A motion control method, control device, electronic device and storage medium for a robot

Abstract

The present disclosure provides a motion control method, a control device, an electronic device, and a storage medium for a robot. The motion control method is used to control the calf assembly of the robot. The calf assembly includes a driving joint and an ankle joint, and the driving joint drives the ankle joint to move. The motion control method includes: obtaining target attitude information of the ankle joint and a target torque of the ankle joint; determining desired attitude information of the driving joint and a desired torque of the driving joint based on the target attitude information of the ankle joint and the target torque of the ankle joint; obtaining current attitude information of the driving joint; determining a control torque of the driving joint based on the desired torque of the driving joint, the desired attitude information of the driving joint, and the current attitude information of the driving joint; and controlling the movement of the driving joint based on the control torque. By adopting this method, the general control of the parallel ankle structure is achieved, ensuring the performance and stability of the robot adopting the parallel ankle structure.

Description

Technical Field

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

[0002] In recent years, it has gradually become a trend to adopt a parallel ankle structure in the structural design of humanoid robots. Compared with the traditional series structure, the parallel ankle has better bionic characteristics and can improve the dynamic controllability of the robot. However, at present, there is no general control method for the parallel ankle structure of robots. Summary of the Invention

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

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

[0005] Obtaining target pose information of the ankle joint and a target torque of the ankle joint;

[0006] Based on the target pose information of the ankle joint and the target torque of the ankle joint, determining desired pose information of the driving joint and a desired torque of the driving joint;

[0007] Obtaining current pose information of the driving joint;

[0008] Based on the desired torque of the driving joint, the desired pose information of the driving joint, and the current pose information of the driving joint, determining a control torque of the driving joint;

[0009] Controlling the movement of the driving joint based on the control torque.

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

[0011] Based on the desired pose information of the driving joint and the current pose information of the driving joint, determining a position control torque of the driving joint

[0012] Based on the desired torque of the driving joint and the position control torque of the driving joint determining the control torque of the driving joint

[0013]

[0014] ω tau + ω pos = 1,

[0015] where ω tau and ω pos are the force control weight and the position control weight respectively.

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

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

[0018] The desired pose information of the driving joint includes: the desired pose angle of the driving joint, and the desired pose angular velocity of the driving joint.

[0019] In an embodiment of the present disclosure, based on the desired pose information of the driving joint and the current pose information of the driving joint, the steps of determining the position control torque of the driving joint include:

[0020] Based on the desired pose angle θ des of the driving joint, the desired pose angular velocity of the driving joint, the current pose angle θ r of the driving joint, the current pose angular velocity of the driving joint, and the initial pose angle θ 0 of the driving joint, determine the position control torque

[0021]

[0022] where k p and k d are preset position control parameters of the driving joint.

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

[0024] Obtain the structural parameters of the transmission structure;

[0025] Based on the target pose information of the ankle joint and the target torque of the ankle joint, determine the desired pose information of the driving joint and the desired torque of the driving joint, including: based on the structural parameters, the target pose information of the ankle joint, and the target torque of the ankle joint, determine the desired pose information of the driving joint and the desired torque of the driving joint.

[0026] In one embodiment of the present disclosure, the steps of determining the desired pose information of the driving joint and the desired torque of the driving joint based on the structural parameters, the target pose information of the ankle joint, and the target torque of the ankle joint include:

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

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

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

[0030] Based on the angular conversion relationship and the target pose angle of the ankle joint, determine the desired pose angle of the driving joint;

[0031] Based on the angular velocity conversion relationship and the target pose angular velocity of the ankle joint, determine the desired pose angular velocity of the driving joint;

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

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

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

[0035] A first data acquisition module, configured to acquire the target pose information of the ankle joint and the target torque of the ankle joint;

[0036] A desired information determination module, configured to determine the desired pose information of the driving joint and the desired torque of the driving joint based on the target pose information of the ankle joint and the target torque of the ankle joint;

[0037] A second data acquisition module, configured to acquire the current pose information of the driving joint;

[0038] A control parameter determination module, configured to determine the control torque of the driving joint based on the desired torque of the driving joint, the desired pose information of the driving joint, and the current pose information of the driving joint;

[0039] A control module, configured to control the movement of the driving 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 connected to the at least one processor;

[0043] wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method of the present disclosure.

[0044] According to a fourth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the method of the present disclosure.

