Humanoid robot and control method thereof

Abstract

The invention discloses a humanoid robot and a control method thereof. The humanoid robot comprises a waist support; the two driving assemblies are fixedly connected with the two opposite sides of the waist support and are coaxially arranged. The hip joint assembly comprises a connecting rod structure, a first bearing, a second bearing and a fixing piece, flanges are arranged on the sides, close to each other, of the two driving assemblies, and when the driving assemblies drive the flanges to rotate around the first axis, the connecting rod structure drives the fixing piece to swing in the left-right direction of the humanoid robot through the first bearing and the second bearing; a rotating motor is arranged in the fixing piece, the leg assembly is connected with the rotating motor so that the leg assembly can rotate around a second axis, and the first axis and the second axis are relatively perpendicular to each other. The driving shaft is coaxially arranged, the transmission mode that the flange and the connecting rod structure are combined is adopted, meanwhile, the independent axis design is combined, so that rotation and movement of the joint do not occupy too much transverse space any more, and the movement freedom degree of the hip joint is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a humanoid robot and a control method thereof. Background Art

[0002] As a complex robot that imitates human movement and behavior, humanoid robots have been widely used in many fields such as service, medical treatment, and education. In order to simulate the complexity of human movement, humanoid robots usually need to have flexible joint designs, especially the hip joint. In the prior art, the hip joint usually achieves different degrees of freedom of movement through multiple independent rotation axes. For example, the rotation axis of the Hip yaw joint is perpendicular to the rotation axis of the Hip roll joint, and the rotation axis of the Hip yaw points to the ground (vertical direction) and intersects with the Hip roll rotation axis. At the same time, the rotation axis of the Hip pitch joint is perpendicular to the Hip roll and Hip yaw rotation axes and intersects with the Hip yaw rotation axis. Although this design can enable the hip to have a certain degree of mobility, it has significant defects in the mechanical structure, mainly manifested in the large width of the hip joint and difficulty in optimization.

[0003] Specifically, the hip joint structure in the prior art makes the width of the hip joint an unavoidable problem due to the intersection and perpendicular design of the three rotation axes. The width of the hip joint is usually determined by the axis distance of the two hip roll joints plus the diameter of a hip roll joint. Although this structural design can achieve multi-degree-of-freedom movement, the large axis distance causes the volume and width of the entire hip joint to be relatively large, which not only increases the overall size of the robot, but also has a negative impact on the robot's stability, flexibility and movement efficiency. Especially in application scenarios where the movement space is limited or the stability requirements are high, an excessively large hip joint width will limit the robot's ability to move in a small environment.

[0004] Therefore, a new design scheme is urgently needed that can maintain sufficient freedom of movement while effectively reducing the width of the hip joint, thereby improving the overall movement performance and adaptability of the humanoid robot. Summary of the invention

[0005] The purpose of the present application is to provide a humanoid robot and a control method thereof, so as to solve the technical problem in the existing humanoid robot hip joint structure design that the hip joint width is too large due to the intersection and vertical arrangement of multiple rotation axes, thus affecting the overall volume and movement flexibility of the robot.

[0006] To achieve this goal, this application adopts the following technical solutions: A humanoid robot, comprising: Lumbar support; A driving assembly, wherein two driving assemblies are fixedly connected to opposite sides of the waist support, and driving shafts of the two driving assemblies are coaxially arranged; A hip joint assembly, comprising a connecting rod structure, a first bearing, a second bearing and a fixing member, wherein a flange is provided on the side of the two driving assemblies close to each other, and the side of the flange away from the driving assembly is connected to the first bearing, one end of the connecting rod structure is connected to the first bearing, and the other end is connected to the second bearing, and the second bearing is rotatably connected to the fixing member, wherein when the driving assembly drives the flange to rotate around the first axis, the connecting rod structure drives the fixing member to swing in the left and right directions of the humanoid robot through the first bearing and the second bearing; The leg assembly is provided with a rotating motor in the fixing member, and the leg assembly is connected to the rotating motor so that the leg assembly rotates around a second axis, wherein the first axis and the second axis are arranged vertically relative to each other and have independent motion trajectories in space respectively.

[0007] Furthermore, a protrusion is provided on the top surface of the fixing member, and the protrusion is connected to the fixing member through a plurality of arcuate surfaces. An output shaft is provided at one end of the protrusion away from the arcuate surface, and the output shaft is connected to the second bearing, so that the connecting rod structure cooperates with the second bearing through the output shaft to drive the connecting rod structure and the fixing member to rotate together.

[0008] Furthermore, it also includes a fixing plate, which is arranged on a side of the driving assembly close to the hip joint assembly, a through hole is arranged in the middle part of the fixing plate, the flange is inserted into the through hole and connected to the driving assembly, and circular holes are arranged on opposite sides of the fixing plate; A rotary bearing is provided on the side of the fixing member, and the fixing plate is connected to the fixing member by inserting the rotary bearing into the circular hole, so that the connecting rod structure drives the fixing member to swing around the rotation direction of the rotary bearing through the first bearing and the second bearing.

[0009] Furthermore, a connecting shaft is provided on the flange, and the connecting rod structure is connected to the first bearing via the connecting shaft (351), so that the connecting rod structure is rotatably connected to the flange.

[0010] Furthermore, one end of the fixing plate is directly fixedly connected to the waist support, and the other end is provided with a limiting support, and the limiting support is used to limit the swing range of the fixing member.

[0011] Furthermore, the leg assembly includes a rotating structure and a leg structure, the top of the rotating structure is connected to the rotating motor, the side of the rotating structure is connected to the leg structure, and the rotating structure drives the leg structure to swing in the front and rear directions of the humanoid robot.

[0012] Furthermore, a gear assembly is also provided in the fixing member, and the gear assembly includes a central gear, a linkage gear and an inner gear ring. The central gear is connected to the output shaft of the rotating motor, and a plurality of linkage gears are meshed with the central gear and connected to the inner gear ring. A fixing frame is connected to the side of the inner gear ring away from the linkage gear, and the fixing frame is connected to the inner wall of the fixing member.

