Humanoid robot foot control method and device, computer equipment and storage medium

Abstract

The invention relates to a humanoid robot foot control method and device, computer equipment and a storage medium, the humanoid robot foot comprises a tiptoe, an ankle and a heel, and the control method comprises the steps that in the off-ground stage of the humanoid robot foot, the angle of the ankle is controlled, so that the heel of the humanoid robot foot is firstly off the ground, and then the angle of the ankle is controlled; the tiptoe is lifted from the ground; and in the landing stage of the feet of the humanoid robot, the angle and the position of the ankle are controlled, so that the heels of the feet of the humanoid robot firstly touch the ground, and the tiptoes of the feet of the humanoid robot then touch the ground. The walking mode of the humanoid robot is closer to that of human beings, and walking is more natural.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a control method, device, computer device and storage medium for the feet of a humanoid robot. Background Art

[0002] Humanoid robots, especially bipedal robots, have been a hot topic in recent years. The most prominent feature of humanoid robots is their direct imitation of human movement patterns. Compared with wheeled and tracked robots, bipedal humanoid robots can plan unique discrete landing points, so they have significant advantages in unstructured terrains such as disaster areas, volcanoes, and planets.

[0003] In order to enable robots to have more efficient and natural movement capabilities, the control strategy for simulating human gait has become one of the key research directions. In existing walking control strategies for humanoid robots, the focus is mainly on the control of leg joints, but usually there is a lack of fine control of the ankle part, resulting in a rigid and unnatural gait of the robot. Especially when walking on uneven ground, there is a lack of good adaptability to the foot posture.

[0004] It can be seen that in the existing technology, the control of the ankles of humanoid robots still cannot meet the application requirements of humanoid robots. Summary of the Invention

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the present invention provides a control method, device, computer device and storage medium for the feet of a humanoid robot.

[0006] In a first aspect, the present invention provides a control method for the feet of a humanoid robot. The feet of the humanoid robot include a toe, an ankle, and a heel. The control method includes:

[0007] In the liftoff stage of the feet of the humanoid robot, control the ankle angle so that the heel of the feet of the humanoid robot leaves the ground first, and the toe leaves the ground later;

[0008] In the landing stage of the feet of the humanoid robot, control the ankle angle and ankle position so that the heel of the feet of the humanoid robot touches the ground first, and the toe touches the ground later.

[0009] Optionally, in the liftoff stage of the feet of the humanoid robot, controlling the ankle angle includes:

[0010] Obtain the first starting position and the first ending position of the ankle in the liftoff stage;

[0011] Obtain multiple first sampling points between the first starting position and the first ending position;

[0012] Obtain the ankle angle of each of the first sampling points;

[0013] Control the movement of the foot of the humanoid robot according to the ankle angle of each of the first sampling points.

[0014] Optionally, the controlling the movement of the foot of the humanoid robot according to the ankle angle of each of the first sampling points includes:

[0015] Obtain the expected parameters of the current first sampling point according to the ankle angle of the current sampling point, where the expected parameters include the expected ankle position, expected posture, expected speed, and expected acceleration;

[0016] Convert the expected parameters of the current first sampling point into the current control parameters of the execution unit;

[0017] Drive the movement of the foot of the humanoid robot according to the current control parameters.

[0018] Optionally, after driving the movement of the foot of the humanoid robot according to the current control parameters, the method further includes:

[0019] Obtain the actual parameters of the current first sampling point according to the movement of the foot of the humanoid robot, where the actual parameters include the actual ankle position, actual posture, actual speed, and actual acceleration;

[0020] Compare the actual parameters of the current first sampling point with the corresponding expected parameters of the current first sampling point to obtain the current adjustment parameter;

[0021] Adjust the ankle angle of the next first sampling point according to the current adjustment parameter.

[0022] Optionally, the obtaining the ankle angle of each of the first sampling points is performed in the following manner:

[0023]

[0024] where q t is the ankle angle of the first sampling point at time t, z(t) is the position of the ankle in the vertical direction at the first sampling point at time t, and L h is the length from the ankle to the toe tip.

[0025] Optionally, the obtaining the ankle angle of each of the first sampling points is performed in the following manner:

[0026]

[0027] where q t is the ankle angle of the first sampling point at time t, z(t) is the z-axis coordinate of the ankle at the first sampling point at time t, and Lh is the length from the ankle to the toe tip, k is an adjustment parameter, and k ∈ (0, 1).

[0028] Optionally, obtaining the ankle angle of each of the first sampling points further includes:

[0029] Obtaining the inherent parameters of the humanoid robot's foot;

[0030] Limiting the ankle angle of each of the first sampling points according to the inherent parameters.

