Control method of biped robot and electronic device

Abstract

The application discloses a control method of a biped robot and electronic equipment. The method comprises the following steps: in response to receiving a control instruction of the biped robot, collecting a current posture of the biped robot, wherein the control instruction carries posture data of the biped robot, the posture data is used to determine a desired single-foot-point-ground posture of the biped robot, and the desired single-foot-point-ground posture is used to indicate that, in a case that a corresponding supporting foot of the biped robot contacts a ground surface at a sole area, a corresponding swing foot of the bipede robot contacts the ground surface at a toe area; based on the current posture and the desired single-foot-point-ground posture, determining a swing foot moving track of the swing foot and a body moving track of a corresponding body of the biped robot; and controlling the biped robot to run based on the swing foot moving track and the body moving track. The application solves the technical problem that a single-foot-point-ground posture of the biped robot cannot be realized in the related art.

Description

TECHNICAL FIELD

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

[0002] With the continuous development of the field of robot control, remote control of the biped robot also faces many challenges. In the related art, imitation learning is used to realize remote control of the biped robot, and an existing planning control method is used to realize the walking ability of the biped robot from scratch, but the movement of the biped robot is unstable during the control of the biped robot, and the imitation learning is not used to control the biped robot to make a single-foot ground attitude, thereby causing the related art to be unable to realize the single-foot ground attitude of the biped robot.

[0003] In view of the above problems, no effective solution has been proposed so far. SUMMARY

[0004] The embodiments of the present application provide a control method of a biped robot and an electronic device to at least solve the technical problem that the single-foot ground attitude of the biped robot cannot be realized in the related art.

[0005] According to an aspect of an embodiment of the present application, a control method of a biped robot is provided, including: in response to receiving a control instruction of the biped robot, collecting a current attitude of the biped robot, wherein the control instruction carries attitude data of the biped robot, the attitude data is used to determine a desired single-foot ground attitude of the biped robot, and the desired single-foot ground attitude is used to indicate that the tip region of the corresponding swing leg of the biped robot contacts the ground in the case that the corresponding support leg of the biped robot contacts the ground; determining a swing leg movement trajectory of the swing leg and a body movement trajectory of the corresponding body of the biped robot based on the current attitude and the desired single-foot ground attitude; and controlling the biped robot to run based on the swing leg movement trajectory and the body movement trajectory.

[0006] Further, determining the swing leg movement trajectory of the swing leg and the body movement trajectory of the corresponding body of the biped robot based on the current attitude and the desired single-foot ground attitude includes: determining a desired foot landing pose of the swing leg based on the current attitude and the desired single-foot ground attitude; determining the swing leg movement trajectory based on a preset trajectory shape, a preset swing time, and the desired foot landing pose, wherein the preset trajectory shape includes at least one preset trajectory shape; and determining the body movement trajectory based on the current attitude and the desired foot landing pose.

[0007] Further, based on the current attitude and the expected single-foot-point ground attitude, the expected landing position of the swing foot is determined, including: determining the support position of the support foot in the current attitude based on the current attitude and the expected single-foot-point ground attitude; determining the landing interval of the swing foot based on the support position; determining the expected landing position based on the landing interval and the instep size of the swing foot.

[0008] Further, based on the current attitude and the expected landing position, the body movement trajectory is determined, including: determining the first center of mass of the body of the biped robot in the current attitude; determining the second center of mass of the body of the biped robot in the expected landing position; constructing the body movement trajectory based on the first center of mass and the second center of mass.

[0009] Further, the first center of mass of the body of the biped robot in the current attitude is determined, including: determining the support polygon formed by the corresponding two feet of the biped robot based on the current attitude; determining the center of the support polygon as the first center of mass.

[0010] Further, the second center of mass of the body of the biped robot in the expected landing position is determined, including: determining the foot bottom area of the support foot based on the expected single-foot-point ground attitude; determining the center of the foot bottom area as the second center of mass.

[0011] Further, the biped robot is controlled to run based on the swing foot movement trajectory and the body movement trajectory, including: determining the first expected state of the swing foot at a plurality of movement time points based on the swing foot movement trajectory; determining the second expected state of the body at a plurality of movement time points based on the body movement trajectory; controlling the swing foot to run along the swing foot movement trajectory based on the first expected state, and controlling the body to run along the body movement trajectory based on the second expected state.

[0012] Further, the swing foot is controlled to run along the swing foot movement trajectory based on the first expected state, including: converting the first expected state into the first expected movement trajectory of the corresponding first joint of the swing foot; determining the first torque to be generated by the first joint to reach the first expected movement trajectory; controlling the first joint to run based on the first torque, so that the swing foot runs along the swing foot movement trajectory.

[0013] Further, the body is controlled to run along the body movement trajectory based on the second expected state, including: converting the second expected state into the second expected movement trajectory of the corresponding second joint of the body; determining the second torque to be generated by the second joint to reach the second expected movement trajectory; controlling the second joint to run based on the second torque, so that the body runs along the body movement trajectory.