[0013] The present application also provides a method for controlling a humanoid robot, which is used to control any of the humanoid robots described above, comprising the steps of: Collecting initial state data of the humanoid robot to obtain an original state data set, wherein the initial state data includes initial angles and current posture data of each joint of the humanoid robot; Setting a target coordinate system based on a user instruction, performing coordinate transformation processing on the original state data set according to the target coordinate system, and obtaining target position and target posture data of the humanoid robot in the target coordinate system; Performing inverse kinematics calculation on the difference between the target position and the current posture data to obtain the target angle and posture change information of each joint, and performing trajectory optimization processing on the target angle and posture change information to obtain the optimized motion trajectory of each joint; Performing time discretization processing on the optimized motion trajectory to generate a time angle curve for each joint, and performing smooth interpolation processing on the time angle curve to obtain a control instruction for each joint under the target trajectory; The humanoid robot is simulated based on the control command, the control command is corrected according to the simulation result, and the action of the humanoid robot is controlled according to the corrected control command.

[0014] Compared with the prior art, this application has the following beneficial effects: The present invention sets two driving components and fixes them on opposite sides of the waist support, and the driving shaft is designed to be coaxial, so that the hip joint component can give full play to the advantage of the two axes being independent of each other when rotating, avoids the space limitation problem caused by the crossing of axes in traditional designs, and simplifies the layout of the driving system; the hip joint component adopts a connecting rod structure and a bearing system, and the left and right swing of the hip joint is realized through the cooperation of the flange, the bearing and the connecting rod structure. The left and right swing of the hip joint is driven by the flange, and the connection between the flange and the connecting rod structure is rotated by the first bearing and the second bearing, so that the movement of the hip joint is more efficient and precise, and the rotation and movement of the joint no longer occupy too much lateral space, avoiding the problem of excessive hip width that is common in traditional designs; the first axis and the second axis have completely independent motion trajectories in space, so that when the robot is moving, the two axes can respectively execute different motion trajectories, independently control the pitch and rotation of the hip joint, thereby effectively improving the robot's movement freedom and precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which this application can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by this application, should still fall within the scope of the technical contents disclosed in this application.

[0017] Figure 1 This is a schematic diagram of the overall structure of the humanoid robot; Figure 2 A schematic structural diagram of an embodiment of a hip joint assembly of a humanoid robot; Figure 3 A schematic structural diagram of a flange embodiment of a humanoid robot; Figure 4 A schematic structural diagram of an embodiment of an axis line of a humanoid robot; Figure 5 A schematic diagram of a fixing part of a humanoid robot and its cross-sectional structure; Figure 6 A structural schematic diagram of an embodiment of a fixing plate of a humanoid robot; Figure 7 Schematic diagram of the overall steps of the control method for a humanoid robot.

[0018] Illustration Description: 1. Waist support; 2. Drive assembly; 3. Hip joint assembly; 31. Connecting rod structure; 32. First bearing; 33. Second bearing; 34. Fixing piece; 35. Flange; 351. Connecting shaft; 36. Rotating motor; 371. Protrusion; 372. Arc surface; 4. Leg assembly; 5. Fixing plate; 51. Through hole; 52. Circular hole; 6. Rotating bearing; 7. Limiting bracket; 8. Gear assembly; 81. Center gear; 82. Linkage gear; 83. Inner gear ring; A. First axis; B. Second axis. DETAILED DESCRIPTION

[0019] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] In the description of the present application, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. It should be noted that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally arranged component at the same time.

[0021] The technical solution of the present application is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0022] Reference Figures 1 to 6The present application provides a humanoid robot, comprising: a waist support 1; a driving assembly 2, wherein two driving assemblies 2 are fixedly connected to opposite sides of the waist support 1, and the driving axes of the two driving assemblies 2 are coaxially arranged; a hip joint assembly 3, comprising a connecting rod structure 31, a first bearing 32, a second bearing 33 and a fixing member 34, a flange 35 is arranged on the side where the two driving assemblies 2 are close to each other, and the side of the flange 35 away from the driving assembly 2 is connected to the first bearing 32, one end of the connecting rod structure 31 is connected to the first bearing 32, and the other end is connected to the second bearing 33, The second bearing 33 is rotationally connected to the fixing member 34, wherein when the driving assembly 2 drives the flange 35 to rotate around the first axis A, the connecting rod structure 31 drives the fixing member 34 to swing in the left and right directions of the humanoid robot through the first bearing 32 and the second bearing 33; the leg assembly 4, a rotating motor 36 is arranged in the fixing member 34, and the leg assembly 4 is connected to the rotating motor 36 so that the leg assembly 4 rotates around the second axis B, wherein the first axis A and the second axis B are relatively vertically arranged and have independent motion trajectories in space respectively.