[0031] Optionally, limiting the ankle angle of each of the first sampling points according to the inherent parameters is performed in the following manner:

[0032]

[0033] where q t is the ankle angle of the first sampling point at time t, z(t) is the z-axis coordinate of the ankle at the first sampling point at time t, L h is the length from the ankle to the toe tip, is an inherent parameter.

[0034] Optionally, during the landing phase of the humanoid robot's foot, controlling the ankle angle and ankle position includes:

[0035] Obtaining the second starting position and the second ending position of the ankle during the takeoff phase;

[0036] Obtaining a plurality of second sampling points between the second starting position and the second ending position;

[0037] Obtaining the ankle angle and ankle position of each of the second sampling points;

[0038] Controlling the movement of the humanoid robot's foot according to the ankle angle and ankle position of each of the second sampling points.

[0039] Optionally, obtaining the ankle angle of each of the second sampling points is performed in the following manner:

[0040]

[0041] where q m is the ankle angle of the second sampling point at time m, z d (m) is the z-axis coordinate of the ankle at the second sampling point at time m, L h is the length from the ankle to the toe tip, is an inherent parameter, f is a continuous function defined by , represents the desired touchdown angle of the heel, represents zd (m) is the maximum value, k is an adjustment parameter, and k ∈ (0, 1).

[0042] Optionally, the ankle position of each of the second sampling points is obtained in the following manner:

[0043]

[0044] where (x d , y d , z d ) is the ankle position of the second sampling point, x d (m) is the x-axis coordinate of the ankle of the m-th second sampling point, z d (m) is the z-axis coordinate of the ankle of the m-th second sampling point, x heel (m) is the x-axis coordinate of the heel of the m-th second sampling point, z heel (m) is the z-axis coordinate of the heel of the m-th second sampling point, L h is the length from the ankle to the toe, q m is the ankle angle of the m-th second sampling point, is the x-axis speed of the foot, is the z-axis speed of the foot.

[0045] Optionally, the method further includes:

[0046] In the ascending stage, control the ankle position to move the foot of the humanoid robot in the horizontal direction and / or the vertical direction;

[0047] In the descending stage, control the ankle position to move the foot of the humanoid robot in the horizontal direction and / or the vertical direction.

[0048] In a second aspect, a control device for a humanoid robot foot is provided. The humanoid robot foot includes a toe, an ankle, and a heel. The device includes:

[0049] A controller for controlling the ankle angle during the liftoff stage of the humanoid robot foot, so that the heel of the humanoid robot foot leaves the ground first and the toe leaves the ground later;

[0050] The controller is further configured to control the ankle angle and the ankle position during the landing stage of the humanoid robot foot, so that the heel of the humanoid robot foot touches the ground first and the toe touches the ground later.

[0051] In a third aspect, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the method described in any one of the above is implemented.

[0052] Fourthly, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method described in any one of the above is implemented.

[0053] The present invention provides a control method, device, computer device and storage medium for the foot of a humanoid robot. The foot of the humanoid robot includes a toe, an ankle and a heel. The control method includes: in the liftoff stage of the foot of the humanoid robot, controlling the ankle angle so that the heel of the foot of the humanoid robot leaves the ground first and the toe leaves the ground later; in the landing stage of the foot of the humanoid robot, controlling the ankle angle and ankle position so that the heel of the foot of the humanoid robot touches the ground first and the toe touches the ground later. The present invention can make the humanoid robot walk more closely to the walking mode of humans and walk more naturally. The method of the embodiment of the present invention has good versatility and practicability, is applicable to various humanoid robots, and is applied to various terrains, especially the walking of humanoid robots on uneven terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present invention and used together with the specification to explain the principles of the present invention.

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0056] Figure 1 It is an application environment diagram of the control method for the foot of a humanoid robot according to an embodiment of the present invention;

[0057] Figure 2 It shows a schematic diagram of a humanoid robot according to an embodiment of the present invention;

[0058] Figure 3 It is a flowchart of the control method for the foot of a humanoid robot according to an embodiment of the present invention;

[0059] Figure 4 It shows a schematic diagram of the foot of a humanoid robot when walking according to an embodiment of the present invention;

[0060] Figure 5 It is an internal structure diagram of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0061] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0062] Figure 1 It is an application environment diagram of a control method for the foot of a humanoid robot in an embodiment. Refer to Figure 1 , this control method for the foot of the humanoid robot is applied to the control system of the foot of the humanoid robot. This control method for the foot of the humanoid robot includes a terminal 110 and / or a server 120. The terminal 110 and the server 120 are connected through a network. The terminal 110 may specifically be a desktop terminal or a mobile terminal, and the mobile terminal may specifically be at least one of a mobile phone, a tablet computer, a laptop computer, etc. The server 120 may be implemented by an independent server or a server cluster composed of multiple servers. The terminal 110 and / or the server 120 may be set on a humanoid robot as shown in Figure 2 .