[0045] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used 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] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understandable. In the drawings, several embodiments of the present disclosure are shown in an exemplary but non-limiting manner, wherein:

[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 by 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 shows a schematic implementation flowchart of a motion control method of a robot provided by an embodiment of the present disclosure;

[0051] Figure 3 shows a schematic flowchart of a desired information determination provided by an embodiment of the present disclosure;

[0052] Figure 4

[0053] Figure 5 shows a schematic structural diagram of a composition of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0054] To make the objectives, features, and advantages of the present disclosure more apparent and understandable, the following will clearly and completely describe the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present disclosure.

[0055] The following will describe the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure.

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

[0057] The motion control method provided by the present disclosure can be used to control the calf component of a robot. The calf component includes a driving joint and an ankle joint, and the driving joint drives the ankle joint to move. Fig. 1(a) shows a schematic structural diagram of the calf component of a robot provided by some embodiments of the present disclosure. As shown in Fig. 1(a), the robot calf component 100 includes driving joints A1 and A2 and an ankle joint O. The driving joints A1 and A2 drive the ankle joint O to move through a spatial four-bar linkage structure. The spatial four-bar linkage structure is composed of passive joints B1, C1, link B1C1, passive joints B2, C2, and link B2C2. The passive joint C1 is fixedly connected to the ankle joint O through the link OC1, and the passive joint C2 is fixedly connected to the ankle joint O through the link OC2. The passive joint C1, the passive joint C2, and the ankle joint O can form the corresponding sole structure 120 of the robot calf component 100. As shown in Fig. 1(a), with the center of the ankle joint O as the origin, an ankle coordinate system O-XYZ can be established on the plane OC1C2. The Z-axis is perpendicular to the plane OC1C2, and the ankle joint O has a rotational degree of freedom S about the X-axis direction x and a rotational degree of freedom S about the Y-axis direction y , and both the driving joints A1 and A2 have a rotational degree of freedom S about the Y-axis direction y , and the passive joints B1, C1, B2, and C2 all have three degrees of freedom about the X-axis direction, about the YY-axis direction, and about the Z-axis direction.

[0058] Figure 1(b) shows another schematic structural diagram of the robot calf component provided by some embodiments of the present disclosure. The same symbols in Figure 1(b) and Figure 1(a) represent the same meanings. The assembly positions of the passive joints B1 and B2 in Figure 1(a) and Figure 1(b) are different. In Figure 1(a), the assembly positions of the passive joints B1 and B2 are such that the respective linkages of the spatial four-bar linkage can form parallel opposite sides in the same plane, and the projection of the spatial four-bar linkage in the plane OC1C2 is a parallelogram. In Figure 1(b), the assembly positions of the passive joints B1 and B2 are such that the opposite sides of the respective linkages of the spatial four-bar linkage are not parallel in the same plane, and the projection of the spatial four-bar linkage in the plane OC1C2 is an anti-parallelogram. In the present disclosure, different spatial structures and motion characteristics of the spatial four-bar linkage can be obtained by adjusting the assembly positions of the passive joints B1 and B2, and the projection form of the spatial four-bar linkage can be changed, thereby affecting the driving effect of the driving joint on the ankle joint movement through the spatial four-bar linkage.

[0059] As shown in Figure 1(a) and Figure 1(b), multiple driving joints of the robot calf component act on the same ankle joint together, 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 Figure shows a schematic implementation flow diagram of the motion control method of the robot provided by the embodiments of the present disclosure. The motion control method is used to control the robot calf component, and the calf component includes a driving joint and an ankle joint, and the driving joint drives the ankle joint to move, as Figure 2 shown, the motion control method includes:

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

[0062] In the present disclosure, the target pose 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 pose information of the ankle joint can be the pose that the ankle joint needs to reach when the robot performs a specified task, and can include the angle information that the ankle joint needs to reach. The angle information includes, but is not limited to, at least one of pitch (pitch angle) and roll (roll angle). 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 walking tasks of the robot on different terrains, etc.

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

[0064] In a possible implementation, the target pose information of the ankle joint can be determined by the pose information of the foot connected to the ankle joint.

[0065] S220. Based on the target pose information of the ankle joint and the target torque of the ankle joint, determine the desired pose information of the driving joint and the desired torque of the driving joint.

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

[0067] S240. Obtain the current pose information of the driving joint.

