Robot motion control method and device, electronic equipment and storage medium

Abstract

The invention provides a robot motion control method and device, electronic equipment and a storage medium. The motion control method is used for controlling a shank assembly of the robot, the shank assembly comprises a driving joint and an ankle joint, the driving joint drives the ankle joint to move, and the motion control method comprises the steps that target posture information of the ankle joint and target torque of the ankle joint are obtained; on the basis of the target attitude information of the ankle joint and the target torque of the ankle joint, determining expected attitude information of a driving joint and expected torque of the driving joint; acquiring current attitude information of the driving joint; based on the expected torque of the driving joint, the expected attitude information of the driving joint and the current attitude information of the driving joint, the control torque of the driving joint is determined; and driving joints are controlled to move based on the control torque. By means of the method, universal control over the parallel ankle structure is achieved, and the performance and stability of the robot adopting the parallel ankle structure are ensured.

Description

Technical Field

[0001] The present disclosure relates to the field of mechanical control technology, and in particular to a motion control method, a control device, an electronic device and a storage medium for a robot. Background Art

[0002] In recent years, the use of parallel ankle structures in humanoid robot structural design has gradually become a trend. Compared with the traditional series structure, the parallel ankle has better bionic characteristics and can improve the dynamic controllability of the robot. However, there is currently no universal control method for the parallel ankle structure of the robot. Summary of the invention

[0003] The present disclosure provides a robot motion control method, a control device, an electronic device and a storage medium.

[0004] According to a first aspect of the present disclosure, a motion control method of a robot is provided. The motion control method is used to control a calf assembly of the robot. The calf assembly includes a driving joint and an ankle joint. The driving joint drives the ankle joint to move. The method includes:

[0005] Obtain target posture information and target torque of the ankle joint;

[0006] Determine the desired posture information of the driving joint and the desired torque of the driving joint based on the target posture information of the ankle joint and the target torque of the ankle joint;

[0007] Get the current posture information of the driving joint;

[0008] Determine the control torque of the driving joint based on the expected torque of the driving joint, the expected posture information of the driving joint and the current posture information of the driving joint;

[0009] The motion of the driven joint is controlled based on the control torque.

[0010] In an embodiment of the present disclosure, based on the desired torque of the driving joint, the desired posture information of the driving joint and the current posture information of the driving joint, the step of determining the control torque of the driving joint includes:

[0011] Determine the position control torque of the driving joint based on the expected posture information of the driving joint and the current posture information of the driving joint

[0012] Based on the desired torque of the driven joint And the position control torque of the driving joint Determine the control torque to drive the joint

[0013]

[0014] ω tau +ω pos =1,

[0015] Among them, ω tau and ω pos They are force control weight and position control weight respectively.

[0016] In an implementation of the present disclosure, the target posture information of the ankle joint includes: a target posture angle of the ankle joint, and a target posture angular velocity of the ankle joint;

[0017] The current posture information of the driving joint includes: the current posture angle of the driving joint and the current posture angular velocity of the driving joint;

[0018] The expected posture information of the driving joint includes: the expected posture angle of the driving joint and the expected posture angular velocity of the driving joint.

[0019] In an embodiment of the present disclosure, based on the desired posture information of the driving joint and the current posture information of the driving joint, the position control torque of the driving joint is determined. The steps include:

[0020] The desired posture angle θ based on the driven joint des , the desired angular velocity of the driving joint The current posture angle θ of the driving joint r 、The current angular velocity of the driving joint And the initial posture angle θ of the driving joint 0 Determine the positioning torque of the driving joint

[0021]

[0022] Among them, k p and k d It is the preset driving joint position control parameters.

[0023] In an embodiment of the present disclosure, the calf assembly further includes a transmission structure, and the driving joint drives the ankle joint to move through the transmission structure. Before the step of obtaining the target posture information of the ankle joint and the target torque of the ankle joint, the method further includes:

[0024] Obtaining structural parameters of the transmission structure;

[0025] Based on the target posture information of the ankle joint and the target torque of the ankle joint, the expected posture information of the driving joint and the expected torque of the driving joint are determined, including: based on the structural parameters, the target posture information of the ankle joint and the target torque of the ankle joint, the expected posture information of the driving joint and the expected torque of the driving joint are determined.

[0026] In an embodiment of the present disclosure, based on the structural parameters, the target posture information of the ankle joint and the target torque of the ankle joint, the step of determining the desired posture information of the driving joint and the desired torque of the driving joint includes:

[0027] Based on the structural parameters, determining the angle conversion relationship between the target posture angle of the ankle joint and the desired posture angle of the driving joint;

[0028] Based on the structural parameters, determining the angular velocity conversion relationship between the target posture angular velocity of the ankle joint and the desired posture angular velocity of the driving joint;

[0029] Based on the structural parameters, determining the torque conversion relationship between the target torque of the ankle joint and the desired torque of the driving joint;

[0030] Determine the desired posture angle of the driving joint based on the angle conversion relationship and the target posture angle of the ankle joint;

[0031] Determine the desired attitude angular velocity of the driving joint based on the angular velocity conversion relationship and the target attitude angular velocity of the ankle joint;

[0032] Based on the torque conversion relationship and the target torque of the ankle joint, the desired torque of the driving joint is determined.

[0033] In one embodiment of the present disclosure, the ankle joint is a parallel ankle joint, and obtaining target posture information and target torque of the ankle joint includes: obtaining target posture information of the ankle joint and target torque of a series ankle joint equivalent to the parallel ankle joint.