[0063] The control method for the foot of the humanoid robot of the present invention is applied to the terminal 110 and / or the server 120.

[0064] Figure 2 The following is a schematic diagram of a humanoid robot according to an embodiment of the present invention. Figure 2 The humanoid robot shown includes a head, a body, two arms, two hands, two legs, and two feet. Each foot includes a toe, an ankle, and a heel. The embodiments of the present invention will be described by taking the control of any one foot as an example.

[0065] Figure 3 The following is a flowchart of the control method for the foot of the humanoid robot according to an embodiment of the present invention. As shown in Figure 3 , the control method for the humanoid robot includes:

[0066] Step 210, in the off - ground stage of the foot of the humanoid robot, control the ankle angle so that the heel of the foot of the humanoid robot leaves the ground first and the toe leaves the ground later;

[0067] Step 220, in the landing stage of the foot of the humanoid robot, control the ankle angle and the ankle position so that the heel of the foot of the humanoid robot touches the ground first and the toe touches the ground later.

[0068] The method according to the embodiment of the present invention can achieve that the heel leaves the ground first and the toe leaves the ground later, and the heel touches the ground first and the toe touches the ground later by controlling the ankle angle during the liftoff stage of the humanoid robot's foot and controlling the ankle angle and ankle position during the landing stage of the humanoid robot's foot, which is closer to the walking manner of humans and makes the walking of the humanoid robot more natural. The method according to the embodiment of the present invention has good versatility and practicability, is applicable to various humanoid robots, and can be applied to various terrains, especially the walking of humanoid robots on uneven terrains.

[0069] In the embodiment of the present invention, the method further includes:

[0070] During the ascending stage, control the ankle position to move the humanoid robot's foot in the horizontal direction and / or the vertical direction;

[0071] During the descending stage, control the ankle position to move the humanoid robot's foot in the horizontal direction and / or the vertical direction.

[0072] The entire walking process of the humanoid robot can be cycled in the order of liftoff stage, ascending stage, descending stage, and landing stage according to the chronological order. Since the walking process of the humanoid robot is a cyclic process, it can also be in the order of descending stage, landing stage, liftoff stage, and ascending stage according to the chronological order.

[0073] During the ascending stage and the descending stage of the humanoid robot, by controlling the ankle position, the foot of the humanoid robot can be moved in the horizontal direction and / or the vertical direction, and the ankle angle in these two stages can be that the instep is parallel to the ground, or the instep has an angle with the ground, which will not be elaborated here.

[0074] In the embodiment of the present invention, in step 210, the controlling the ankle angle during the liftoff stage of the humanoid robot's foot includes:

[0075] Obtain the first starting position and the first ending position of the ankle during the liftoff stage;

[0076] Obtain a plurality of first sampling points between the first starting position and the first ending position;

[0077] Obtain the ankle angle of each first sampling point;

[0078] Control the movement of the humanoid robot's foot according to the ankle angle of each first sampling point.

[0079] In the embodiments of the present invention, the first starting position of the ankle during the liftoff stage may be the position when the foot of the humanoid robot is just about to lift, and the first ending position may be the position when the foot of the humanoid robot is fully lifted; the first starting position and the first ending position may also be the above positions plus a certain margin.

[0080] In the embodiments of the present invention, controlling the movement of the foot of the humanoid robot according to the ankle angle of each of the first sampling points includes:

[0081] According to the ankle angle of the current sampling point, obtaining the expected parameters of the current first sampling point, where the expected parameters include the expected ankle position, expected posture, expected speed, and expected acceleration;

[0082] Converting the expected parameters of the current first sampling point into the current control parameters of the execution unit;

[0083] Driving the movement of the foot of the humanoid robot according to the current control parameters.

[0084] In the embodiments of the present invention, after driving the movement of the foot of the humanoid robot according to the current control parameters, the method further includes:

[0085] According to the movement of the foot of the humanoid robot, obtaining the actual parameters of the current first sampling point, where the actual parameters include the actual ankle position, actual posture, actual speed, and actual acceleration;

[0086] Comparing the actual parameters of the current first sampling point with the corresponding expected parameters of the current first sampling point to obtain the current adjustment parameters;

[0087] Adjusting the ankle angle of the next first sampling point according to the current adjustment parameters.

[0088] The method of the embodiments of the present invention can correct the ankle angle in real time through the comparison of the expected parameters and the actual parameters, so that the walking of the humanoid robot is more natural.

[0089] The execution unit of the embodiments of the present invention may be various motors or other driving devices, such as rotary motors, linear motors, etc.