[0023] In this embodiment, the structure and driving mode of the hip joint assembly 3 enable the robot to have sufficient degrees of freedom during movement, and at the same time optimize the overall structure to improve movement efficiency and spatial adaptability. First, it includes a waist support 1, which is fixed to the waist of the robot to ensure that the lower limb assembly can stably transmit force and power during movement. Two drive assemblies 2 are respectively fixed on opposite sides of the waist support 1, and their drive shafts are coaxially arranged. The drive assemblies 2 can work together on the same axis to ensure the balance of the drive transmission. Specifically, the coaxial arrangement of the drive shafts in the drive assembly 2 helps to simplify the mechanical transmission structure, reduce friction and energy loss, and thus improve the efficiency and stability of the robot. The working principle of the two drive assemblies 2 is that through synchronous movement, the rotation of the hip joint assembly 3 can be effectively controlled, thereby driving the movement of the robot's lower limbs. The hip joint assembly 3 includes key components such as a first bearing 32, a second bearing 33 and a fixing member 34. The side close to the two drive assemblies 2 is provided with a flange 35, and the side away from the drive assembly 2 is connected to the first bearing 32. The rotation of the drive assembly 2 drives the flange 35 to rotate around the first axis A, and the rotation affects the swing of the hip joint through the connecting rod structure 31. Specifically, when the drive assembly 2 drives the flange 35 to rotate, the first bearing 32 and the second bearing 33 each drive one end of the connecting rod structure 31, and drive the fixing member 34 to swing, thereby realizing the hip movement of the robot. This design can simulate the left and right movement of the human hip, allowing the robot to flexibly adjust the gait and change the movement posture. The connecting rod structure 31 converts the rotation of the drive assembly 2 into the swinging movement of the hip through the cooperation of the bearing and the flange 35. The design of the connecting rod and the bearing system allow the hip joint to have a certain degree of freedom and stability during the rotation process. For example, when the robot needs to change its pace or turn, the rotation of the drive assembly 2 drives the flange 35 to rotate, and the connecting rod structure 31, supported by the bearing, pushes the fixing member 34 to swing in the left and right directions, so that the legs of the robot can be adjusted according to the predetermined motion trajectory. A rotary motor 36 is provided inside the fixing member 34, and the rotary motor 36 is connected to the leg assembly 4. When the rotary motor 36 is working, it can drive the leg to rotate around the second axis B, so that the leg assembly 4 of the humanoid robot can rotate. Furthermore, the first axis A and the second axis B are relatively vertically arranged, and the two axes have independent motion trajectories in space. Through the coordination of the two independent axes, more motion space and degrees of freedom are provided. In practical applications, the first axis A and the second axis B are relatively vertical and each has an independent motion trajectory, so that the robot can adapt to complex motion tasks more flexibly, especially in an environment that requires high-precision motion and stronger adaptability, and can better meet the operational requirements.In addition, the vertical setting of the two axes not only reduces the complexity of the mechanical structure, but also effectively reduces the space and volume occupied by the hip joint, thereby reducing the overall size of the robot while maintaining sufficient freedom of movement, enabling it to work efficiently in a more compact environment, and improving its stability and flexibility. For example, suppose the robot needs to complete a simple walking action. First, the drive assembly 2 rotates the drive shaft drive flange 35 through the coaxial drive shaft. This rotation causes the connecting rod structure 31 in the hip joint assembly 3 to start swinging, and through the cooperation of the first bearing 32 and the second bearing 33, the fixed member 34 is pushed to move in the left and right directions to simulate the swing of the human hip. Then, the rotating motor 36 in the fixed member 34 is started, driving the legs to rotate around the second axis B. The robot can adjust the gait direction by rotating or swinging the legs, changing its forward trajectory, rather than simply moving forward in a straight line. At this time, the legs rotate around a certain axis, which helps the overall movement direction of the robot to change, thereby avoiding the instability of movement caused by direct turning. In this process, the independent setting of the first axis A and the second axis B ensures that the left and right swing of the hip and the forward and backward movement of the legs can be coordinated to achieve a stable gait of the robot.

[0024] In summary, the present invention enables the robot to flexibly and efficiently complete complex motion tasks through the drive assembly 2, the hip joint design and the rotary motor 36 control system. In particular, under the vertical setting of the first axis A and the second axis B, the robot can effectively adjust within the range of motion of multiple degrees of freedom to ensure motion accuracy and stability, and can also adapt to a narrower or more complex space environment.

[0025] It is worth noting that in the present embodiment, an upper part of the structure is also provided above the waist support 1, including a chest support and a shoulder joint assembly. The chest support is fixed above the waist support 1 to provide support for the upper limb assembly. The specific structure of the shoulder joint assembly is not described in detail in this application, but it is understandable that the shoulder joint assembly should have sufficient flexibility and strength to support the robot's arm to perform various actions. The shoulder joint assembly may include multiple degrees of freedom, allowing the arm to rotate and swing in multiple planes, thereby achieving complex actions such as grasping, carrying, and operating tools. In addition, the design of the shoulder joint may also take into account ergonomic principles to simulate the natural movement of humans and improve the operating comfort and efficiency of the robot.

[0026] It is worth noting that in this embodiment, the driving assembly 2 and the rotating motor 36 can be any driving device suitable for the robot, such as a servo motor, a stepper motor or other types of motors, which are not limited in this application. The control circuit of the driving assembly 2 and the rotating motor 36 can include a microprocessor or a microcontroller, which can adjust the operating state of the motor according to a preset program or a real-time feedback signal to achieve control of the robot's movement.

[0027] In one embodiment, a protrusion 371 is provided on the top surface of the fixing member 34, and the protrusion 371 is connected to the fixing member 34 through a plurality of arcuate surfaces 372. An output shaft is provided at one end of the protrusion 371 away from the arcuate surface 372, and the output shaft is connected to the second bearing 33, so that the connecting rod structure 31 cooperates with the second bearing 33 through the output shaft to drive the connecting rod structure 31 and the fixing member 34 to rotate together.

[0028] In this embodiment, the protrusion 371 is connected to the fixing member 34 through a plurality of arcuate surfaces 372. The design of the arcuate surfaces 372 not only helps to reduce friction during the movement, but also improves the structural stability of the connection. Specifically, the arcuate surface 372 connection can effectively disperse the stress generated during the movement, reduce the wear between the parts, thereby extending the service life of the mechanical system and ensuring smoother motion transmission. At the connection between the protrusion 371 and the fixing member 34, the arcuate surface 372 gradually transitions to the setting of the output shaft, so that the connection meets the structural stability requirements; the output shaft is provided at one end of the protrusion 371 away from the arcuate surface 372, and the output shaft is connected to the second bearing 33. The output shaft transmits the rotational motion transmitted by the drive assembly 2, and drives the connecting rod structure 31 and the fixing member 34 to rotate together. Specifically, when the drive assembly 2 is working, the flange 35 rotates around the first axis A, and this motion is transmitted to the connecting rod structure 31 through the first bearing 32. The connecting rod structure 31 is connected to the fixing member 34 through the second bearing 33, and further drives the fixing member 34 to move. The protrusion 371 at the top of the fixing member 34 cooperates with the output shaft to transmit the rotational motion to the connecting rod structure 31 through the output shaft, so that the connecting rod structure 31 and the fixing member 34 rotate together, thereby driving the hip joint to complete the left-right swing motion.

[0029] In one embodiment, it also includes a fixing plate 5, which is arranged on a side of the driving component 2 close to the hip joint component 3, and a through hole 51 is arranged in the middle part of the fixing plate 5. The flange 35 is inserted into the through hole 51 and connected to the driving component 2, and circular holes 52 are arranged on opposite sides of the fixing plate 5; a rotating bearing 6 is arranged on the side of the fixing member 34, and the fixing plate 5 is connected with the fixing member 34 by inserting the rotating bearing 6 into the circular hole 52, so that the connecting rod structure 31 drives the fixing member 34 to swing around the rotation direction of the rotating bearing 6 through the first bearing 32 and the second bearing 33.