[0034] According to a second aspect of the present disclosure, a motion control device of a robot is provided, the motion control device is used to control a calf assembly of the robot, the calf assembly includes a driving joint and an ankle joint, the driving joint drives the ankle joint to move, the device includes:

[0035] A first data acquisition module is used to acquire target posture information of the ankle joint and target torque of the ankle joint;

[0036] An expected information determination module, used to determine expected posture information of a driving joint and expected torque of a driving joint based on target posture information of the ankle joint and target torque of the ankle joint;

[0037] A second data acquisition module is used to acquire current posture information of the driving joint;

[0038] A control parameter determination module, used to determine the control torque of the driving joint based on the expected torque of the driving joint, the expected posture information of the driving joint and the current posture information of the driving joint;

[0039] The control module is used to control the motion of the driven joint based on the control torque.

[0040] According to a third aspect of the present disclosure, there is provided an electronic device, including:

[0041] at least one processor; and

[0042] a memory communicatively coupled to the at least one processor;

[0043] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor so that the at least one processor can execute the method of the present disclosure.

[0044] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, where the computer instructions are used to cause a computer to execute the method of the present disclosure.

[0045] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, in which:

[0047] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0048] FIG. 1( a ) shows a schematic structural diagram of a robot calf assembly provided in an embodiment of the present disclosure;

[0049] FIG. 1( b ) shows another schematic structural diagram of a robot calf assembly provided by an embodiment of the present disclosure;

[0050] Figure 2 A schematic diagram of an implementation flow of a robot motion control method provided by an embodiment of the present disclosure is shown;

[0051] Figure 3 A schematic diagram of a process for determining expected information provided by an embodiment of the present disclosure is shown;

[0052] Figure 4 A schematic structural diagram of a robot motion control device provided by an embodiment of the present disclosure is shown;

[0053] Figure 5 A schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0054] In order to make the purpose, features, and advantages of the present disclosure more obvious and easy to understand, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0055] The technical solution of the embodiment of the present disclosure will be described below in conjunction with the drawings in the embodiment of the present disclosure.

[0056] The present disclosure provides a robot motion control method, a control device, an electronic device and a storage medium.

[0057] The motion control method provided by the present disclosure can be used to control a robot calf assembly, wherein the calf assembly includes a driving joint and an ankle joint, wherein the driving joint drives the ankle joint to move. FIG. 1( a ) shows a schematic diagram of a structure of a robot calf assembly provided by some embodiments of the present disclosure. As shown in FIG. 1( a ), the robot calf assembly 100 includes a driving joint A and an ankle joint. 1 , drive joint A 2 and ankle joint O, driving joint A 1 and drive joint A 2 The ankle joint O is driven to move by a spatial four-bar linkage structure, which consists of a passive joint B 1 、Passive joint C 1 、Connecting rod B 1 C 1 、Passive joint B 2 、Passive joint C 2 and connecting rod B 2 C 2 Composition, passive joint C 1 Connected to ankle joint O through connecting rod OC 1 Fixed connection, passive joint C 2 Connected to ankle joint O through connecting rod OC 2 Fixed connection. Passive joint C 1 、Passive joint C 2 The ankle joint O and the sole structure 120 corresponding to the robot shank assembly 100 can be formed. As shown in FIG1(a), the center of the ankle joint O can be taken as the origin. 1 C 2 The ankle coordinate system O-XYZ can be established, with the Z axis perpendicular to the plane OC 1 C 2 , the ankle joint O has a rotational freedom S around the X axis x and the rotational freedom S around the Y axis y, driving joint A 1 and drive joint A 2 Both have rotational freedom S around the Y axis y , passive joint B 1 、Passive joint C 1 、Passive joint B 2 and passive joint C 2 They all have three degrees of freedom: around the X-axis, around the YY-axis, and around the Z-axis.

[0058] FIG1(b) shows another schematic diagram of the structure of the robot shank assembly provided in some embodiments of the present disclosure. The same symbols in FIG1(b) and FIG1(a) have the same meaning. The passive joint B in FIG1(a) and FIG1(b) 1 and passive joint B 2 The assembly positions are different. In Figure 1(a), the passive joint B 1 and passive joint B 2 The assembly position enables the various links of the spatial four-bar linkage structure to form parallel opposite sides in the same plane. 1 C 2 The projection of is a parallelogram. The passive joint B in Figure 1(b) 1 and passive joint B 2 The assembly position makes the opposite sides of the links of the spatial four-bar linkage structure non-parallel in the same plane. 1 C 2 The projection of is an antiparallelogram. In the present disclosure, the passive joint B can be adjusted 1 and passive joint B 2 The assembly position of the spatial four-bar linkage structure is obtained to obtain different spatial structures and motion characteristics of the spatial four-bar linkage structure, and the projection form of the spatial four-bar linkage structure is changed, thereby affecting the driving effect of the driving joint on the ankle joint movement through the spatial four-bar linkage structure.

[0059] As shown in FIG. 1( a ) and FIG. 1( b ), multiple driving joints of the robot's calf assembly act together on the same ankle joint, and the multiple driving joints form a parallel structure. Therefore, the ankle structure of the robot in the present disclosure is a parallel ankle structure.

[0060] Figure 2 A schematic diagram of an implementation flow of a motion control method for a robot provided by an embodiment of the present disclosure is shown. The motion control method is used to control a robot calf assembly, wherein the calf assembly includes a driving joint and an ankle joint, wherein the driving joint drives the ankle joint to move, such as Figure 2 As shown, the motion control method includes:

[0061] S200, obtaining target posture information of the ankle joint and target torque of the ankle joint.

[0062] In the present disclosure, the target posture information of the ankle joint and the target torque of the ankle joint can be determined by the task to be performed by the robot. The target posture information of the ankle joint can be the posture that the ankle joint needs to achieve when the robot performs a specified task, and can include the angle information that the ankle joint needs to achieve. The angle information includes but is not limited to at least one of pitch and roll. The target torque of the ankle joint can be the torque that the ankle joint needs to apply when the robot performs a specified task. The specified task can include the robot's walking task in different terrains, etc.