[0014] According to another aspect of the embodiments of the present application, a control device of a biped robot is also provided, which comprises: a collection module, configured to collect a current posture of the biped robot in response to receiving a control instruction of the biped robot, wherein the control instruction carries posture data of the biped robot, and the posture data is used to determine a desired single-foot-point-ground posture of the biped robot, which is used to indicate that the tip of the corresponding swing leg of the biped robot contacts the ground when the corresponding supporting leg of the biped robot contacts the ground at the bottom area of the foot; a determination module, configured to determine a swing leg moving track of the swing leg and a body moving track of the corresponding body of the biped robot based on the current posture and the desired single-foot-point-ground posture; and a control module, configured to control the biped robot to run based on the swing leg moving track and the body moving track.

[0015] According to another aspect of the embodiments of the present application, an electronic device is also provided, which comprises: a memory, storing an executable program; and a processor, configured to run the program, wherein the program performs the control method of the biped robot when running.

[0016] According to another aspect of the embodiments of the present application, a computer readable storage medium is also provided, which comprises a stored executable program, wherein the device where the computer readable storage medium is located performs the control method of the biped robot when the executable program runs.

[0017] According to another aspect of the embodiments of the present application, a computer program product is also provided, which comprises a computer program, and the computer program implements the control method of the biped robot when executed by a processor.

[0018] In the embodiments of the present application, the current posture of the biped robot is obtained in response to the control instruction of the biped robot, then the swing leg moving track and the body moving track are determined based on the current posture and the desired single-foot-point-ground posture, and finally the biped robot is controlled to run based on the swing leg moving track and the body moving track. It is easy to note that, the present application first determines the initial posture and the target posture of the biped robot by determining the current posture and the desired single-foot-point-ground posture of the biped robot, then determines the swing leg moving track of the swing leg between the initial posture and the target posture and the body moving track of the body between the initial posture and the target posture from the swing leg and the body respectively, and finally controls the biped robot to run based on the swing leg moving track and the body moving track, so as to enable the biped robot to realize the single-foot-point-ground posture while ensuring the stability and balance of the biped robot, thereby solving the technical problem that the single-foot-point-ground posture of the biped robot cannot be realized in the related art. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0020] Figure 1 is a flow chart of a control method of a biped robot according to an embodiment of the present application;

[0021] Figure 2 is a schematic diagram of a footfall region of a control method of a biped robot according to an embodiment of the present application;

[0022] Figure 3 is a schematic diagram of a support polygon when a biped robot stands on two feet according to an embodiment of the present application;

[0023] Figure 4 is a schematic diagram of a support polygon when a biped robot stands on one foot according to an embodiment of the present application;

[0024] Figure 5 is a schematic diagram of a control device of a biped robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative work should fall within the protection scope of the present application.

[0026] It should be noted that the terms "first", "second", and the like in the description and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to include only those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to the process, method, product or device.

[0027] According to an embodiment of the present application, an embodiment of a control method of a biped robot is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown.

[0028] Figure 1 is a flowchart of a control method of a biped robot according to an embodiment of the present application, as shown, the method comprises the following steps: Figure 1

[0029] Step S102, in response to receiving a control instruction of the biped robot, collecting a current posture of the biped robot, wherein the control instruction carries posture data of the biped robot, the posture data is used to determine a desired single-foot-point-ground posture of the biped robot, the desired single-foot-point-ground posture is used to indicate that the toe area of the corresponding swing leg of the biped robot contacts the ground in the case that the sole area of the corresponding support leg of the biped robot contacts the ground.

[0030] The biped robot described above can refer to a robot with two legs that can imitate human walking. The types of biped robots can include but are not limited to bionic robots, industrial robots, etc. The specific type of biped robot should be determined according to actual needs, which is not limited here. The functions of the biped robot can include but are not limited to search and rescue, home service, entertainment performance, etc.

[0031] The control instruction described above can refer to a signal issued by the control system of the biped robot, which is used to guide the robot to complete a specific action or posture. The control instruction can include but is not limited to target posture, motion parameters, execution speed, etc. The specific control instruction should be determined according to the application scenario and target posture, which is not limited here. The function of the control instruction can include but is not limited to starting the action of the robot, indicating how the robot should adjust its leg and body posture to achieve the action of single-foot-point-ground, etc.

[0032] The response in the above steps is used to describe the reaction of the biped robot to the instruction issued by the control system. The response can include but is not limited to collecting the current posture of the biped robot in response to the control instruction, controlling the biped robot to make the target posture, etc. The specific response should be determined according to the needs of the control system, which is not limited here.

[0033] ​The current posture can refer to the actual position and angle of the biped robot at the current time, and the current posture is a reference for controlling the action of the biped robot and is crucial for planning the next action of the biped robot. The current posture can include, but is not limited to, the current position, current direction, leg, foot, and current angle of the biped robot, and the specific current posture can be determined according to actual needs, which is not limited here.

[0034] The posture data can refer to data describing the position, direction, and angle of the leg, foot, and body of the biped robot in the single-foot-point-ground posture in space. The role of the posture data can include, but is not limited to, helping the control system to understand the specific requirements of the desired single-foot-point-ground posture.

[0035] The desired single-foot-point-ground posture can refer to a special posture that the biped robot is expected to achieve under the guidance of the control instruction. The desired single-foot-point-ground posture is the core target of the present application. By achieving this posture, the robot can maintain stability while demonstrating more diverse and dynamic modeling capabilities.