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

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

[0070] S260. Based on the desired torque of the driving joint, the desired pose information of the driving joint, and the current pose information of the driving joint, determine the control torque of the driving joint.

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

[0072] S280. Control the movement of the driving joint based on the control torque.

[0073] In the present disclosure, the determined control torque can be sent to the driving device, and the driving device provides the control torque of the driving joint to control the rotation of the driving joint so that the driving joint moves in the manner expected by 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 ω pos 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 the present disclosure, the force control weight ω tau is used to characterize the contribution degree of the desired torque of the driving joint. In the present disclosure, force control of the robot means adjusting the joint force of the robot according to the changes in the external environment and instructions. It can be understood that in robot motion control, pure 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 an obstacle, the position tracking error of the robot may increase, and the robot will "exert force" to track the pre-set motion trajectory, resulting in a huge internal force between the robot and the obstacle, thus causing damage to parts or the robot. Force control of the robot can better adapt to different task requirements and environmental changes; when facing a dynamic environment and changing tasks, the robot can adaptively adjust its own behavior and parameters, improving adaptability and flexibility.

[0084] In the present disclosure, in scenarios that require high adaptability and flexibility, a compliant force control strategy can be adopted for the calf component of the robot, so that the force control weight ω tau = 1 and the position control weight ω pos = 0; in scenarios that require high position accuracy, a pure position control strategy can be adopted for the calf component of the robot, so that the force control weight ω tau = 0 and the position control weight ω pos = 1; according to the needs of the scenario, force / position hybrid control can also be performed on the calf component of the robot, so that the force control weight 0 < ω tau < 1 and the 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 desired posture information and the current posture information of the driving joint, and the control torque of the driving joint is determined based on the desired torque and the position control torque of the driving joint, so as to achieve force control, position control, and force / position hybrid control, making the motion control method flexible and better adapting to the scenario 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 desired posture information of the driving joint includes: the desired posture angle of the driving joint and the desired posture angular velocity of the driving joint.

[0087] ​In the present disclosure, the target attitude angle of the ankle joint refers to the attitude angle that the ankle joint needs to reach when the robot completes a specified task, and the target attitude angular velocity of the ankle joint refers to the attitude angular velocity that the ankle joint needs to reach when the robot completes a specified task. The target attitude angle and the target attitude angular velocity of the ankle joint can be obtained by performing motion planning on the calf component through any one of the motion planning algorithms in the prior art, and the embodiments of the present disclosure do not make specific limitations thereto.

[0088] The current attitude angle of the driving joint can be obtained by an encoder provided in the driving joint.

[0089] The desired attitude angle of the driving joint and the desired attitude angular velocity of the driving joint can be determined according to the target attitude angle and the target attitude angular velocity of the ankle joint, as well as the attitude conversion relationship between the ankle joint and the driving joint of the calf component.

[0090] In the embodiments of the present disclosure, by controlling the attitude angle and the attitude angular velocity of the driving motor, the motion control of the calf component is realized, which has high control precision and control efficiency.

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

[0092] Step E1, based on the desired attitude angle θ des of the driving joint, the desired attitude angular velocity of the driving joint, the current attitude angle θ r of the driving joint, the current attitude angular velocity of the driving joint, and the initial attitude angle θ 0 of the driving joint, determine the position control torque

[0093]

[0094] where k p and k d are preset position control parameters of the driving joint.

[0095] In the embodiments of the present disclosure, the initial attitude angle θ 0 of the driving joint represents the joint angle of the driving joint in the zero position state. Usually, the initial attitude angle θ 0 of the driving joint corresponds to the zero point of the encoder of the driving joint, and then the current attitude angle θ r of the driving joint is the encoder reading.

[0096] In the embodiments of the present disclosure, by constructing the desired attitude angle θdes The desired attitude angular velocity of the driving joint The current attitude angle θ of the driving joint r The current attitude angular velocity of the driving joint And the initial attitude angle θ of the driving joint 0 And the mapping relationship with the position control torque To determine the position control torque θ for the driving joint 0 Thereby, the position control of the robot calf component is realized by using the position control torque, ensuring the control accuracy and control efficiency.