[0063] In the present disclosure, a motion control system for controlling the motion of a robot can determine a target posture of the ankle joint of the robot according to a motion planning algorithm, and determine a target torque of the ankle joint according to terrain conditions in a walking task.

[0064] In a possible implementation manner, the target posture information of the ankle joint may be determined by posture information of the sole of the foot connected to the ankle joint.

[0065] S220, determining the desired posture information of the driving joint and the desired torque of the driving joint based on the target posture information of the ankle joint and the target torque of the ankle joint.

[0066] In the present disclosure, the control system for controlling the movement of the robot can determine the desired posture information of the driving joint according to the target posture information of the ankle joint of the calf assembly and the posture conversion relationship between the ankle joint of the calf assembly and the driving joint; and can determine the desired torque of the driving joint according to the target torque information of the ankle joint of the calf assembly and the torque conversion relationship between the ankle joint of the calf assembly and the driving joint. Optionally, the posture conversion relationship between the ankle joint of the calf assembly and the driving joint, and the torque conversion relationship between the ankle joint of the calf assembly and the driving joint can be determined based on inverse kinematics.

[0067] S240, obtaining current posture information of the driving joint.

[0068] In the present disclosure, the current posture information of the driving joint can represent the posture state of the driving joint at the current moment.

[0069] In the present disclosure, the current posture information of the driving joint can be obtained through the encoder built into the robot joint.

[0070] S260, determining a control torque of the driving joint based on the expected torque of the driving joint, the expected posture information of the driving joint, and the current posture information of the driving joint.

[0071] In the present disclosure, a force-position hybrid control equation can be constructed by using the desired torque of the driving joint, the desired posture information of the driving joint, and the current posture information of the driving joint, and the control torque of the driving joint can be calculated and determined by the force-position hybrid control equation.

[0072] S280, driving joint motion based on control torque control.

[0073] In the present disclosure, the determined control torque can be sent to the driving device, which provides the control torque of the driving joint to control the rotation of the driving joint so that the driving joint moves in the desired manner for the specified task.

[0074] The method provided by the present disclosure is adopted, by obtaining the target posture information of the ankle joint and the target torque of the ankle joint, determining the expected posture information and the expected torque of the driving joint based on the target posture information and the target torque of the ankle joint, obtaining the current posture information of the driving joint, and then determining the control torque of the driving joint based on the expected torque of the driving joint, the expected posture information of the driving joint and the current posture information of the driving joint, and controlling the movement of the driving joint using the control torque of the driving joint. The embodiment of the present disclosure maps the target posture and target torque of the robot ankle joint in the operating space to the driving joint in an analytical form, and performs posture state following at the driving joint, so that the parallel ankle can have the flexibility of force control or achieve high precision of position control.

[0075] In some embodiments of the present disclosure, based on the desired torque of the driving joint, the desired posture information of the driving joint, and the current posture information of the driving joint, the step of determining the control torque of the driving joint may include steps D1-D2:

[0076] Step D1, based on the expected posture information of the driving joint and the current posture information of the driving joint, determine the position control torque of the driving joint

[0077] In the present disclosure, the position control torque of the driving joint represents the torque required to be applied when the driving joint reaches the desired posture.

[0078] Step D2, based on the desired torque of the driven joint And the position control torque of the driving joint Determine the control torque to drive the joint

[0079]

[0080] ω tau +ω pos =1,

[0081] Among them, ω tau and ωpos They are force control weight and position control weight respectively.

[0082] In the embodiment of the present disclosure, the position control weight ω pos Used to characterize the position control torque at the driven joint The position control of the robot in this disclosure refers to the robot using a motion planning algorithm to make each joint in the calf assembly move according to the set target posture. For scenes with high position accuracy requirements (for example, scenes where the robot goes up stairs), the position control weight ω needs to be pos The value of is set relatively high to ensure that each joint of the robot's calf assembly reaches the preset target posture and completes the specified task action.

[0083] In this disclosure, the force control weight ω tau Used to characterize the desired torque to drive the joint contribution. In the present disclosure, force control of the robot refers to adjusting the joint force of the robot according to changes in the external environment and instructions. It is understandable that in robot motion control, simple position control often cannot meet the task requirements of force interaction with the environment. Under position control, the robot moves according to a pre-set target posture. When encountering obstacles, the robot position tracking error may increase. The robot will "exert force" to track the preset motion trajectory, resulting in huge internal forces between the robot and the obstacles, causing damage to parts or the robot. Force control of the robot can better adapt to different task requirements and environmental changes; when facing dynamic environments and changing tasks, the robot can adaptively adjust its own behavior and parameters to improve adaptability and flexibility.

[0084] In the present disclosure, in scenarios requiring high adaptability and flexibility, a compliant force control strategy can be adopted for the robot calf component, so that the force control weight ω tau =1, position control weight ω pos =0; In scenarios where high position accuracy is required, a pure position control strategy can be adopted for the robot leg component to make the force control weight ω tau =0, position control weight ω pos =1; according to the scene requirements, the robot's lower leg component can also be subjected to force / position mixed control, making the force control weight 0<ω tau <1, position control weight 0<ω pos <1,ω tau +ω pos =1.

[0085] In the implementation of the present disclosure, the position control torque of the driving joint is calculated based on the expected posture information of the driving joint and the current posture information of the driving joint, and the control torque of the driving joint is determined based on the expected torque and position control torque of the driving joint. Force control, position control, and force / position mixed control can be realized, making the motion control method flexible and better adaptable to scene requirements.