[0036] The foot region can refer to the part of the foot of the biped robot used for weight bearing and stable contact with the ground. When standing on both feet, the foot region of both feet is in contact with the ground. In the single-foot-point-ground posture, the foot region (palm and heel) of the supporting foot is in full contact with the ground, while the swing foot only touches the ground with the toe region. The role of the foot region can include, but is not limited to, maintaining the support and stability of the biped robot, sensing ground information, adjusting posture and gait, etc.

[0037] In an optional embodiment, after receiving the control instruction, the current posture of the biped robot is collected and analyzed. Through the posture data in the control instruction, the desired single-foot-point-ground posture of the biped robot is obtained, and the current posture data of the robot is collected, so that the control system can accurately calculate the fine adjustment required from the current posture to the desired posture, ensuring that the robot can maintain stability during action conversion and avoid falling or losing balance.

[0038] In step S104, the swing foot movement trajectory of the swing foot and the body movement trajectory of the corresponding body of the biped robot are determined based on the current posture and the desired single-foot-point-ground posture.

[0039] The swing leg movement trajectory can refer to the movement path of the swing leg in space during the process of the biped robot smoothly transitioning from the double-foot standing mode to the single-foot point-ground posture. The type of the swing leg movement trajectory can include, but is not limited to, a straight line trajectory, an arc trajectory, a composite trajectory, etc. The specific swing leg movement trajectory needs to be determined according to the movement mode and environmental conditions, which is not limited here. The function of the swing leg movement trajectory can include, but is not limited to, planning the movement of the swing leg, keeping the swing leg of the biped robot stable and balanced during the movement process, etc.

[0040] The body movement trajectory can refer to the movement path of the robot body in space when the biped robot performs the single-foot point-ground action. The type of the body movement trajectory can include, but is not limited to, a vertical adjustment trajectory, a horizontal rotation trajectory, a composite adjustment trajectory, etc. The specific body movement trajectory needs to be determined according to the target posture and application scenario, which is not limited here. The function of the body movement trajectory can include, but is not limited to, ensuring that the robot can maintain overall stability by adjusting the body posture when the swing leg is in the point-ground state, avoiding tipping due to the shift of the center of gravity, etc.

[0041] In an optional embodiment, the starting posture and the desired posture of the biped robot are determined by obtaining the current posture of the biped robot and the desired single-foot point-ground posture, and then the swing leg movement trajectory and the body movement trajectory during the movement of the biped robot are determined based on the starting posture and the desired posture. Through accurate planning and execution of the swing leg movement trajectory and the body movement trajectory, the robot can complete complex posture conversion while maintaining balance, exhibit more rich and dynamic action performance, and realize the stability and smoothness of the single-foot point-ground action of the biped robot.

[0042] In step S106, the swing leg movement trajectory and the body movement trajectory are used to control the operation of the biped robot.

[0043] In an optional embodiment, the swing leg movement trajectory and the body movement trajectory are controlled to enable the biped robot to stably transition from the double-foot standing mode to the special posture of the single-foot point-ground. In this process, the swing leg movement trajectory ensures that the toe accurately contacts the ground, while avoiding unnecessary impact and energy consumption. The body movement trajectory adjusts the center of gravity of the biped robot to maintain balance in the single-foot support state, preventing tipping. This not only significantly enhances the action flexibility and expressiveness of the biped robot, but also improves the safety and reliability of the biped robot by reducing unstable factors during action conversion.

[0044] In the embodiment of the present application, the current attitude of the biped robot is obtained in response to the control instruction of the biped robot, then the swing leg movement trajectory and the body movement trajectory are determined based on the current attitude and the expected single-foot-point-ground attitude, and finally the biped robot is controlled to run based on the swing leg movement trajectory and the body movement trajectory. It is easy to note that the present application first determines the initial attitude and the target attitude of the biped robot by determining the current attitude and the expected single-foot-point-ground attitude of the biped robot, then determines the swing leg movement trajectory of the swing leg between the initial attitude and the target attitude and the body movement control trajectory of the body between the initial attitude and the target attitude from the swing leg and the body respectively, and finally controls the biped robot to run based on the swing leg movement trajectory and the body movement trajectory, so as to enable the biped robot to realize the single-foot-point-ground attitude while ensuring the stability and balance of the biped robot, thereby solving the technical problem that the single-foot-point-ground attitude of the biped robot cannot be realized in the related art.

[0045] Optionally, based on the current attitude and the expected single-foot-point-ground attitude, the swing leg movement trajectory of the swing leg and the body movement trajectory of the corresponding body of the biped robot are determined, including: based on the current attitude and the expected single-foot-point-ground attitude, an expected landing attitude of the swing leg is determined; based on a preset trajectory shape, a preset swing time and the expected landing attitude, the swing leg movement trajectory is determined, wherein the preset trajectory shape includes at least one preset trajectory shape; based on the current attitude and the expected landing attitude, the body movement trajectory is determined.