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

[0098] Step F1: Obtain the 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 link. The driving joint is connected to the passive joint through the link in the spatial four-bar linkage structure, and the passive joint is fixedly connected to the ankle joint through the link. Fig. 1(a) shows a parallelogram spatial four-bar linkage structure, including passive joint B1, passive joint C1, link B1C1, passive joint B2, passive joint C2, and link B2C2. Passive joint C1 is fixedly connected to ankle joint O through link OC1, and passive joint C2 is fixedly connected to ankle joint O through link OC2. Passive joint C1, passive joint C2, and ankle joint O may form the corresponding sole structure of the robot calf component. Fig. 1(b) shows an anti-parallelogram spatial four-bar linkage structure, and the same symbols in Fig. 1(b) and Fig. 1(a) represent the same meanings.

[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 link, the type of the joint, and the degree of freedom of the joint. In an alternative embodiment, the structural parameters of the transmission structure may include: the position coordinates of driving joint A i In the ankle coordinate system O-XYZ The position coordinates of passive joint C i In the ankle coordinate system O-XYZ The link i Connecting driving joint A i And passive joint B With length l bar,i The link i Connecting passive joint B i And passive joint C With length lrod,i and the driving joint A i of the initial attitude angle i takes values of i = 1, 2. The structural parameter differences between the parallelogram spatial four-bar linkage parallel ankle and the anti-parallelogram spatial four-bar linkage parallel ankle are only manifested in being different.

[0101] Based on the target attitude information of the ankle joint and the target torque of the ankle joint, determining the expected attitude information and the expected torque of the driving joint may include: determining the expected attitude information and the expected torque of the driving joint based on the structural parameters, the target attitude information of the ankle joint, and the target torque of the ankle joint.

[0102] In the embodiments of the present disclosure, based on the structural parameters, the target attitude information of the ankle joint, and the target torque of the ankle joint, an inverse kinematics algorithm can be used to calculate the expected attitude and the expected torque that the driving joint needs to achieve when performing a specified task.

[0103] The motion transfer mechanism between the driving joint and the ankle joint can be determined through the structural parameters of the transmission structure. For example, taking FIGS. 1(a) and 1(b) as an example, the driving joint of the parallel ankle structure can drive the passive joint to move through the link of the spatial four-bar linkage structure. The passive joint Ci and the ankle joint O are connected by a fixed link and form the sole structure. When the driving joint drives the passive joint to move through the link 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 to move through the link of the spatial four-bar linkage structure. A motion chain can be formed among the driving joint, the link of the spatial four-bar linkage structure, and the passive joint. This motion chain is the motion transfer mechanism between the driving joint and the ankle joint. According to the motion chain, a vector equation of the motion chain can be constructed: r C,i = r A,i + r bar,i + r rod,i . Through the target torque of the ankle joint and the motion transfer mechanism between the driving joint and the ankle joint, the expected torque required by the driving joint can be calculated. Also, according to the target attitude information including the ankle joint, combined with the inverse kinematics algorithm, the target attitude information of the ankle joint can be converted into the expected attitude information of the driving joint.

[0104] Determining the desired attitude information and desired torque of the driving joint is a key step in achieving precise motion control of the robot. In the embodiments of the present disclosure, by parameterizing the transmission structure, the structural parameters of the transmission structure are used to systematically determine the relationship between the target attitude information of the ankle joint and the desired attitude information of the driving joint, and the relationship between the target torque of the ankle joint and the desired torque of the driving joint. Using this relationship, the desired attitude information and desired torque of the driving joint can be accurately determined, thereby achieving precise motion control of the robot with the corresponding transmission structure.

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

[0106] S301, based on the structural parameters, determine the angle conversion relationship between the target attitude angle of the ankle joint and the desired attitude angle of the driving joint.

[0107] In the present disclosure, a kinematic model can be established according to the structural parameters and the inverse kinematics algorithm, and the mapping relationship between the target attitude angle of the ankle joint and the desired attitude angle of the driving joint can be described by using the motion model. This mapping relationship can be used as the angle conversion relationship between the target attitude angle of the ankle joint and the desired attitude angle of the driving joint.