[0030] In this embodiment, the fixing plate 5 is located between the driving assembly 2 and the hip joint assembly 3 to enhance the stability and motion accuracy of the entire mechanical system. A through hole 51 is provided in the middle part of the fixing plate 5, and the flange 35 is inserted therein and connected to the driving assembly 2, so that the driving assembly 2 can effectively transmit the rotational motion to other components in the hip joint assembly 3. Circular holes 52 are provided on both sides of the fixing plate 5. The setting of the circular holes 52 can ensure that the connection position of the rotating bearing 6 and the fixing plate 5 does not deviate. The rotating bearing 6 plays a role in supporting the rotation of the fixing member 34, which enables the fixing member 34 to swing around the rotation direction of the rotating bearing 6, thereby driving the connecting rod structure 31 to complete the left and right movement. In this process, the connection between the fixing plate 5 and the fixing member 34 is completed by the rotating bearing 6. The rotating bearing 6 is arranged on the side of the fixing member 34, and the fixing member 34 can rotate freely with the fixing plate 5. When the driving assembly 2 drives the flange 35 to rotate around the first axis A, the flange 35 rotates to transmit the motion to the fixing member 34, so that the fixing member 34 can swing around the rotation direction of the rotating bearing 6 through the rotating bearing 6. It should be noted that the rotary bearing 6 not only plays a supporting role, but also ensures that the fixing member 34 can rotate smoothly during the movement. Through the close fit between the rotary bearing 6 and the circular hole 52, the movement in the mechanical system is not only smoother, but also reduces the energy loss caused by the friction of the contact surface, ensuring that the mechanical system can still operate stably under high load conditions.

[0031] In one embodiment, a connecting shaft 351 is disposed on the flange 35 , and the connecting rod structure 31 is connected to the first bearing 32 via the connecting shaft 351 , so that the connecting rod structure 31 is rotatably connected to the flange 35 .

[0032] In this embodiment, a connecting shaft 351 is provided on the flange 35, and the connecting rod structure 31 is connected to the first bearing 32 via the connecting shaft 351, so that the rotational connection between the connecting rod structure 31 and the flange 35 is more stable. The setting of the connecting shaft 351 enables the connecting rod structure 31 to rotate synchronously with the flange 35, thereby realizing the swinging movement of the hip joint assembly 3, improving the reliability of the movement, and reducing errors and wear during the movement.

[0033] In one embodiment, one end of the fixing plate 5 is directly fixedly connected to the waist support 1 , and the other end is provided with a limiting bracket, and the limiting bracket is used to limit the swing range of the fixing member 34 .

[0034] In this embodiment, one end of the fixing plate 5 is directly fixedly connected to the waist support 1, ensuring the stability of the entire drive system. A limit bracket is provided at the other end, and the function of the limit bracket is to limit the swing range of the fixing member 34 to prevent it from exceeding the predetermined motion trajectory during the movement, thereby avoiding possible damage to the robot structure. The design of the limit bracket takes into account the safety and accuracy of the robot when performing tasks, ensuring that the robot can maintain stable and reliable performance in various complex environments. By setting the limit bracket, the swing angle of the fixing member 34 can be precisely controlled, making the robot more accurate and efficient when performing actions.

[0035] In one embodiment, the leg assembly 4 includes a rotating structure and a leg structure, the top of the rotating structure is connected to the rotating motor 36, and the side of the rotating structure is connected to the leg structure, and the rotating structure drives the leg structure to swing in the front and rear directions of the humanoid robot.

[0036] In this embodiment, the leg assembly 4 is composed of a rotating structure and a leg structure. The rotating structure is connected to the rotating motor 36, and the side of the rotating structure is connected to the leg structure. Through this design, the role of the rotating motor 36 is to drive the rotating structure to rotate, thereby driving the leg structure to swing in the front and rear direction of the robot. Specifically, the rotating structure, as the core component in the leg assembly 4, can obtain a driving force through the connection with the rotating motor 36, and use the driving force to control the movement of the rotating structure. The top of the rotating structure is connected to the rotating motor 36, and the motor can directly transmit the rotating power to the rotating structure to drive it to rotate around a certain axis. The side of the rotating structure is connected to the leg structure, and this connection ensures that the leg structure can produce a corresponding swing with the movement of the rotating structure. In the actual working process, when the rotating motor 36 transmits power through the rotating structure, the rotating structure will rotate around an axis in the robot body according to a preset trajectory. At this time, due to the connection between the rotating structure and the leg structure, the leg structure will swing accordingly, specifically, this swing occurs in the front and rear direction of the robot. That is to say, when the rotating motor 36 drives the rotating structure to rotate, the forward and backward swinging motion of the leg structure can simulate the swinging leg action of humans when walking, thereby realizing the motion control of the robot's walking.

[0037] In one embodiment, a gear assembly 8 is further provided in the fixing member 34, and the gear assembly 8 includes a central gear 81, a linkage gear 82 and an inner ring gear 83. The central gear 81 is connected to the output shaft of the rotating motor 36, and a plurality of the linkage gears 82 are meshed with the central gear 81 and connected to the inner ring gear 83. A fixing frame is connected to the side of the inner ring gear 83 away from the linkage gear 82, and the fixing frame is connected to the inner wall of the fixing member 34.

[0038] In this embodiment, a gear assembly 8 is provided in the fixing member 34, wherein the structure of the gear assembly 8 includes a central gear 81, a linkage gear 82 and an inner gear ring 83. The main function of the gear assembly 8 is to effectively transmit and convert the power of the rotating motor 36 into the rotational motion required by the leg assembly 4. Specifically, the central gear 81 is connected to the output shaft of the rotating motor 36, and can transmit the power generated by the rotating motor 36 to the gear system. In this gear transmission system, the central gear 81 serves as the source of power, and its rotation drives the linkage gear 82 to rotate, and the linkage gear 82 is engaged with the inner gear ring 83, so that the inner gear ring 83 rotates. The rotation of the inner gear ring 83 further drives the leg assembly 4 to move in a predetermined direction, and finally realizes the rotation of the leg. The role of the linkage gear 82 is to play the role of power transmission and change of motion direction. Several linkage gears 82 are engaged with the central gear 81, and their rotation synergy enables the gear system to amplify the power of the rotating motor 36 or change the rotation speed as needed. The other side of the fixed frame is connected to the inner wall of the fixing member 34. This connection method ensures the stability of the gear assembly 8 in the fixing member 34, avoids loosening or deviation during movement, and thus ensures the movement accuracy and stability of the robot leg assembly 4.