[0046] The above-mentioned expected landing attitude can refer to an ideal position and attitude when the toe of the swing leg contacts the ground when the biped robot performs a single-foot-point-ground action. The expected landing attitude can include but is not limited to the contact point of the toe and the ground, the angles of the joints of the foot, and the relative position of the leg and the body, etc. The specific expected landing attitude needs to be determined according to the actual situation, which is not limited here. The role of the expected landing attitude can include but is not limited to determining the end point of the swing leg movement trajectory, ensuring that the robot can remain stable when single-foot-point-ground, etc.

[0047] The above-mentioned preset trajectory shape can refer to the movement path shape of the swing leg in space preset in the swing leg movement trajectory planning stage. The preset trajectory shape can include but is not limited to a linear preset trajectory, a curved preset trajectory, a combined preset trajectory, etc. The specific preset trajectory shape needs to be determined according to the actual trajectory, which is not limited here. The role of the preset trajectory shape can include but is not limited to clarifying the movement trajectory, optimizing the movement process of the swing leg, etc.

[0048] In an optional embodiment, the preset trajectory shape can be set by a polynomial trajectory fitting method, for example, a 2-segment 3-order polynomial is used to describe the trajectory, the first segment trajectory shape is a line connecting the starting point and the highest point, and the second segment trajectory shape is a line connecting the highest point and the touchdown point, and the complete preset trajectory shape includes the two segment trajectory shapes.

[0049] The preset swing time can refer to the time required for the biped robot to swing the foot from the starting point to the touchdown of the toe and reach the expected touchdown pose. The type of preset swing time can include but is not limited to fixed preset swing time and dynamic preset swing time. The specific preset swing time needs to be determined according to the actual motion type, which is not limited here. The function of the preset swing time can include but is not limited to determining the motion speed and timing of the swing foot, ensuring that the swing foot reaches the expected touchdown pose within a specified time, and avoiding instability caused by excessive speed or slow speed.

[0050] In an optional embodiment, the expected touchdown pose of the swing foot is first determined based on the current pose and the expected single-foot touchdown pose; then the swing foot movement trajectory is planned based on the preset trajectory shape, the preset swing time, and the expected touchdown pose; finally, the body movement trajectory is determined based on the current pose and the expected touchdown pose. The above process determines the expected touchdown pose of the swing foot, ensures that the robot can accurately predict and locate the ideal position and pose of the toe touching the ground when performing the action, realizes the smooth transition of the toe touchdown action, optimizes the efficiency and fluency of the action, reduces unnecessary energy consumption and potential risks caused by rough action, so that the biped robot can also maintain balance under single-foot support, and the dynamic performance and watchability of the biped robot are improved.

[0051] Optionally, the expected touchdown pose of the swing foot is determined based on the current pose and the expected single-foot touchdown pose, including: determining the support position of the support foot in the current pose based on the current pose and the expected single-foot touchdown pose; determining the touchdown interval of the swing foot based on the support position; determining the expected touchdown pose based on the touchdown interval and the instep size of the swing foot.

[0052] The expected single-foot touchdown pose can refer to the ideal position and direction of the support foot and the swing foot relative to the ground and the body of the biped robot when the biped robot is single-foot touchdown. The expected single-foot touchdown pose can be determined according to the application scenario, which is not limited here. The function of the expected single-foot touchdown pose can include but is not limited to guiding the biped robot to smoothly transition from the current pose to the target pose, maintaining the balance and stability of the biped robot, etc.

[0053] The support position can refer to a specific position of the foot sole contact point of the biped robot when performing an action. The type of support position can include a fixed support position and a dynamic support position, etc. The specific support position needs to be determined according to the motion mode of the biped robot and the ground condition, which is not limited here. The role of the support position can include but is not limited to ensuring that the biped robot can maintain the balance of the center of gravity during the conversion process, avoiding tipping due to unstable support, etc.

[0054] The foot landing interval can refer to a reasonable position range in which the foot tip of the swing leg can stably contact the ground when the robot transitions from the current posture to the desired single-foot-point-ground posture. The type of foot landing interval can include a fixed foot landing interval and a dynamic foot landing interval, etc. The specific foot landing interval needs to be determined according to the structure of the biped robot and the position of the supporting leg, which is not limited here. The role of the foot landing interval can include but is not limited to ensuring that the foot tip contacts the ground in a safe and stable area, avoiding unexpected collisions or imbalance of the robot during the action conversion process, etc.

[0055] The foot back size can refer to a size parameter of the back side of the foot of the biped robot. The type of foot back size can include but is not limited to the width, length, and height of the foot back of the biped robot, etc. The specific foot back size needs to be determined according to actual needs, which is not limited here.

[0056] In an optional embodiment, the support position is determined by planning the current posture and the desired single-foot-point-ground posture, the foot landing interval of the swing leg is reasonably set based on the support position of the supporting leg, and finally the desired foot landing posture is determined based on the obtained foot landing interval and foot back size. In the above process, by determining the desired foot landing posture of the biped robot when performing a single-foot-point-ground action, the stability and safety of the action of the biped robot when performing a task are ensured, and the diversity and naturalness of the robot action are improved.