[0108] In an implementable manner, the attitude of the foot structure can be represented by the RPY angle. The RPY angle is the azimuth angle, where R represents the roll angle of rotation around the X-axis, P represents the pitch angle of rotation around the Y-axis, and Y represents the yaw angle of rotation around the Z-axis. Specifically, the attitude of the foot structure can be represented by the vector corresponding to the link between the passive joints, as shown in Figure 1(a) or Figure 1(b). The passive joint B i and the passive joint C i The link 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 attitude of the foot structure, r C,i represents the vector of the passive joint C i in the ankle coordinate system O-XYZ, r B,i represents the vector of the passive joint B i in the ankle coordinate system O-XYZ, r A,i represents the driving joint Ai Vector s in the ankle coordinate system O-XYZ x Degree of freedom about the X-axis, s x = [1 0 0] T , l bar,i Represents the connecting link between the driving joint A i and the passive joint B i of the connecting rod length, Represents the position coordinates of the passive joint C when the parallel ankle structure is in the zero position i in the ankle coordinate system O-XYZ, Represents the position coordinates of the driving joint A when the parallel ankle structure is in the zero position i in the ankle coordinate system O-XYZ, θ i Represents the angle corresponding to the reading of the joint encoder of the driving joint in the current state, unit roll angle matrix Unit pitch angle matrix

[0111] Let

[0112] Substitute into the above equation 1 to get:

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

[0114] The length of the connecting rod is fixed at l rod,i , using the characteristic that the length of the connecting rod is fixed, square both sides of Equation 2 to get:

[0115] Using the trigonometric auxiliary angle formula, considering that within the motion reachable range of the calf component, a i can be less than 0, continue to transform Equation 3 to get:

[0116]

[0117] Express Equation 4 in functional form: θ = f ik (q)

[0118] where,

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

[0120] S303. Based on the structural parameters, determine 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.

[0121] In the present disclosure, a kinematic model can be established according to the structural parameters and the inverse kinematics algorithm. Using the motion model and the Jacobian matrix, determine 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.

[0122] In an implementable embodiment, still as 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 link of the spatial four-bar structure. A kinematic chain can be formed among the driving joint, the link of the spatial four-bar structure, and the passive joint. According to the kinematic chain, a vector equation of the kinematic chain can be constructed:

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

[0124] Based on the Jacobian matrix, Equation 1 is sorted out to 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 driving joint Ai and the passive joint Bi corresponding vector, r rod,i represents the link between the passive joint Bi and the passive joint Ci corresponding vector, represents the spatial velocity of the foot structure, v represents the linear velocity, ω represents the angular velocity, J x and J θ are Jacobian matrices, s y represents the degree of freedom about the Y axis, s y = [0 1 0] T 。J x Each column of represents the contribution degree of each driving 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 attitude of the sole structure. In the present disclosure, the RPY angle rotation sequence can be defined as first performing Roll (roll rotation), then performing Pitch (pitch rotation), and finally performing Yaw (yaw 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 follows:

[0128]

[0129] According to Combining the above conversion relationship, we can obtain:

[0130] Among them,

[0131] Based on And We can obtain

[0132] Substituting Representing it with a function, we can obtain the function: J θ,q = f Jac (q).

[0133] In the present disclosure, the change of the target attitude angle q can change the angular velocity conversion relationship between the target attitude angular velocity of the ankle joint and the desired attitude angular velocity of the driving joint. The mapping value obtained after the target attitude angle q is processed by the function f Jac Can be used as the conversion parameter between the target attitude angular velocity of the ankle joint and the desired attitude angular velocity of the driving joint. The function f Jac Characterizes the angular velocity conversion parameter between the target attitude angular velocity of the ankle joint and the desired attitude angular velocity of the driving joint. The angular velocity conversion relationship between the target attitude angular velocity of the ankle joint and the desired attitude angular velocity of the driving joint is as follows: Among them, q represents the target attitude angle of the ankle joint, Represents the target attitude angular velocity of the ankle joint, Represents the desired attitude angular velocity of the driving joint.

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

[0135] In the present disclosure, the dynamic model of each joint and link of the robot calf component can be constructed in combination with the structural parameters, 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. Obtaining the target pose information of the ankle joint and the target torque of the ankle joint may include: the target pose information of the ankle joint and the target torque of a serial ankle joint equivalent to the parallel ankle joint.

[0137] Still as shown in FIGS. 1(a) and 1(b), in the present disclosure, the driving joints of the robot calf assembly act on the same ankle joint together, 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, while the force is transmitted sequentially in the serial ankle structure, by converting the parallel ankle structure into an equivalent serial structure, the distribution and transmission of forces in the overall structure of the robot sub-assembly can be calculated more clearly. Therefore, the target torque of the serial 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 serial 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 through the target torque of the serial ankle joint equivalent to the parallel ankle joint.