[0086] In the present disclosure, the target posture information of the ankle joint may include: the target posture angle of the ankle joint, and the target posture angular velocity of the ankle joint; the current posture information of the driving joint includes: the current posture angle of the driving joint, and the current posture angular velocity of the driving joint; the expected posture information of the driving joint includes: the expected posture angle of the driving joint, and the expected posture angular velocity of the driving joint.

[0087] In the present disclosure, the target posture angle of the ankle joint refers to the posture angle that the ankle joint needs to reach when the robot completes a specified task, and the target posture angular velocity of the ankle joint refers to the posture angular velocity that the ankle joint needs to reach when the robot completes a specified task. The target posture angle and target posture angular velocity of the ankle joint can be obtained in advance by performing motion planning on the calf component through any motion planning algorithm in the prior art, and the embodiments of the present disclosure do not specifically limit them.

[0088] The current posture angle of the driving joint can be obtained through an encoder set in the driving joint.

[0089] The desired posture angle of the driving joint and the desired posture angular velocity of the driving joint can be determined according to the target posture angle and target posture angular velocity of the ankle joint and the posture conversion relationship between the ankle joint and the driving joint of the calf assembly.

[0090] In the disclosed embodiment, the motion control of the calf assembly is achieved by controlling the posture angle and posture angular velocity of the drive motor, with high control accuracy and control efficiency.

[0091] In the present disclosure, the position control torque of the driving joint is determined based on the expected posture information of the driving joint and the current posture information of the driving joint. The steps may include step E1:

[0092] Step E1, based on the desired posture angle θ of the driving joint des , the desired angular velocity of the driving joint The current posture angle θ of the driving joint r 、The current angular velocity of the driving joint And the initial posture angle θ of the driving joint 0 Determine the positioning torque of the driving joint

[0093]

[0094] Among them, k p and k d It is the preset driving joint position control parameters.

[0095] In the disclosed embodiment, the initial posture angle θ of the driving joint is 0 Characterizes the joint angle of the driving joint in the zero position state. Usually, the initial posture angle of the driving joint is θ 0 Corresponding to the zero point of the encoder of the driving joint, the current posture angle θ of the driving joint r That is the encoder reading.

[0096] In the disclosed embodiment, by constructing the desired posture angle θ of the driving joint des , the desired angular velocity of the driving joint The current posture angle θ of the driving joint r 、The current angular velocity of the driving joint And the initial posture angle θ of the driving joint 0 Position control torque The mapping relationship between them is used to determine the position control torque θ for the driving joint. 0 , thereby utilizing the position control torque to realize the position control of the robot calf assembly, ensuring the control accuracy and control efficiency.

[0097] In the embodiment of the present disclosure, the calf assembly further includes a transmission structure, and the driving joint drives the ankle joint to move through the transmission structure. Before the step of obtaining the target posture information of the ankle joint and the target torque of the ankle joint, step F1 may also be included:

[0098] Step F1, obtaining structural parameters of the transmission structure.

[0099] In the present disclosure, the transmission structure may include a spatial four-bar linkage structure, the spatial four-bar linkage structure includes a passive joint and a connecting rod, the driving joint is connected to the passive joint through the connecting rod in the spatial four-bar linkage structure, and the passive joint is fixedly connected to the ankle joint through the connecting rod. FIG1(a) shows a parallelogram spatial four-bar linkage structure, including a passive joint B 1 、Passive joint C 1 、Connecting rod B 1 C 1 、Passive joint B 2 、Passive joint C 2 and connecting rod B 2 C 2 , passive joint C 1 Connected to ankle joint O through connecting rod OC 1 Fixed connection, passive joint C 2 Connected to ankle joint O through connecting rod OC 2Fixed connection. Passive joint C 1 、Passive joint C 2 Together with the ankle joint O, the sole structure corresponding to the robot calf assembly can be formed. FIG1( b ) shows an antiparallelogram spatial four-bar linkage structure, and the same symbols in FIG1( b ) and FIG1( a ) have the same meaning.

[0100] In the embodiment of the present disclosure, the structural parameters of the transmission structure may include parameters such as the position of the driving joint, the length of the connecting rod, the type of joint and the degree of freedom of the joint. In an optional embodiment, the structural parameters of the transmission structure may include: the driving joint A in the zero position state i Position coordinates in the ankle coordinate system O-XYZ Passive joint C in zero position i Position coordinates in the ankle coordinate system O-XYZ Connect drive joint A i and passive joint B i Connecting rod The length l bar,i , connect passive joint B i and passive joint C i Connecting rod The length l rod,i And drive joint A i The initial posture angle The value of i is i=1,2. The structural parameter difference between the parallelogram space four-bar parallel ankle and the anti-parallelogram space four-bar parallel ankle is only manifested in on the difference.

[0101] Determining the desired posture information of the driving joint and the desired torque of the driving joint based on the target posture information of the ankle joint and the target torque of the ankle joint may include: determining the desired posture information of the driving joint and the desired torque of the driving joint based on structural parameters, the target posture information of the ankle joint and the target torque of the ankle joint.

[0102] In the disclosed embodiment, an inverse kinematics algorithm may be used to calculate the desired posture and desired torque to be achieved by the driven joint when performing a specified task based on the structural parameters, the target posture information of the ankle joint, and the target torque of the ankle joint.