[0057] In an optional embodiment, Figure 2 is a foot landing interval diagram of a control method of a biped robot according to an embodiment of the present application, as Figure 2 shown, Figure 2 The left side is the left foot landing interval, which is within a semicircle with the left foot support position as the center and a radius of 0.2 m, and outside a semicircle with a radius of 0.05 m; Figure 2 The right side is the right foot landing interval, which is within a semicircle with the right foot support position as the center and a radius of 0.2 m, and outside a semicircle with a radius of 0.05 m. The foot landing interval is shown by the shaded part in the figure. For the convenience of viewing related data, each foot landing interval on the left and right sides is represented by half of the shaded part. The above radius range is only for example, and the specific radius size can be determined according to the actual situation, which is not limited here.

[0058] Optionally, based on the current posture and the expected stance, the body movement trajectory is determined, including: determining a first center of mass of the body of the biped robot in the current posture; determining a second center of mass of the body of the biped robot in the expected stance; and constructing the body movement trajectory based on the first center of mass and the second center of mass.

[0059] The first center of mass can refer to the center point position of the entire body mass distribution of the biped robot in the current posture, and the first center of mass represents the balance state of the biped robot before performing the action.

[0060] The second center of mass can refer to the center point position of the entire body mass distribution of the biped robot in the expected stance, and the second center of mass represents the ideal balance state of the robot after completing the single-foot stance action.

[0061] In an optional embodiment, the first center of mass of the body of the biped robot before performing the action is first calculated, then the second center of mass of the body of the biped robot after performing the action is calculated, and then the body movement trajectory is constructed based on the first center of mass and the second center of mass. The above process constructs the body movement trajectory based on the first center of mass and the second center of mass, ensures that the body of the biped robot is always in a balanced state when the foot moves, and ensures the overall stability and safety of the biped robot when completing a difficult action.

[0062] Optionally, the first center of mass of the body of the biped robot in the current posture is determined, including: determining a support polygon formed by the corresponding two feet of the biped robot based on the current posture; and determining the center of the support polygon as the first center of mass.

[0063] The support polygon can refer to a geometric area formed by the contact between the two feet of the biped robot and the ground in the current posture, and the type of the support polygon can include but is not limited to a straight line formed by two-point support, a polygon formed by multiple contact points, a dynamically changing support polygon, etc. The specific support polygon needs to be determined according to the shape of the two feet of the biped robot and the current posture, which is not limited here. The role of the support polygon can include but is not limited to the calculation of the first center of mass, the planning and control of the action of the biped robot, etc.

[0064] In an optional embodiment, the support polygon is determined based on the position of the two feet of the biped robot in the current posture, and the center of the support polygon is determined as the first center of mass of the biped robot based on the principle that the center of mass is naturally located at the center of the support area when the robot stands on two feet. The above process not only simplifies the control algorithm, but also ensures the stable state of the robot before performing the action. At the same time, the first center of mass determined in this way is used as the basis for subsequent action planning and control strategy, guiding the robot to smoothly transition to the expected single-foot stance.

[0065] In an optional embodiment, Figure 3is a schematic diagram of a support polygon when a biped robot stands with both feet, according to an embodiment of the present application, Figure 4 is a schematic diagram of a support polygon when a biped robot stands with one foot, according to an embodiment of the present application, as shown in Figure 3 Figure 3 the two rectangles in the figure represent the areas of the ground contacted by the two feet of the biped robot respectively, and the shaded part represents the shape of the support polygon when both feet of the biped robot contact the ground, as shown in Figure 4 Figure 4 the rectangle in the figure represents the area of the ground contacted by the support foot of the biped robot, the circle represents the area of the ground contacted by the swing foot of the biped robot, and the shaded part represents the size of the support polygon when the biped robot stands with one foot.

[0066] When the biped robot stands with both legs, the center of mass needs to be kept at the center of the support polygon to maintain the best balance, and the midpoint of the two feet can be used as an approximation. When a step command is received, for example, the right leg is lifted, the body needs to move towards the position of the support foot before the leg is lifted, and at this time, the center of mass moves from the midpoint of the two feet to the palm of the support leg.

[0067] Optionally, the second center of mass of the biped robot in the desired foot landing pose is determined, including: determining the foot bottom area of the support foot based on the desired single-foot ground contact pose; and determining the center of the foot bottom area as the second center of mass.

[0068] The foot bottom area can refer to the geometric area formed by the contact between the support foot and the ground in the desired foot landing pose. The types of foot bottom areas can include but are not limited to planar contact foot bottom areas, point contact foot bottom areas, etc. The specific type of foot bottom area needs to be determined according to multiple factors such as foot design, ground material, and desired foot landing pose, which are not limited here. The functions of the foot bottom area can include but are not limited to calculating the second center of mass, stabilizing the biped robot, etc.

[0069] In an optional embodiment, the foot bottom area of the support foot of the biped robot in the desired single-foot ground contact pose is determined first, and then the second center of mass is determined based on the center of the foot bottom area, which helps to evaluate and control the balance of the robot when standing on one foot, and provides accurate control basis for the robot when performing advanced actions, ensuring that it can safely and stably complete the task and exhibit more natural and coordinated posture performance.

[0070] ​​Optionally, the controlling the biped robot to run based on the swing leg movement trajectory and the body movement trajectory comprises: determining first expected states of the swing leg at a plurality of movement time points based on the swing leg movement trajectory; determining second expected states of the body at the plurality of movement time points based on the body movement trajectory; and controlling the swing leg to run along the swing leg movement trajectory based on the first expected states and controlling the body to run along the body movement trajectory based on the second expected states.