[0139] In an alternative embodiment, τ can be set q to represent the joint torque of the serial ankle structure of the robot, and τ θ is set to represent the joint torque of the parallel ankle structure of the robot. With reference to the degrees of freedom of the robot's foot structure, whether the robot's ankle structure is set as a parallel ankle structure or a serial ankle structure, the functions are the same, and both can achieve pitch rotation and roll rotation, that is, the powers of the parallel ankle structure and the serial ankle structure are the same. Based on this, it can be obtained that: Wherein, characterizes the power of the serial ankle structure, characterizes the power of the parallel ankle structure.

[0140] Based on it can be obtained that

[0141] Based on and it can be obtained that:

[0142] By representing with a function, it can be obtained that: τ θ = f tau (q, τ q ).

[0143] The function ftau Characterize the target torque τ of the ankle joint q And the desired torque τ of the driving 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 in sequence.

[0145] S307. Determine 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 the present disclosure, the function f ik Can characterize the angle conversion relationship between the target posture angle of the ankle joint and the desired posture angle of the driving joint. For example, if the target posture angle of the ankle joint is q des , it can be through the 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 ik The target posture angle of the ankle joint can be converted into the desired posture angle of the driving joint, so as to apply a driving force to the driving joint by using the desired posture angle of the driving joint, and use the driving joint to drive the ankle joint to reach the target posture angle when performing a specified task.

[0148] S309. Determine 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 the present disclosure, the function f Jac Can characterize the angular velocity conversion parameter between the target posture angular velocity of the ankle joint and the desired posture angular velocity of the driving joint. 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 posture angular velocity of the ankle joint is It can be through the function f Jac , calculate the desired posture angular velocity of the driving joint Is

[0150] Using the function f Jac The target posture angular velocity of the ankle joint can be converted into the desired posture angular velocity of the driving joint, so as to apply a driving force to the driving joint by using the desired posture angular velocity of the driving joint, and use the driving joint 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 the present disclosure, the function f tau can represent the target torque τ of the ankle joint q and the desired torque τ of the driving joint θ between the torque conversion relationship. For example, if the target attitude angle of the ankle joint is q des , the target torque of the ankle joint is Through the function f tau , the desired torque of the driving joint can be calculated as

[0153] Using the function f tau can convert the target torque of the ankle joint into the desired torque of the driving joint, so as to apply a driving force to the driving joint using the desired torque of the driving joint, and use the driving joint to drive the ankle joint to reach the desired torque when performing a specified task.

[0154] In the embodiment of the present disclosure, through the parametric processing of the spatial four-bar linkage structure of the robot calf assembly, the angle conversion relationship between the target attitude angle of the ankle joint and the desired attitude angle of the driving joint, the angular velocity conversion relationship between the target attitude angular velocity of the ankle joint and the desired attitude angular velocity of the driving joint, and the torque conversion relationship between the target torque of the ankle joint and the desired torque of the driving joint are constructed using the structural parameters of the spatial four-bar linkage structure. The accurate desired attitude angle, desired attitude angular velocity, and desired torque of the driving joint are respectively determined using the angle conversion relationship, angular velocity conversion relationship, and torque conversion relationship, so as to determine the control torque of the driving joint.

[0155] Based on the robot motion control method provided in the above embodiments of the present disclosure, correspondingly, some embodiments of the present disclosure also 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, and the driving joint drives the ankle joint to move. The structural schematic diagram is as Figure 4 shown, and specifically includes:

[0156] The first data acquisition module 401 is configured to acquire the target attitude information of the ankle joint and the target torque of the ankle joint;

[0157] The desired information determination module 402 is configured to determine the desired attitude information of the driving joint and the desired torque of the driving joint based on the target attitude information of the ankle joint and the target torque of the ankle joint;

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

[0159] The control parameter determination module 404 is configured to determine the control torque of the driving joint based on the desired torque of the driving joint, the desired pose information of the driving joint, and the current pose information of the driving joint;

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

[0161] By using the device provided by the present disclosure, by acquiring the target pose information of the ankle joint and the target torque of the ankle joint, based on the target pose information of the ankle joint and the target torque of the ankle joint, determining the desired pose information of the driving joint and the desired torque of the driving joint, acquiring the current pose information of the driving joint, and then based on the desired torque of the driving joint, the desired pose information of the driving joint, and the current pose information of the driving joint, determining the control torque of the driving joint, and using the control torque of the driving joint to control the movement of the driving joint. In the embodiments of the present disclosure, by mapping the target pose and target torque of the robot ankle joint in the operating space to the driving joint in an analytical form and following the pose state of the driving joint, the parallel ankle can have the compliance of force control or achieve the high precision of position control.