[0103] The motion transmission mechanism between the driving joint and the ankle joint can be determined by the structural parameters of the transmission structure. For example, taking Figure 1(a) and Figure 1(b) as examples, the driving joint of the parallel ankle structure can drive the passive joint movement through the connecting rod of the spatial four-bar linkage structure. The passive joint Ci and the ankle joint O are connected by a fixed connecting rod and form a sole structure. When the driving joint drives the passive joint movement through the connecting rod of the spatial four-bar linkage structure, the ankle joint is also driven to move, that is, the driving joint can drive the ankle joint movement through the connecting rod of the spatial four-bar linkage structure. A kinematic chain can be formed between the driving joint, the connecting rod of the spatial four-bar linkage structure and the passive joint. The kinematic chain is the motion transmission mechanism between the driving joint and the ankle joint. According to the kinematic chain, the vector equation of the kinematic chain can be constructed: C,i =r A,i +r bar,i +r rod,i The desired torque required for the driving joint can be calculated through the target torque of the ankle joint and the motion transfer mechanism between the driving joint and the ankle joint. The target posture information of the ankle joint can also be converted into the desired posture information of the driving joint based on the target posture information including the ankle joint and the inverse kinematics algorithm.

[0104] Determining the desired posture information and desired torque of the driving joint is a key step in achieving precise motion control of the robot. In the disclosed embodiment, the transmission structure is parameterized, and the target posture information of the ankle joint and its relationship with the desired posture information of the driving joint, and the relationship between the target torque of the ankle joint and the desired torque of the driving joint are systematically determined using the structural parameters of the transmission structure. The desired posture information and desired torque of the driving joint can be accurately determined using this relationship, thereby achieving precise motion control of the robot using the corresponding transmission structure.

[0105] In one possible implementation, Figure 3 A schematic diagram of a desired information determination process provided by an embodiment of the present disclosure is shown. Figure 3 As shown, based on the structural parameters, the target posture information of the ankle joint and the target torque of the ankle joint, the steps of determining the desired posture information of the driving joint and the desired torque of the driving joint include:

[0106] S301, determining an angle conversion relationship between a target posture angle of an ankle joint and a desired posture angle of a driving joint based on structural parameters.

[0107] In the present disclosure, a kinematic model can be established based on structural parameters and inverse kinematics algorithms, and the kinematic model can be used to describe the mapping relationship between the target posture angle of the ankle joint and the desired posture angle of the driving joint. The mapping relationship can be used as the angle conversion relationship between the target posture angle of the ankle joint and the desired posture angle of the driving joint.

[0108] In one embodiment, the posture of the sole structure can be represented by the RPY angle, where the RPY angle is the azimuth angle, R represents the roll angle rotating around the X axis, P represents the pitch angle rotating around the Y axis, and Y represents the heading angle rotating around the Z axis. Specifically, the posture of the sole structure can be represented by the vectors corresponding to the links between the passive joints, as shown in FIG. 1(a) or FIG. 1(b), where the passive joint B i and passive joint C i The connecting rod between The corresponding vector is r rod,i :

[0109]

[0110] Among them, q roll and q pitch Respectively represent the roll angle and pitch angle of the sole structure posture, r C,i Represents passive joint C i Vector in ankle coordinate system O-XYZ, r B,i Represents passive joint B i Vector in ankle coordinate system O-XYZ, r A,i Indicates driving joint A i Vector in ankle coordinate system O-XYZ, s x represents the degree of freedom around the X axis, s x =[1 0 0] T , l bar,i Indicates the connection drive joint A i and passive joint B i Connecting rod Length, Indicates the passive joint C when the parallel ankle structure is in the zero position i The position coordinates in the ankle coordinate system O-XYZ, Indicates that the parallel ankle structure is in the zero position when driving joint A i The position coordinates of the ankle in the O-XYZ coordinate system, θ i Indicates the angle corresponding to the reading of the joint encoder driving the joint in the current state, the unit roll angle matrix Unit pitch angle matrix

[0111] make

[0112] Will Substituting into equation 1 above, we get:

[0113] r rod,i =[a i +l bar,i cos(θ i )bi c i -l bar,i sin(θ i )] T (Equation 2)

[0114] link The length is fixed to l rod,i , using connecting rod The length of the fixed feature is squared on both sides of equation 2, and we get:

[0115] Using the auxiliary angle formula of trigonometric functions, considering that within the range of motion of the lower leg component, a i Can be less than 0, and continue to transform equation 3 to obtain:

[0116]

[0117] Expressing equation 4 in functional form: θ = f ik (q)

[0118] in,

[0119] Function f ik Characterize the mapping relationship between the target posture angle q of the ankle joint and the expected posture angle θ of the driving joint, that is, the angle conversion relationship between the target posture angle of the ankle joint and the expected posture angle of the driving joint.

[0120] S303, determining an angular velocity conversion relationship between a target posture angular velocity of the ankle joint and a desired posture angular velocity of the driving joint based on the structural parameters.

[0121] In the present disclosure, a kinematic model can be established based on structural parameters and an inverse kinematics algorithm, and the angular velocity conversion relationship between the target posture angular velocity of the ankle joint and the desired posture angular velocity of the driving joint can be determined using the motion model and the Jacobian matrix.

[0122] In one embodiment, as still shown in FIG. 1( a ) or FIG. 1( b ), the driving joint of the parallel ankle structure can drive the passive joint to move through the connecting rod of the spatial four-bar linkage structure, and a kinematic chain can be formed between the driving joint, the connecting rod of the spatial four-bar linkage structure and the passive joint. The vector equation of the kinematic chain can be constructed according to the kinematic chain:

[0123] r C,i =r A,i +r bar,i +r rod,i (Equation 1)

[0124] By rearranging equation 1 based on the Jacobian matrix, we can obtain:

[0125]

[0126] Among them, r C,u represents the vector of the passive joint Ci in the ankle coordinate system O-XYZ, r A,i represents the vector of the driving joint Ai in the ankle coordinate system O-XYZ, r bar,i represents the link between the driven joint Ai and the passive joint Bi The corresponding vector, r rod,i represents the connecting rod between the passive joint Bi and the passive joint Ci The corresponding vector, represents the spatial velocity of the sole structure, v represents linear velocity, ω represents angular velocity, J x and J θ is the Jacobian matrix, s y represents the degree of freedom around the Y axis, s y =[0 10] T .J x Each column of represents the contribution of each driven joint to the angular velocity of the ankle joint.