[0071] The plurality of movement time points can refer to key time points preset in the process of the biped robot transitioning from the current posture to the expected landing posture. The specific number of the plurality of movement time points is determined according to control accuracy and motion difficulty, which is not limited herein. The plurality of movement time points can be used for fine control of the movement of the biped robot, to ensure that the swing leg and the body can smoothly transition according to the expected trajectory and time points, and to avoid abrupt or unstable phenomena in the motion process.

[0072] The first expected state can refer to a state that the swing leg should reach when running along the movement trajectory at the plurality of movement time points. The first expected state can include, but is not limited to, position, velocity, acceleration and posture of the swing leg at the plurality of movement time points. The specific first expected state is determined according to the swing leg movement trajectory, which is not limited herein. The first expected state can be used for real-time monitoring and adjustment of the state of the swing leg, to ensure that the swing leg can accurately run according to the planned trajectory at each movement time point.

[0073] The second expected state can refer to a state that the body should reach when running along the movement trajectory at the plurality of movement time points. The second expected state can include, but is not limited to, position, velocity, acceleration and posture of the body at the plurality of movement time points. The specific second expected state is determined according to the body movement trajectory, which is not limited herein. The second expected state can be used for accurate adjustment of the state parameters of the body, to ensure that the center of mass of the robot smoothly transitions above the new support point when the robot is on a single foot, and to avoid the body from falling or swaying.

[0074] In an optional embodiment, by setting a plurality of movement time points and determining the first expected states and the second expected states of the swing leg and the body at these time points, smooth transition of the biped robot from the current posture to the expected landing posture can be achieved. The above process not only ensures accurate execution of the motion and natural conversion of the posture, but also effectively controls the energy use and dynamic performance of the robot, thereby providing technical support for high-level motion control of the robot in complex environments, so that the biped robot exhibits more natural and coordinated posture performance when executing commands.

[0075] Optionally, the swing leg is controlled to move along the swing leg movement trajectory based on the first desired state, including: converting the first desired state into a first desired movement trajectory of a first joint corresponding to the swing leg; determining a first torque to be generated by the first joint to reach the first desired movement trajectory; and controlling the first joint to move based on the first torque, so that the swing leg moves along the swing leg movement trajectory.

[0076] The first joint can refer to a joint directly related to the swing leg movement trajectory in the swing leg movement. The first joint can include, but is not limited to, an ankle, a knee, or a hip joint. The specific first joint is determined according to the robot design and control strategy. The first joint can be used to guide the swing leg to move along a predetermined trajectory.

[0077] The first desired movement trajectory can refer to a desired position change sequence of the first joint at a plurality of movement time points. The first desired movement trajectory can be determined by statics. The first desired movement trajectory can be used to provide clear path guidance for the swing leg to transition from a current pose to a desired stance pose. By controlling the first joint to move along the first desired movement trajectory, the swing leg movement can be smooth and stable, and the robot can be prevented from being unbalanced due to uncoordinated joint movement.

[0078] The first torque can refer to a torque required by a controller to make the first joint reach the first desired movement trajectory. The first torque can be determined by inverse dynamics, torque feedback control, or the like. The first torque can be used as a power source to control the swing leg to move along a predetermined trajectory, and drive the first joint to move according to the first desired movement trajectory, thereby achieving accurate control of the swing leg and smooth execution of the single-foot point landing movement of the robot.

[0079] In an optional embodiment, the first desired state of the swing leg is converted into a first desired movement trajectory of a first joint of the swing leg by a statics method. The first torque of the first joint to reach the first desired movement trajectory is determined by an inverse dynamics method. Finally, the first joint of the swing leg is controlled to move by the first torque. Through intelligent joint control and torque adjustment, the above process can ensure the coordination and safety of the biped robot when performing high-difficulty movements, and provide a solid technical support for the biped robot in the field of high-level movement control.

[0080] Optionally, the robot body is controlled to move along the robot body movement trajectory based on the second desired state, including: converting the second desired state into a second desired movement trajectory of a second joint corresponding to the robot body; determining a second torque to be generated by the second joint to reach the second desired movement trajectory; and controlling the second joint to move based on the second torque, so that the robot body moves along the robot body movement trajectory.

[0081] The second joint can refer to a joint in a biped robot that is directly related to the movement trajectory of the body. The second joint can include, but is not limited to, the hip joint at the connection between the robot leg and the torso, and a rotating joint inside the torso, such as a waist joint. The specific second joint is determined according to the body design of the biped robot, and is not limited herein. The second joint can be used to control the biped robot body to move according to a second desired movement trajectory, ensuring that the robot body remains stable during the transition from biped standing to single-foot landing action.

[0082] The second desired movement trajectory can refer to a desired position change sequence that the second joint should achieve at multiple movement time points. The second desired movement trajectory can be determined by statics. The second desired movement trajectory can be used to provide clear path guidance for the robot body to smoothly transition from the current pose to a new pose in the desired landing pose. By controlling the second joint to move along the second desired movement trajectory, the biped robot can be balanced and stable during the single-foot landing action, avoiding imbalance due to uncoordinated movement of the body.