[0039] Reference Figure 7 The present application also proposes a control method for a humanoid robot, which is applied to any of the humanoid robots described above, comprising the steps of: S1: Collecting initial state data of the humanoid robot to obtain an original state data set, wherein the initial state data includes initial angles and current posture data of each joint of the humanoid robot; In step S1, the initial state data of the humanoid robot is collected to obtain the current state of all joints of the robot, including the initial angle of each joint and the current posture data. The robot is equipped with a sensor system, which can monitor and record the angle information of each joint of the robot and the overall posture state in real time. The posture data is obtained through sensors such as inertial measurement units (IMUs), encoders, accelerometers, and gyroscopes. These sensors can accurately measure the posture changes of the robot, such as pitch, roll, and yaw angles. Specifically, the initial angle data of the joints is obtained through angle sensors on each joint, which can be motor-driven encoders or directly measured angle sensors. The angle of each joint represents the position of each joint of the robot at a certain moment, and these angles are the basic parameters for describing the posture of the robot. Each sensor is initialized through a preset startup program to ensure that each sensor is in normal working condition and can accurately collect real-time position information. After obtaining the initial angle of each joint and the overall posture data, they are integrated into an original state data set, which contains the initial angle information of all joints of the robot and the overall posture information of the robot. The original state data set contains the position of each joint of the robot and also reflects the current posture of the entire robot, including parameters such as the robot's spatial position, posture direction, and rotation state.

[0040] It is worth noting that the joints in this embodiment can be the hip joint assembly, the fixing part and the corresponding movable joints of the leg assembly of the humanoid robot. The hip joint assembly is responsible for simulating the movement of the human hip joint, allowing the leg assembly to swing left and right, the fixing part can make the leg assembly spin, and the leg assembly can move forward and backward, imitating the natural movement of the human leg when walking.

[0041] S2: setting a target coordinate system based on a user instruction, performing coordinate transformation processing on the original state data set according to the target coordinate system, and obtaining target position and target posture data of the humanoid robot in the target coordinate system; In step S2, the target coordinate system is set according to the user's instructions, defining the target space of the robot in a specific task or operation. For example, if the user instructs the robot to move to a certain location, the target coordinate system is set to the location of the target location. The process of setting the target coordinate system includes determining the coordinate origin and the direction of the coordinate axis. These parameters determine how the robot should understand its actions and spatial relationships. The coordinate system can be any position and direction in three-dimensional space. It is usually calibrated by setting a reference point to calibrate the coordinate origin and define the direction of the coordinate axis. The robot's initial state data set is converted to the target coordinate system. This is a coordinate transformation process that converts the robot's current joint angle and posture data from the robot's own coordinate system (the robot's default coordinate system) to the target coordinate system. The specific coordinate transformation can be based on a set of mathematical operations, such as rotation matrices, translation matrices, or quaternion operations. In this process, the robot's initial state data set, including the initial angle and posture data of each joint, needs to be combined with the transformation relationship between the target coordinate system. First, assuming that the target coordinate system is defined by rotation and / or translation, the original state data (such as joint angles, posture information, etc.) needs to be matched with the coordinate system of the target coordinate system through the coordinate transformation matrix. This matrix is ​​determined by the definition of the target coordinate system and the relative relationship between the initial coordinate system of the robot. If the target coordinate system has a certain rotation or translation relative to the initial coordinate system of the robot, it is necessary to perform rotation and translation transformation on these data to obtain the new position and posture in the target coordinate system. In this process, the specific coordinate transformation method may include matrix multiplication, quaternion rotation operation, etc. If it is a rotation transformation, the rotation matrix is ​​used to rotate the robot's posture from the original coordinate system to the target coordinate system, so that the position of each joint of the robot can be mapped to the corresponding position in the target coordinate system. After this transformation process, the target position and target posture data of the robot in the target coordinate system are calculated. These data include the joint position of the robot, the overall posture direction of the robot, and the relative position of the robot.

[0042] S3: performing inverse kinematics calculation on the difference between the target position and the current posture data to obtain the target angle and posture change information of each joint, and performing trajectory optimization processing on the target angle and posture change information to obtain the optimized motion trajectory of each joint; In step S3, inverse kinematics calculation is performed based on the difference between the target position and the current posture, so as to solve the target angle and posture change information of each joint. The goal of this process is to enable the robot to reach the target position and target posture from its current posture and position state through reasonable joint adjustment. In this process, the target position and target posture data in the target coordinate system are compared with the current state data of the robot to calculate the difference between the two. The target position refers to the position of the end effector of the robot in the target coordinate system, and the target posture refers to the direction or posture of the end effector. These target data may be set by user instructions or automatically calculated according to the task scenario in which the robot is located. The current state data of the robot includes information such as the angle and posture of each joint, which are collected by the robot before performing the task. With the difference between the target data and the current state data, a suitable joint angle combination is solved based on the inverse kinematics algorithm to guide the robot from the current state to the target state. The calculation of this process can be achieved through several methods, such as iterative method, analytical method, numerical method, etc., usually by continuously adjusting the angle of each joint, gradually reducing the error between the end effector and the target position until the error is small enough or reaches the preset accuracy. The purpose of trajectory optimization is to further adjust and improve these data based on the calculated target angle and posture change information, so that the motion trajectory of each joint is smoother, avoiding abnormal behavior of the robot due to violent or unnatural joint movement, or excessive inertia and mutation during movement. Trajectory optimization includes smoothing the acceleration, speed, torque, etc. of joint movement to ensure that the robot can move smoothly, thereby achieving high-precision and high-stability task execution. In the process of trajectory optimization, the physical characteristics of the robot, such as the maximum speed and acceleration limit of the joint, and the dynamic constraints of the robot itself, are combined to avoid exceeding these limits and causing overload or damage to the robot during movement. Trajectory optimization can be achieved through optimization algorithms, such as based on the objective function of minimizing energy consumption or maximizing smoothness, and the algorithm automatically adjusts the trajectory of joint angle changes to achieve the optimization purpose. The optimized trajectory data will ensure that the robot not only reaches the target position accurately during movement, but also that the entire movement process is stable and efficient.