[0127] As shown in FIG. 1(a) or FIG. 1(b), the passive joint Ci and the ankle joint O are connected by a fixed link to form a sole structure, and the RPY angle can represent the posture of the sole structure. In the present disclosure, the RPY angle rotation sequence can be defined as first performing Roll (roll rotation), then Pitch (pitch rotation), and finally Yaw (heading rotation). Based on this rotation sequence, the conversion relationship between the RPY angular velocity of the sole structure and the angular velocity ω of the driving joint can be obtained as:

[0128]

[0129] according to Combining the above conversion relationship, we can get:

[0130] in,

[0131] based on as well as Available

[0132] Will Using function to express it, we can get the function: J θ,q =f Jac (q).

[0133] In the present disclosure, the change of the target posture angle q can change the angular velocity conversion relationship between the target posture angular velocity of the ankle joint and the desired posture angular velocity of the driving joint. The target posture angle q is converted by the function f Jac The mapping value obtained after processing can be used as the conversion parameter between the target angular velocity of the ankle joint and the desired angular velocity of the driving joint. The function f Jac The angular velocity conversion parameter representing the target angular velocity of the ankle joint and the desired angular velocity of the driving joint, the angular velocity conversion relationship between the target angular velocity of the ankle joint and the desired angular velocity of the driving joint is: Where q represents the target posture angle of the ankle joint, represents the target posture angular velocity of the ankle joint, Indicates the desired angular velocity of the driven joint.

[0134] S305 , determining a torque conversion relationship between a target torque of the ankle joint and a desired torque of the driving joint based on the structural parameters.

[0135] In the present disclosure, the structural parameters can be combined to construct a dynamic model of each joint and connecting rod of the robot calf assembly, and the torque conversion relationship between the target torque of the ankle joint and the desired torque of the driving joint can be determined through the dynamic model.

[0136] In some embodiments of the present disclosure, the ankle joint is a parallel ankle joint, and obtaining the target posture information and the target torque of the ankle joint may include: the target posture information of the ankle joint, and the target torque of the series ankle joint equivalent to the parallel ankle joint.

[0137] Still as shown in FIG. 1(a) and FIG. 1(b), in the present disclosure, the driving joints of the robot calf assembly act together on the same ankle joint, and multiple driving joints form a parallel structure, that is, the ankle structure of the robot in the present disclosure is a parallel ankle structure. Since the force conditions of each branch in the parallel ankle structure are often different, and the force is transmitted sequentially in the series ankle structure, by converting the parallel ankle structure into an equivalent series structure, the distribution and transmission of force in the overall structure of the robot group assembly can be more clearly calculated. Therefore, the target torque of the series ankle joint equivalent to the parallel ankle joint can be obtained through the structural parameters, and the conversion relationship between the target torque of the series ankle joint equivalent to the parallel ankle joint and the desired torque of the driving joint can be determined as the torque conversion relationship between the target torque of the ankle joint and the desired torque of the driving joint.

[0138] In the present disclosure, the target torque of the parallel ankle joint can be easily determined by equivalent the target torque of the series ankle joint to the parallel ankle joint.

[0139] In an alternative embodiment, τ may be setq represents the joint torque of the robot's serial ankle structure, and sets τ θ Represents the joint torque of the robot's parallel ankle structure. Taking the robot's sole structure's degree of freedom as a reference, the robot's ankle structure has the same function whether it is set as a parallel ankle structure or a serial ankle structure, and both can achieve pitch rotation and roll rotation, that is, the power of the parallel ankle structure and the serial ankle structure is the same. Based on this, it can be obtained: in, Characterizes the power of the tandem ankle structure, Characterize the power of the parallel ankle structure.

[0140] based on Available

[0141] based on as well as We can get:

[0142] Will Using the function we can get: θ =f tau (q, τ q ).

[0143] Function f tau Characterize the target torque τ of the ankle joint q The desired torque τ of the driven joint θ The torque conversion relationship between them.

[0144] In the present disclosure, the execution order of step 301, step S303 and step S305 is not specific.

[0145] S307, determining the desired posture angle of the driving joint based on the angle conversion relationship and the target posture angle of the ankle joint.

[0146] In this disclosure, the function f ik The angle conversion relationship between the target posture angle of the ankle joint and the desired posture angle of the driving joint can be represented. For example, if the target posture angle of the ankle joint is q des , can be obtained by function f ij , calculate the desired posture angle θ of the driving joint des is θ des =f ik (q des ).

[0147] Using the function f ikThe target posture angle of the ankle joint can be converted into the desired posture angle of the driving joint, so that the desired posture angle of the driving joint is used to apply a driving force to the driving joint, and the driving joint is used to drive the ankle joint to reach the target posture angle when performing a specified task.

[0148] S309, determining the desired posture angular velocity of the driving joint based on the angular velocity conversion relationship and the target posture angular velocity of the ankle joint.

[0149] In this disclosure, the function f Jac The angular velocity conversion parameter of the target posture angular velocity of the ankle joint and the desired posture angular velocity of the driving joint can be characterized. The angular velocity conversion relationship between the target posture angular velocity of the ankle joint and the desired posture angular velocity of the driving joint can be expressed as: For example, if the target posture angle of the ankle joint is q des , the target angular velocity of the ankle joint is Through the function f Jac , calculate the expected angular velocity of the driving joint for

[0150] Using the function f Jac The target posture angular velocity of the ankle joint can be converted into the expected posture angular velocity of the driving joint, so that the expected posture angular velocity of the driving joint is used to apply a driving force to the driving joint, and the driving joint is used to drive the ankle joint to reach the target posture angular velocity when performing a specified task.