[0083] The second torque can refer to the torque that the controller needs to apply to make the second joint achieve the second desired movement trajectory. The second torque can be determined by inverse dynamics, torque feedback control, etc. The second torque can be used as a power source to control the body to move along the predetermined trajectory, coordinate the body movement, and ensure smooth transition and stable control of the overall pose during the single-foot landing action of the biped robot.

[0084] In an optional embodiment, the second desired state of the body is converted into the second desired movement trajectory of the second joint of the body by statics, the second torque of the second joint to achieve the second desired movement trajectory is determined by inverse dynamics, and finally the second joint of the body is controlled to move by the second torque. Through the above process, the robot body can smoothly transition along the second desired movement trajectory through accurate control of the second joint, ensuring the stability of the body and the coordination of the pose of the biped robot during the single-foot landing action.

[0085] In an optional embodiment, the force and torque of the joints of the biped robot can be calculated by statics, and the calculation formula is as follows:

[0086] τ feedforward = J T [F,τ] feedback ;

[0087] where τ jp is the torque that each joint on the front feed part leg should bear, J represents the Jacobian matrix, which is used to project the 6-dimensional vector end force and torque [F,τ] j onto the torque of each joint, F represents the 6-dimensional vector end force, and τ represents the 6-dimensional vector end force and torque.

[0088] The feedback is calculated using proportional-integral-derivative (PID) control for joint tracking, and the calculation formula is as follows:

[0089] τ feedback =K jp (p j -p jd )+K jd (v j -v jd );

[0090] In the formula, p j This represents the joint angle corresponding to the joint, v j p represents the angular velocity of the joint. jd v represents the desired angle of the joint. jd τ represents the desired angular velocity of the joint. feedback k represents the feedback torque. jd k represents the derivative gain, which is the coefficient of the derivative part in PID control. jp This represents the proportional gain, which is the proportional coefficient in PID control.

[0091] Finally, the torques of the feedforward and feedback parts are combined and sent to the motor drive for execution.

[0092] According to another aspect of the present invention, a control device for a bipedal robot is also provided. This device can execute the control method for the bipedal robot provided in the above embodiments. The specific implementation and preferred application scenarios are the same as those in the above embodiments, and will not be described in detail here.

[0093] Figure 5 This is a schematic diagram of a control device for a bipedal robot according to an embodiment of the present invention, as shown below. Figure 5 As shown, the device includes: a data acquisition module 502, used to acquire the current posture of the bipedal robot in response to receiving a control command from the bipedal robot, wherein the control command carries posture data of the bipedal robot, and the posture data is used to determine the desired single-foot grounding posture of the bipedal robot, the desired single-foot grounding posture is used to indicate that the toe area of ​​the corresponding swinging foot of the bipedal robot is expected to contact the ground when the sole area of ​​the corresponding supporting foot of the bipedal robot is in contact with the ground; a determination module 504, used to determine the swinging foot movement trajectory and the body movement trajectory of the corresponding body of the bipedal robot based on the current posture and the desired single-foot grounding posture; and a control module 506, used to control the operation of the bipedal robot based on the swinging foot movement trajectory and the body movement trajectory.

[0094] Optionally, the determining module comprises: a first determining unit, configured to determine a desired landing position of the swing leg based on the current attitude and the desired one-foot-point ground attitude; a second determining unit, configured to determine a swing leg movement trajectory based on a preset trajectory shape, a preset swing time and the desired landing position, wherein the preset trajectory shape comprises at least one preset trajectory shape; and a third determining unit, configured to determine a robot body movement trajectory based on the current attitude and the desired landing position.

[0095] Optionally, the first determining unit comprises: a first determining sub-unit, configured to determine a support position of the support leg in the current attitude based on the current attitude and the desired one-foot-point ground attitude; and a second determining sub-unit, configured to determine a landing interval of the swing leg based on the support position, and determine the desired landing position based on the landing interval and a instep size of the swing leg.

[0096] Optionally, the third determining unit comprises: a third determining sub-unit, configured to determine a first center of mass of the robot body in the current attitude; a fourth determining sub-unit, configured to determine a second center of mass of the robot body in the desired landing position; and a constructing sub-unit, configured to construct the robot body movement trajectory based on the first center of mass and the second center of mass.

[0097] Optionally, the third determining sub-unit comprises: determining a support polygon formed by the corresponding two legs of the biped robot based on the current attitude; and determining the center of the support polygon as the first center of mass.

[0098] Optionally, the fourth determining sub-unit comprises: determining a foot bottom area of the support leg based on the desired one-foot-point ground attitude; and determining the center of the foot bottom area as the second center of mass.

[0099] Optionally, the control module comprises: a fourth determining unit, configured to determine a first desired state of the swing leg at a plurality of movement time points based on the swing leg movement trajectory; a fifth determining unit, configured to determine a second desired state of the robot body at the plurality of movement time points based on the robot body movement trajectory; and a control unit, configured to control the swing leg to run along the swing leg movement trajectory based on the first desired state, and control the robot body to run along the robot body movement trajectory based on the second desired state.