[0043] S4: performing time discretization processing on the optimized motion trajectory to generate a time angle curve for each joint, and performing smooth interpolation processing on the time angle curve to obtain a control instruction for each joint under the target trajectory; In step S4, after obtaining the optimized motion trajectory of each joint, time discretization is performed. The optimized motion trajectory is a continuous angle change curve, which describes the entire change process of the joint from the initial position to the target position. However, in the actual execution process, the robot cannot move directly in continuous time; these trajectories are decomposed into a series of discrete time steps (i.e., angle values ​​at discrete time points). The purpose of the discretization process is to convert the optimized motion trajectory into a set of discrete time-angle data. By setting a reasonable time interval, the entire motion trajectory is divided into multiple small segments, and a corresponding angle value is generated in each small segment according to the change of the trajectory. These angle values ​​usually represent the angle that the joint should be at at each time point. After completing the time discretization, the generated time angle curve is smoothly interpolated. More points are inserted between the original discrete time angle points through mathematical methods, and the changes between these points are made smoother and continuous, thereby eliminating the instability caused by the non-smooth trajectory. Smooth interpolation methods can include spline interpolation (such as cubic spline interpolation), Bezier curve interpolation, Lagrange interpolation, etc. Cubic spline interpolation can insert more points between every two adjacent data points, while ensuring that the curve is continuous and smooth at each point. After smooth interpolation processing, the time angle curve of each joint obtained will be a smooth and continuous function. This curve describes the change of the angle of each joint of the robot over time during the entire movement process. Smooth interpolation and time discretization processing can not only ensure that the robot's movement is smoother, but also reduce the errors and inconsistencies caused by the linkage between joints, thereby improving the overall movement accuracy and stability of the robot.

[0044] S5: performing simulation calculation on the humanoid robot based on the control command, correcting the control instruction according to the simulation result, and controlling the action of the humanoid robot according to the corrected control instruction.

[0045] In step S5, by simulating the control command, the actual motion performance of each joint of the robot when executing the command, especially the possible errors, delays or unstable factors, can be predicted. For example, in step S4, the time angle curve of each joint is generated, and the control command is processed by smooth interpolation so that the joint motion of the robot is indicated as smoothly as possible. The purpose of the simulation calculation is to simulate the actual situation and predict the situation that the robot may encounter when executing these control instructions. In the process of simulation calculation, a series of dynamic and kinematic calculations are performed based on the robot model to simulate how the robot reaches the target position from the current position under the given control command. The robot model usually includes the geometric shape of the robot, the range of motion of the joint, the dynamic characteristics of each joint, and the overall posture and constraints of the robot. Through this high-precision simulation, the actual motion trajectory of each joint can be analyzed, and any abnormalities that may occur when the robot performs the task can be evaluated, such as vibration or instability caused by the joint exceeding the range of motion, excessive speed, excessive mechanical load caused by excessive torque, etc., and the control command can be corrected according to the simulation results. The purpose of the correction is to eliminate the problems found in the simulation process so that the control command is more in line with the actual execution requirements. For example, if it is found during the simulation that a joint moves too fast, causing the robot to vibrate unstably, the control system will adjust the movement rate or acceleration of the joint according to the simulation results to ensure that it is more stable during actual operation. Alternatively, if there is a large mutation in the angle change of a joint, which may cause the robot to make unnatural movements during execution, the correction step will make the movement process smoother by adjusting the time angle curve of the joint. The process of simulation calculation and correction of instructions is an iterative process. After each correction, the simulation calculation needs to be re-performed to further verify whether the corrected control instructions meet the expected movement effect. Through multiple iterations and optimizations, the accuracy and reliability of the control instructions can be continuously improved, and ultimately the robot can accurately perform tasks according to the predetermined trajectory and posture. The control instructions after simulation calculation and correction will eventually be used to guide the actual actions of the humanoid robot. By executing these corrected control instructions, the robot can better perform the tasks predetermined by the user in the actual environment and achieve the expected movement goals.

[0046] In one embodiment, the step of performing inverse kinematics calculation on the difference between the target position and the current posture data to obtain the target angle and posture change information of each joint, and performing trajectory optimization processing on the target angle and posture change information to obtain the optimized motion trajectory of each joint includes: Performing difference analysis on the target position and current posture data to obtain a deviation data set between the target position and the current posture, wherein the deviation data set includes a translation vector between the target position and the current position and a rotation vector between the target posture and the current posture; Calculating the translation vector and the rotation vector based on inverse kinematics to obtain a target angle change value of each joint; Dynamic constraint conditions are calculated based on the maximum acceleration and maximum speed of each joint of the humanoid robot, and the target angle change value is corrected according to the dynamic constraint conditions to obtain corrected target angle data of each joint; The corrected target angle data is interpolated and smoothed based on a spline curve to obtain a smooth motion trajectory of each joint, and the smooth motion trajectory is globally optimized to obtain an optimized motion trajectory of each joint.