[0151] S311 determines the desired torque of the driving joint based on the torque conversion relationship and the target torque of the ankle joint.

[0152] In this disclosure, the function f tau The target torque τ of the ankle joint can be represented by q The desired torque τ of the driven joint θ For example, if the target posture angle of the ankle joint is q des , the target torque of the ankle joint is Through the function f tau , the desired torque to drive the joint can be calculated for

[0153] Using the function f tau The target torque of the ankle joint can be converted into the desired torque of the driving joint, so that the driving force is applied to the driving joint by using the desired torque of the driving joint, and the driving joint is used to drive the ankle joint to achieve the desired torque when performing a specified task.

[0154] In the disclosed embodiment, the spatial four-bar structure of the robot calf assembly is parameterized and the structural parameters of the spatial four-bar structure are used to construct an angle conversion relationship between a target posture angle of the ankle joint and a desired posture angle of a driving joint, an angular velocity conversion relationship between a target posture angular velocity of the ankle joint and a desired posture angular velocity of the driving joint, and a torque conversion relationship between a target torque of the ankle joint and a desired torque of the driving joint. The angle conversion relationship, the angular velocity conversion relationship, and the torque conversion relationship are used to respectively determine the precise desired posture angle, the desired posture angular velocity, and the desired torque of the driving joint, thereby determining the control torque of the driving joint.

[0155] Based on the robot motion control method provided by the above embodiments of the present disclosure, correspondingly, some embodiments of the present disclosure further provide a robot motion control device, the motion control device is used to control the robot calf assembly, the calf assembly includes a driving joint and an ankle joint, the driving joint drives the ankle joint to move, and its structural schematic diagram is shown as follows: Figure 4 As shown, specifically including:

[0156] A first data acquisition module 401 is used to acquire target posture information of the ankle joint and target torque of the ankle joint;

[0157] An expected information determination module 402, for determining expected posture information of a driving joint and expected torque of a driving joint based on target posture information of the ankle joint and target torque of the ankle joint;

[0158] The second data acquisition module 403 is used to acquire the current posture information of the driving joint;

[0159] A control parameter determination module 404, for determining a control torque of the driving joint based on the desired torque of the driving joint, the desired posture information of the driving joint and the current posture information of the driving joint;

[0160] The control module 405 is used to control the movement of the driving joint based on the control torque.

[0161] The device provided by the present disclosure is used to obtain the target posture information of the ankle joint and the target torque of the ankle joint, determine the expected posture information and the expected torque of the driving joint based on the target posture information and the target torque of the ankle joint, obtain the current posture information of the driving joint, and then determine the control torque of the driving joint based on the expected torque of the driving joint, the expected posture information of the driving joint and the current posture information of the driving joint, and use the control torque of the driving joint to control the movement of the driving joint. The embodiment of the present disclosure maps the target posture and target torque of the robot ankle joint in the operating space to the driving joint in an analytical form, and performs posture state tracking at the driving joint, so that the parallel ankle can have the flexibility of force control or achieve high precision of position control.

[0162] In some optional implementations, the control parameter determination module 404 is used to determine the position control torque of the driving joint based on the expected posture information of the driving joint and the current posture information of the driving joint. Based on the desired torque of the driven joint And the position control torque of the driving joint Determine the control torque to drive the joint

[0163]

[0164] ω tau +ω pos =1,

[0165] Among them, ω tau and ω pos They are force control weight and position control weight respectively.

[0166] In some optional implementations, the target posture information of the ankle joint includes: a target posture angle of the ankle joint, and a target posture angular velocity of the ankle joint;

[0167] The current posture information of the driving joint includes: the current posture angle of the driving joint and the current posture angular velocity of the driving joint;

[0168] The expected posture information of the driving joint includes: the expected posture angle of the driving joint and the expected posture angular velocity of the driving joint.

[0169] In some optional embodiments, the control parameter determination module 404 is specifically configured to determine the desired posture angle θ of the driving joint based on the desired posture angle θ of the driving joint. des , the desired angular velocity of the driving joint The current posture angle θ of the driving joint r 、The current angular velocity of the driving joint And the initial posture angle θ of the driving joint 0Determine the positioning torque of the driving joint

[0170]

[0171] Among them, k p and k d It is the preset driving joint position control parameters.

[0172] In some optional embodiments, the calf assembly further includes a transmission structure, the driving joint drives the ankle joint to move through the transmission structure, and the first data acquisition module 401 is further used to acquire structural parameters of the transmission structure;

[0173] The expected information determination module 402 is specifically used to determine the expected posture information of the driving joint and the expected torque of the driving joint based on the structural parameters, the target posture information of the ankle joint and the target torque of the ankle joint.

[0174] In one embodiment, the expected information determination module 402 is specifically used to determine the angle conversion relationship between the target posture angle of the ankle joint and the expected posture angle of the driving joint based on the structural parameters; determine the angular velocity conversion relationship between the target posture angular velocity of the ankle joint and the expected posture angular velocity of the driving joint based on the structural parameters; determine the torque conversion relationship between the target torque of the ankle joint and the expected torque of the driving joint based on the structural parameters; determine the expected posture angle of the driving joint based on the angle conversion relationship and the target posture angle of the ankle joint; determine the expected posture angular velocity of the driving joint based on the angular velocity conversion relationship and the target posture angular velocity of the ankle joint; determine the expected torque of the driving joint based on the torque conversion relationship and the target torque of the ankle joint.