[0100] Optionally, the control unit comprises: a first converting sub-unit, configured to convert the first desired state into a first desired movement trajectory of a first joint of the swing leg; a fifth determining sub-unit, configured to determine a first torque to be generated by the first joint to reach the first desired movement trajectory; and a first control sub-unit, configured to control the first joint to run based on the first torque, so that the swing leg runs along the swing leg movement trajectory.

[0101] Optionally, the control unit comprises: a second conversion subunit, configured to convert the second desired state into a second desired movement track of the body corresponding to a second joint; a sixth determination subunit, configured to determine a second torque to be generated by the second joint to reach the second desired movement track; and a second control subunit, configured to control the second joint to operate based on the second torque, so that the body operates along the body movement track.

[0102] According to another aspect of the embodiments of the present application, an electronic device is provided, which comprises a memory storing an executable program and a processor configured to execute the program, wherein the program is configured to execute the method in the embodiments of the present application when executed.

[0103] According to another aspect of the embodiments of the present application, a computer readable storage medium is provided, which comprises a stored program, wherein the program is configured to control a processor of a device to execute the method in the embodiments of the present application when executed.

[0104] The computer storage medium in the above steps can be a medium for storing some discontinuous physical quantity in a computer memory, and the computer storage medium mainly includes a semiconductor, a magnetic core, a magnetic drum, a magnetic tape, a laser disc and the like. The stored program included in the computer readable storage medium can be a set of instructions recognizable and executable by a computer, and the program is run on an electronic computer to meet the informationization tool of a certain demand of people.

[0105] According to another aspect of the embodiments of the present application, a computer program product is provided, which comprises a computer program configured to implement the method in the embodiments of the present application when executed by a processor.

[0106] In the above embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0107] In the several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. In actual implementation, additional division can be made, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, unit or module, and can be electrical or other forms.

[0108] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0109] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0110] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical scheme of the present application or the part of the present application which contributes to the prior art or the whole or part of the technical scheme can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various program code storage media.

[0111] The above is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A control method of a biped robot, characterized by, The method comprises the following steps: in response to receiving a control instruction of a biped robot, collecting a current posture of the biped robot, wherein the control instruction carries posture data of the biped robot, the posture data is used to determine a desired single-foot-point-ground posture of the biped robot, and the desired single-foot-point-ground posture is used to represent a case that a tip area of a corresponding swing leg of the biped robot contacts the ground when a corresponding supporting foot of the biped robot contacts the ground at a sole area; based on the current posture and the desired single-foot-point-ground posture, determining a swing leg moving track of the swing leg and a body moving track of a corresponding body of the biped robot; based on the swing leg moving track, determining first desired states of the swing leg at a plurality of moving time points; based on the body moving track, determining second desired states of the body at the plurality of moving time points; based on the first desired states, controlling the swing leg to run along the swing leg moving track, and based on the second desired states, controlling the body to run along the body moving track.

2. The control method of the biped robot according to claim 1, characterized by, based on the current posture and the desired single-foot-point-ground posture, determining a swing leg moving track of the swing leg and a body moving track of a corresponding body of the biped robot, comprises: based on the current posture and the desired single-foot-point-ground posture, determining a desired landing posture of the swing leg; based on a preset track shape, a preset swing time and the desired landing posture, determining the swing leg moving track, wherein the preset track shape comprises at least one preset track shape; based on the current posture and the desired landing posture, determining the body moving track.

3. The control method of the biped robot according to claim 2, characterized by, based on the current posture and the desired single-foot-point-ground posture, determining a desired landing posture of the swing leg, comprises: based on the current posture and the desired single-foot-point-ground posture, determining a supporting position of the supporting foot in the current posture; based on the supporting position, determining a landable interval of the swing leg; based on the landable interval and a instep size of the swing leg, determining the desired landing posture.

4. The control method of the biped robot according to claim 2, characterized by, based on the current posture and the desired landing posture, determining the body moving track, comprises: determining a first center of mass of the body of the biped robot in the current posture; determining a second center of mass of the body of the biped robot in the desired landing posture; based on the first center of mass and the second center of mass, constructing the body moving track.

5. The control method of the biped robot according to claim 4, characterized by, determining a first center of mass of the body of the biped robot in the current posture, comprises: based on the current posture, determining a supporting polygon formed by corresponding double feet of the biped robot; determining a center of the supporting polygon as the first center of mass.

6. The control method of the biped robot according to claim 4, characterized by, determining a second center of mass of the body of the biped robot in the desired landing posture, comprises: based on the desired single-foot-point-ground posture, determining the sole area of the supporting foot; determining a center of the sole area as the second center of mass.

7. The control method of the biped robot according to claim 1, characterized by, based on the first desired states, controlling the swing leg to run along the swing leg moving track, comprises: converting the first desired states into a first desired moving track of a corresponding first joint of the swing leg; determining a first torque to be generated by the first joint to reach the first desired movement trajectory; controlling the first joint to operate based on the first torque, so that the swing leg operates along the swing leg movement trajectory.

8. The control method of the biped robot according to claim 1, characterized by, controlling the body to operate along the body movement trajectory based on the second desired state, comprising: converting the second desired state into a second desired movement trajectory of a second joint of the body; determining a second torque to be generated by the second joint to reach the second desired movement trajectory; controlling the second joint to operate based on the second torque, so that the body operates along the body movement trajectory.

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

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