[0162] In some alternative embodiments, the control parameter determination module 404 is configured to determine the position control torque of the driving joint based on the desired pose information of the driving joint and the current pose information of the driving joint Based on the desired torque of the driving joint And the position control torque of the driving joint Determine the control torque of the driving joint

[0163]

[0164] ω tau +ω pos = 1,

[0165] where ω tau and ω pos are the force control weight and the position control weight respectively.

[0166] In some alternative embodiments, the target pose information of the ankle joint includes: the target pose angle of the ankle joint, and the target pose angular velocity of the ankle joint;

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

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

[0169] In some alternative embodiments, the control parameter determination module 404 is specifically configured to determine the position control torque of the driving joint based on the desired pose angle θ of the driving joint des , the desired pose angular velocity of the driving joint , the current pose angle θ of the driving joint r , the current pose angular velocity of the driving joint and the initial pose angle θ of the driving joint 0 where k

[0170]

[0171] and k p are preset position control parameters of the driving joint. d

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

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

[0174] In an implementable embodiment, the desired information determination module 402 is specifically configured to determine the angle conversion relationship between the target pose angle of the ankle joint and the desired pose angle of the driving joint based on the structural parameters; determine the angular velocity conversion relationship between the target pose angular velocity of the ankle joint and the desired pose 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 desired torque of the driving joint based on the structural parameters; determine the desired pose angle of the driving joint based on the angle conversion relationship and the target pose angle of the ankle joint; determine the desired pose angular velocity of the driving joint based on the angular velocity conversion relationship and the target pose angular velocity of the ankle joint; determine the desired torque of the driving joint based on the torque conversion relationship and the target torque of the ankle joint.

[0175] In some alternative embodiments, the ankle joint is a parallel ankle joint. The first data acquisition module 401 is specifically configured to acquire the target pose information of the ankle joint and the target torque of the series ankle joint equivalent to the parallel ankle joint.

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

[0177] Figure 5 FIG. shows a schematic block diagram of an exemplary electronic device 500 that may be used to implement embodiments of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely exemplary and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0178] As Figure 5 shown, the device 500 includes a computing unit 501 that 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 plurality 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 magnetic 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 via a computer network such as the Internet and / or various telecommunication networks.

[0180] The computing unit 501 can be various general-purpose and / or special-purpose 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, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 executes 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 can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the motion control method of the robot described above can be executed. Alternatively, in other embodiments, the computing unit 501 can be configured to execute the motion control method of the robot in any other suitable way (e.g., by means of firmware).

[0181] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), system-on-chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs, which can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a dedicated or general-purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the 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 methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program codes can be executed entirely on the machine, partially on the machine, executed partially on the machine as an independent software package and partially on a remote machine, or executed entirely on a remote machine or server.

[0183] In the context of this disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0184] In order 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds 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, speech input, or tactile input).

[0185] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can 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 can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is generated by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, can also be a server of a distributed system, or a server incorporating a blockchain.

[0187] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and no limitations are imposed herein.

[0188] In addition, the terms "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this disclosure, "a plurality" means two or more, unless otherwise specifically defined.

[0189] As described above, the above are only specific embodiments of this disclosure, but the protection scope of this disclosure is not limited thereto. Any person skilled in the art within the technical scope disclosed in this disclosure can easily think of changes or substitutions, which should all be covered within the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be subject to 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; controlling the movement of the driving joint based on the control torque; 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; 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 desired posture information of the driving joint includes: the desired posture angle of the driving joint and the desired posture angular velocity of the driving joint; The positioning 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.

2. The motion control method according to claim 1, 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.

3. The motion control method according to claim 2, 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.

4. 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.

5. A motion control device for a robot, 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, 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, configured to control the movement of the driving joint based on the control torque; The control parameter determination module is specifically 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 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; The target posture information of the ankle joint includes: 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; The control parameter determination module is specifically used 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 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.

6. 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 4 is implemented.

7. A storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to perform the method according to any one of claims 1 to 4.

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