[0175] In some optional embodiments, the ankle joint is a parallel ankle joint, and the first data acquisition module 401 is specifically used to obtain target posture information of the ankle joint and a target torque of a series ankle joint equivalent to the parallel ankle joint.

[0176] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium.

[0177] Figure 5A schematic block diagram of an example electronic device 500 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0178] like Figure 5 As shown, the device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502 or a computer program loaded from a storage unit 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0179] A number of components in the device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a disk, an optical disk, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0180] The computing unit 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 501 performs the various methods and processes described above, such as the motion control method of the robot. For example, in some embodiments, the motion control method of the robot may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 500 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by the computing unit 501, one or more steps of the motion control method of the robot described above may be executed. Alternatively, in other embodiments, the computing unit 501 may be configured to execute the motion control method of the robot in any other appropriate manner (e.g., by means of firmware).

[0181] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), integrated systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0182] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0183] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0184] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0185] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0186] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0187] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0188] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0189] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A motion control method for a robot, the motion control method being used to control a calf assembly of the robot, the calf assembly comprising a driving joint and an ankle joint, the driving joint driving the ankle joint to move, characterized in that: The method comprises: Acquire target posture information of the ankle joint and target torque of the ankle joint; Determining the desired posture information of the driving joint and the desired torque of the driving joint based on the target posture information of the ankle joint and the target torque of the ankle joint; Acquire current posture information of the driving joint; Determining a control torque of the driving joint based on the desired torque of the driving joint, the desired posture information of the driving joint, and the current posture information of the driving joint; The driving joint movement is controlled based on the control torque.

2. The motion control method according to claim 1, characterized in that: The step of determining the control torque of the driving joint based on the expected torque of the driving joint, the expected posture information of the driving joint and the current posture information of the driving joint comprises: Based on the desired posture information of the driving joint and the current posture information of the driving joint, the position control torque of the driving joint is determined Based on the desired torque of the driven joint And the position control torque of the driving joint Determine the control torque of the driving joint oh tau +oh pos =1, Among them, ω tau and ω pos They are force control weight and position control weight respectively.

3. The motion control method according to claim 2, characterized in that: The target posture information of the ankle joint includes: a target posture angle of the ankle joint and a target posture angular velocity of the ankle joint; The current posture information of the driving joint includes: the current posture angle of the driving joint and the current posture angular velocity of the driving joint; The expected posture information of the driving joint includes: an expected posture angle of the driving joint and an expected posture angular velocity of the driving joint.

4. The motion control method according to claim 3, characterized in that: The position control torque of the driving joint is determined based on the expected posture information of the driving joint and the current posture information of the driving joint. The steps include: Based on the desired posture angle θ of the driving joint des , the desired angular velocity of the driving joint The current posture angle θ of the driving joint r , the current angular velocity of the driving joint And the initial posture angle θ of the driving joint 0 Determine the position control torque of the driving joint Among them, k p and k d It is the preset driving joint position control parameters.

5. The motion control method according to claim 3 or 4, characterized in that: The calf assembly further includes a transmission structure, and the driving joint drives the ankle joint to move through the transmission structure. Before the step of acquiring the target posture information of the ankle joint and the target torque of the ankle joint, the method further includes: Acquiring structural parameters of the transmission structure; The method of determining the desired posture information of the driving joint and the desired torque of the driving joint based on the target posture information of the ankle joint and the target torque of the ankle joint includes: determining the desired posture information of the driving joint and the desired torque of the driving joint based on the structural parameters, the target posture information of the ankle joint and the target torque of the ankle joint.

6. The motion control method according to claim 5, characterized in that: The step of determining the desired posture information of the driving joint and the desired torque of the driving joint based on the structural parameters, the target posture information of the ankle joint and the target torque of the ankle joint comprises: Based on the structural parameters, determining an angle conversion relationship between a target posture angle of the ankle joint and a desired posture angle of the drive joint; Based on the structural parameters, determining an angular velocity conversion relationship between a target posture angular velocity of the ankle joint and a desired posture angular velocity of the drive joint; Based on the structural parameters, determining a torque conversion relationship between a target torque of the ankle joint and a desired torque of the drive joint; Determining a desired posture angle of the driving joint based on the angle conversion relationship and the target posture angle of the ankle joint; Determining a desired posture angular velocity of the driving joint based on the angular velocity conversion relationship and the target posture angular velocity of the ankle joint; Based on the torque conversion relationship and the target torque of the ankle joint, the desired torque of the driving joint is determined.

7. The motion control method according to claim 1, characterized in that: The ankle joint is a parallel ankle joint, and obtaining target posture information of the ankle joint and target torque of the ankle joint includes: obtaining target posture information of the ankle joint and target torque of a series ankle joint equivalent to the parallel ankle joint.

8. A motion control device for a robot, the motion control device being used to control a calf assembly of the robot, the calf assembly comprising a driving joint and an ankle joint, the driving joint driving the ankle joint to move, characterized in that: The device comprises: A first data acquisition module, used to acquire target posture information of the ankle joint and target torque of the ankle joint; An expected information determination module, used to determine the expected posture information of the driving joint and the expected torque of the driving joint based on the target posture information of the ankle joint and the target torque of the ankle joint; A second data acquisition module, used to acquire current posture information of the driving joint; A control parameter determination module, used to determine the control torque of the driving joint based on the expected torque of the driving joint, the expected posture information of the driving joint and the current posture information of the driving joint; A control module is used to control the movement of the driving joint based on the control torque.

9. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

10. A storage medium comprising computer executable instructions, which when executed by a computer processor are used to perform the method of any one of claims 1 to 7.

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