[0047] In this embodiment, the target position and posture set by the user are compared with the current state data, and a deviation data set is obtained through difference analysis processing, which includes the translation vector of the target position and the current position and the rotation vector of the target posture and the current posture. The translation vector of the target position represents the position change of the robot in space, and the rotation vector of the target posture describes the rotation change of the robot relative to the current posture. By calculating these two vectors, the target position and posture change that the robot needs to reach in space can be clearly determined. After obtaining the translation vector and the rotation vector, the angle change value that needs to be adjusted for each joint of the robot is solved by inverse kinematics calculation, and the target angle change value of each joint can be obtained. These angle change values ​​reflect the adjustments that need to be made to each joint of the robot in order to reach the target state from the current state. The dynamic constraints are based on the maximum acceleration and maximum speed of each joint of the robot, which limits the range of joint movement. Through these constraints, the target angle change value can be corrected to make the robot's movement more stable and safe. The corrected target angle data ensures that the robot can complete the task within its dynamic capability range while avoiding the risk of overload or instability. After the target angle data is dynamically corrected, it is interpolated and smoothed by spline curves. Spline curves are a mathematical tool commonly used for interpolation, which can generate smooth curves by connecting a series of data points. Spline curves are used to smooth the corrected target angle data, so that the robot's motion trajectory is more natural and avoids incoherent motion or sudden acceleration. Through spline curve interpolation, the movement of the robot joints not only becomes smooth, but also avoids sharp acceleration or deceleration during movement, thereby improving the smoothness and control accuracy of the movement. After the smoothing process is completed, the smoothed motion trajectory is globally optimized. The global optimization aims to further improve the overall performance of the robot movement. Through the comprehensive optimization of the motion trajectories of all joints, the energy consumption in the movement is reduced, the movement speed is increased, and the movement stability is enhanced. The motion trajectory of each joint can be adjusted by numerical optimization methods to achieve the optimal execution of the overall task. For example, the load of each joint may be balanced through an optimization algorithm, so that the overall movement of the robot is more coordinated, energy waste is reduced and efficiency is improved, and finally the optimized motion trajectory of each joint is obtained.

[0048] In one embodiment, the step of performing time discretization processing on the optimized motion trajectory to generate a time angle curve for each joint, performing smooth interpolation processing on the time angle curve to obtain a control instruction for each joint under the target trajectory includes: Divide the optimized motion trajectory into multiple time periods, obtain the angle increment of each joint in each time period, convert the angle increment into discrete time-angle pairs, and obtain a time-angle curve of each joint; Applying a smoothing filter algorithm to smooth the time angle curve of each joint to obtain a smooth angle change trajectory, and performing interpolation calculation on the smooth angle change trajectory based on an interpolation algorithm to obtain a continuous motion trajectory of each joint; A sliding window of preset digits is set, and the sliding window is moved on the time axis of the continuous motion trajectory at a preset time interval, and each time the angle change of the joint is locally optimized according to the motion trajectory in the sliding window to obtain a local angle change trajectory of each joint within the sliding window; The angle increment in the window is adjusted by an adaptive algorithm to obtain an optimized control instruction for each joint.

[0049] In this embodiment, the optimized motion trajectory is subjected to time discretization processing. In this process, the optimized motion trajectory is divided into multiple time periods, and each time period corresponds to a subdivision stage of the robot motion. For each time period, the angle increment of each joint in the time period is calculated, that is, the angle change of the joint in the time period. These angle increments reflect the angle change requirements of each joint of the robot at each moment. These angle increments are converted into discrete time angle pairs, and the angle change of each joint will correspond to time, and these two information will form a time angle curve. The time angle curve converts the robot's motion trajectory from a continuous state to a discrete state, which is convenient for subsequent calculation and control. Based on the obtained time angle curve, smooth interpolation processing is performed. The goal of smooth interpolation is to reduce the discontinuity or violent fluctuations that may be caused by the discretization processing, so that the motion trajectory of each joint is smoother and continuous. Interpolation algorithms such as spline interpolation will be used to connect the discrete time angle pairs into a smooth curve. Such processing can ensure that the robot joints will not have sudden changes or irregular accelerations during the movement process, and avoid possible mechanical vibration or damage. After completing the smooth interpolation, each joint will have a continuous motion trajectory, which can be used as the basis of the robot control instructions. A sliding window with a preset number of bits is set. The function of the sliding window is to focus on the motion trajectory within a certain time period by moving at a preset time interval on the continuous motion trajectory. Each time the window slides, the angle change of the joint is locally optimized according to the motion trajectory in the window to ensure that the robot moves more smoothly and accurately in each short period of time. In this way, the accuracy of the overall motion trajectory can be effectively improved, so that the angle change of each joint of the robot at each moment is reasonable, which not only meets the global goal, but also reduces the details that may be ignored by the global optimization method. Furthermore, an adaptive algorithm is used to adaptively adjust the angle increment according to the motion trajectory in the sliding window to ensure that the movement of the joint is more in line with the dynamic characteristics in the actual physical environment. For example, if the movement change of the robot joint is too large in certain time periods, it may cause excessive load or instability of the mechanical parts. At this time, the system will automatically adjust the angle increment through the adaptive algorithm to reduce the severity of the angle change, thereby avoiding possible motion shock and unstable state. Through this adaptive adjustment, the robot can cope with complex motion environments more flexibly and maintain a high degree of stability and safety during execution. After completing these local optimizations, the optimized control instructions for each joint are finally obtained. These control instructions not only include the target angle of each joint, but also take into account dynamic constraints and motion smoothness, ensuring that the robot can move along a precise, smooth and efficient trajectory during execution.

[0050] In one embodiment, the calculation expression of the above embodiment is: ,in, The joint angle vector of the robot at the initial time (t=0), indicating the starting point of the robot's motion; It is a composite dynamic function that describes the joint angle q(τ), joint angular velocity The relationship between the control input u(τ) defines the temporal variation of the joint angles, including the effect of the control signal on the robot's motion trajectory. It is the time integration symbol, which means that the changes in the time range from 0 to t are accumulated, and the motion state of the robot at time t is finally obtained. It is the angle trajectory obtained after smoothing filtering, which represents the continuous angle change trajectory obtained after smoothing interpolation of the time angle curve. Represents the i-th local optimization correction term. Each local optimization is calculated based on the trajectory in the sliding window and is used to optimize the joint movement in a shorter time frame to make the joint angle change more stable. N represents the number of local optimizations. Each local optimization will adjust the angle increment based on the motion trajectory in the sliding window to optimize the robot's motion performance in that period. It is the final control result of the entire motion trajectory optimization, which represents the final joint angle of the robot at time t, that is, the expected angle value of each joint at time t.

