory and the first moving position, to obtain a second moving position.

[0087] Optionally, the third control unit comprises: inputting the step trajectory and the current position into a state machine, and performing operation planning on the body by using the state machine to obtain a moving state of the body, wherein the state machine is used to represent a moving state conversion relationship of the body from the current position to the target position; and controlling the body to move in the second direction based on the moving state.

[0088] According to another aspect of the embodiments of the present application, an electronic device is further provided, which comprises: a memory storing an executable program; and a processor configured to execute the program, wherein the program is executed to perform the method in the embodiments of the present application.

[0089] According to another aspect of the embodiments of the present application, a computer readable storage medium is further provided, which comprises a stored program, wherein the program is executed to control a processor of a device to perform the method in the embodiments of the present application.

[0090] The computer storage medium in the above steps can be a medium for storing some discontinuous physical quantities in a computer memory, and the computer storage medium mainly includes a semiconductor, a magnetic core, a magnetic drum, a magnetic tape, a laser disc and the like. The stored program included in the computer readable storage medium can be a set of instructions recognizable and executable by a computer, and the program is run on an electronic computer to be an information tool meeting a certain demand of people.

[0091] According to another aspect of the embodiments of the present application, a computer program product is further provided, which comprises a computer program, and the computer program is executed by a processor to implement the method in the embodiments of the present application.

[0092] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0093] In the above-described embodiments of the present application, the description of each embodiment focuses on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0094] In several embodiments provided in the present application, it should be understood that the disclosed technical contents can be implemented by other ways. Among them, the above-described device embodiments are only schematic, for example, the division of the units can be a logical function division, and actual implementation can have another division way, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection through some interfaces, units or modules, which can be electrical or other forms.

[0095] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0096] In addition, each functional unit in each embodiment of the present application can be integrated in a processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0097] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for making a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various program code storage media.

[0098] The above merely describes the preferred embodiments of the present application, and it should be pointed out that, for those skilled in the art, several improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be considered as falling within the protection scope of the present application.

Claims

1. A control method of a biped robot, characterized by, The method comprises: in response to receiving a step instruction of a biped robot, acquiring a step trajectory of the biped robot, wherein the step trajectory is used to represent a motion trajectory of a swing leg of the biped robot from a current posture to a desired posture, the biped robot further comprising a support leg and a body, the support leg being used to support the body in a stable state; controlling the body to move in a first direction based on a current center of mass position of the body and a current position of the support leg, to obtain a first moving position, wherein the first direction is used to represent a direction of the support leg relative to the swing leg; controlling the body to move in a second direction based on the step trajectory and the first moving position, to obtain a second moving position, wherein the second direction is used to represent a moving direction of the swing leg in the step trajectory.

2. The control method of the biped robot according to claim 1, characterized by, controlling the body to move in the first direction based on a current center of mass position of the body and a current position of the support leg, to obtain a first moving position, comprising: determining a moving distance of the body based on the current center of mass position and the current position, wherein the moving distance is less than an interval distance between the current center of mass position and the current position; determining a first moving amplitude based on the moving distance and a first moving speed; controlling the body to move in the first direction based on the first moving amplitude, to obtain the first moving position.

3. The control method of the biped robot according to claim 1, characterized by, controlling the body to move in a second direction based on the step trajectory and the first moving position, to obtain a second moving position, comprising: determining an initial position and a target position of the swing leg based on the step trajectory; constructing a position vector of the swing leg based on the initial position and the target position, wherein a direction of the position vector is used to represent the second direction, and a length of the position vector represents a straight line distance of the motion trajectory of the swing leg projected on a plane where the biped robot is located; controlling the body to move in the second direction based on the first moving position and the position vector, to obtain the second moving position.

4. The control method of the biped robot according to claim 3, characterized by, controlling the body to move in the second direction based on the first moving position and the position vector, to obtain the second moving position, comprising: determining a second moving amplitude based on the position vector and a second moving speed; controlling the body to move in the second direction based on the first moving position and the second moving amplitude, to obtain the second moving position.

5. The control method of the biped robot according to claim 1, characterized by, The method further comprises: in response to receiving a control instruction of a biped robot, acquiring a current posture of the biped robot, wherein the control instruction carries a desired posture of the biped robot; determining a relative moving distance and a relative swing angle of the biped robot based on the current posture and the desired posture, wherein the relative moving distance is used to represent a step relative position of a support leg and a swing leg in a plane where the biped robot is located, and the relative swing angle is used to represent a step relative angle of the support leg and the swing leg in the plane, the support leg being used to support the biped robot in a stable state, and the swing leg being used to control the biped robot to reach the desired posture; generate the step instruction based on the relative moving distance and the relative swing angle.

6. The control method of the biped robot according to claim 5, characterized by, control the body to move in the second direction based on the step trajectory and the first moving position to obtain a second moving position, including: control the swing leg to move based on the relative moving distance and the relative swing angle, and control the body to move in the second direction based on the step trajectory and the first moving position to obtain the second moving position.

7. The control method of the biped robot according to claim 6, wherein control the body to move in the second direction based on the step trajectory and a current position, including: input the step trajectory and the current position into a state machine, and use the state machine to perform operation planning on the body to obtain a moving state of the body, wherein the state machine is used to represent a moving state conversion relationship of the body from the current position to a target position; control the body to move in the second direction based on the moving state.

8. An electronic device, comprising: including: a memory storing an executable program; a processor configured to execute the program, wherein the program, when executed, performs the method of any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium includes a stored executable program, wherein the executable program, when executed, controls the device where the storage medium is located to perform the method of any one of claims 1 to 7.

10. A computer program product, characterised in that, The computer program, when executed by a processor, implements the method of any one of claims 1 to 7.

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