[0051] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A humanoid robot, characterized in that: include: Lumbar support (1); A driving assembly (2), wherein two driving assemblies (2) are fixedly connected to opposite sides of the waist support (1), and the driving shafts of the two driving assemblies (2) are coaxially arranged; A hip joint assembly (3), comprising a connecting rod structure (31), a first bearing (32), a second bearing (33) and a fixing member (34); a flange (35) is provided on the side of the two drive assemblies (2) close to each other; a side of the flange (35) away from the drive assemblies (2) is connected to the first bearing (32); one end of the connecting rod structure (31) is connected to the first bearing (32), and the other end is connected to the second bearing (33); the second bearing (33) is rotatably connected to the fixing member (34); when the drive assembly (2) drives the flange (35) to rotate around a first axis, the connecting rod structure (31) drives the fixing member (34) to swing in the left and right directions of the humanoid robot via the first bearing (32) and the second bearing (33); A leg assembly (4), wherein a rotating motor (36) is arranged in the fixing member (34), and the leg assembly (4) is connected to the rotating motor (36) so that the leg assembly (4) rotates around a second axis, wherein the first axis and the second axis are arranged vertically relative to each other and have independent motion trajectories in space.

2. The humanoid robot according to claim 1, characterized in that: A protrusion (371) is provided on the top surface of the fixing member (34), and the protrusion (371) is connected to the fixing member (34) via a plurality of arcuate surfaces (372). An output shaft is provided at one end of the protrusion (371) away from the arcuate surface (372), and the output shaft is connected to the second bearing (33), so that the connecting rod structure (31) cooperates with the second bearing (33) through the output shaft to drive the connecting rod structure (31) and the fixing member (34) to rotate together.

3. The humanoid robot according to claim 1, characterized in that: It also comprises a fixing plate (5), the fixing plate (5) being arranged on a side of the driving assembly (2) close to the hip joint assembly (3), a through hole (51) being arranged in the middle portion of the fixing plate (5), the flange (35) being inserted into the through hole (51) and connected to the driving assembly (2), and circular holes (52) being arranged on opposite sides of the fixing plate (5); A rotating bearing (6) is provided on the side of the fixing member (34), and the fixing plate (5) and the fixing member (34) are connected by inserting the rotating bearing (6) into the circular hole (52), so that the connecting rod structure (31) drives the fixing member (34) to swing around the rotation direction of the rotating bearing (6) through the first bearing (32) and the second bearing (33).

4. The humanoid robot according to claim 1, characterized in that: A connecting shaft (351) is provided on the flange (35), and the connecting rod structure (31) is connected to the first bearing (32) via the connecting shaft (351), so that the connecting rod structure (31) is rotatably connected to the flange (35).

5. The humanoid robot according to claim 3, characterized in that: One end of the fixing plate (5) is directly fixedly connected to the waist support (1), and the other end is provided with a limit bracket, the limit bracket being used to limit the swing range of the fixing member (34).

6. The humanoid robot according to claim 1, characterized in that: The leg assembly (4) comprises a rotating structure and a leg structure, the top end of the rotating structure is connected to the rotating motor (36), the side surface of the rotating structure is connected to the leg structure, and the rotating structure drives the leg structure to swing in the front-rear direction of the humanoid robot.

7. The humanoid robot according to claim 1, characterized in that: A gear assembly (8) is also provided in the fixing member (34), the gear assembly (8) comprising a central gear (81), a linkage gear (82) and an inner gear ring (83), the central gear (81) being connected to the output shaft of the rotating motor (36), a plurality of linkage gears (82) being meshed with the central gear (81) and connected to the inner gear ring (83), a fixing frame being connected to a side of the inner gear ring (83) away from the linkage gear (82), and the fixing frame being connected to an inner wall of the fixing member (34).

8. A method for controlling a humanoid robot, used for controlling the humanoid robot according to any one of claims 1 to 7, characterized in that: Includes steps: Collecting initial state data of the humanoid robot to obtain an original state data set, wherein the initial state data includes initial angles and current posture data of each joint of the humanoid robot; Setting a target coordinate system based on a user instruction, performing coordinate transformation processing on the original state data set according to the target coordinate system, and obtaining target position and target posture data of the humanoid robot in the target coordinate system; Performing inverse kinematics calculation on the difference between the target position and the current posture data to obtain the target angle and posture change information of each joint, and performing trajectory optimization processing on the target angle and posture change information to obtain the optimized motion trajectory of each joint; Performing time discretization processing on the optimized motion trajectory to generate a time angle curve for each joint, and performing smooth interpolation processing on the time angle curve to obtain a control instruction for each joint under the target trajectory; The humanoid robot is simulated based on the control command, the control command is corrected according to the simulation result, and the action of the humanoid robot is controlled according to the corrected control command.

9. The control method of a humanoid robot according to claim 8, characterized in that: The steps of performing inverse kinematics calculation on the difference between the target position and the current posture data to obtain the target angle and posture change information of each joint, and performing trajectory optimization processing on the target angle and posture change information to obtain the optimized motion trajectory of each joint include: Performing difference analysis on the target position and current posture data to obtain a deviation data set between the target position and the current posture, wherein the deviation data set includes a translation vector between the target position and the current position and a rotation vector between the target posture and the current posture; Calculating the translation vector and the rotation vector based on inverse kinematics to obtain a target angle change value of each joint; Dynamic constraint conditions are calculated based on the maximum acceleration and maximum speed of each joint of the humanoid robot, and the target angle change value is corrected according to the dynamic constraint conditions to obtain corrected target angle data of each joint; The corrected target angle data is interpolated and smoothed based on a spline curve to obtain a smooth motion trajectory of each joint, and the smooth motion trajectory is globally optimized to obtain an optimized motion trajectory of each joint.

10. The control method of a humanoid robot according to claim 8, characterized in that: The step of performing time discretization processing on the optimized motion trajectory to generate a time angle curve for each joint, performing smooth interpolation processing on the time angle curve to obtain a control instruction for each joint under the target trajectory includes: Divide the optimized motion trajectory into multiple time periods, obtain the angle increment of each joint in each time period, convert the angle increment into discrete time-angle pairs, and obtain a time-angle curve of each joint; Applying a smoothing filter algorithm to smooth the time angle curve of each joint to obtain a smooth angle change trajectory, and performing interpolation calculation on the smooth angle change trajectory based on an interpolation algorithm to obtain a continuous motion trajectory of each joint; A sliding window of preset digits is set, and the sliding window is moved on the time axis of the continuous motion trajectory at a preset time interval, and each time the angle change of the joint is locally optimized according to the motion trajectory in the sliding window to obtain a local angle change trajectory of each joint within the sliding window; The angle increment in the window is adjusted by an adaptive algorithm to obtain an optimized control instruction for each joint.

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