[0090] Figure 4 The following is a schematic diagram of the foot of the humanoid robot when walking according to the embodiments of the present invention. Figure 4 (a) shows the liftoff stage. Figure 4 (b) shows the touchdown stage.

[0091] In the embodiments of the present invention, the ankle angle refers to the angle of rotation of the ankle, and the rotation direction follows the right-hand rule. As shown in Figure 4 (a), during the liftoff stage, qt >0

[0092] Embodiments of the present invention provide two calculation methods for obtaining the ankle angle.

[0093] In the embodiments of the present invention, the ankle angle of each of the first sampling points is obtained in the following manner:

[0094]

[0095] where q t is the ankle angle at the first sampling point of t, z(t) is the position of the ankle in the vertical direction at the first sampling point of t, and L h is the length from the ankle to the toe tip.

[0096] In the embodiments of the present invention, the ankle angle of each of the first sampling points is obtained in the following manner:

[0097]

[0098] where q t is the ankle angle at the first sampling point of t, z(t) is the z-axis coordinate of the ankle at the first sampling point of t, and L h is the length from the ankle to the toe tip, and k is an adjustment parameter, where k ∈ (0, 1).

[0099] Compared with Formula 2 and Formula 1, an adjustment parameter is added. By restricting the adjustment parameter, the ankle angle of each first sampling point can be made such that the contact between the toe tip and the ground is less.

[0100] In the embodiments of the present invention, only the change in the z-axis coordinate of the ankle is considered during the takeoff phase, without considering the changes in the x-axis and y-axis, which can simplify the control of the humanoid robot. At this time, the toe tip of the foot of the humanoid robot, such as Figure 4 point A shown in (a), will slide slightly along the ground.

[0101] In the embodiments of the present invention, obtaining the ankle angle of each of the first sampling points further includes:

[0102] obtaining the inherent parameters of the foot of the humanoid robot;

[0103] restricting the ankle angle of each of the first sampling points according to the inherent parameters.

[0104] In the embodiments of the present invention, restricting the ankle angle of each of the first sampling points according to the inherent parameters is performed in the following manner:

[0105]

[0106] where qt is the ankle angle at the first sampling point, z(t) is the z-axis coordinate of the ankle at the first sampling point t, and L h is the length from the ankle to the toe tip, which are inherent parameters.

[0107] In the embodiments of the present invention, the inherent parameters can be parameters determined by the mechanical structure of the humanoid robot. Exceeding this value may cause damage to the humanoid robot; the inherent parameters can also be the limit values of human joints. For example, the ankle angle of a person cannot be infinitely large; or they can be parameters jointly determined by the mechanical structure of the humanoid robot and the limit values of human joints. The inherent parameters can protect the humanoid robot from damage and also make the walking of the humanoid robot more similar to that of humans.

[0108] In the embodiments of the present invention, in step 220, during the landing phase of the humanoid robot's foot, controlling the ankle angle and ankle position includes:

[0109] Obtaining the second starting position and the second ending position of the ankle during the take-off phase;

[0110] Obtaining a plurality of second sampling points between the second starting position and the second ending position;

[0111] Obtaining the ankle angle and ankle position of each of the second sampling points;

[0112] Controlling the movement of the humanoid robot's foot according to the ankle angle and ankle position of each of the second sampling points.

[0113] Figure 4 (b) is a schematic diagram of the landing phase of the humanoid robot's foot, q m <0.

[0114] In the embodiments of the present invention, to obtain the ankle angle of each of the second sampling points, the following method is used:

[0115]

[0116] where q m is the ankle angle at the m-th second sampling point, z d (m) is the z-axis coordinate of the ankle at the m-th second sampling point, L h is the length from the ankle to the toe tip, is an inherent parameter, f is a continuous function defined by , represents the desired touchdown angle of the heel, represents the maximum value of z d (m), and k is an adjustment parameter, k ∈ (0, 1).

[0117] In an embodiment of the present invention, the ankle positions of each of the second sampling points are obtained in the following manner:

[0118]

[0119] where (x d , y d , z d ) is the ankle position of the second sampling point, x d (m) is the x-axis coordinate of the ankle of the m-th second sampling point, z d (m) is the z-axis coordinate of the ankle of the m-th second sampling point, x heel (m) is the x-axis coordinate of the heel of the m-th second sampling point, z heel (m) is the z-axis coordinate of the heel of the m-th second sampling point, L h is the length from the ankle to the toe tip, q m is the ankle angle of the m-th second sampling point, is the x-axis speed of the foot, is the z-axis speed of the foot.

[0120] During the foot landing stage of the humanoid robot, the foot needs to be stressed to ensure that the humanoid robot does not fall. After the heel of the humanoid robot lands, its position remains unchanged. Therefore, during the touchdown stage, the ankle of the humanoid robot moves horizontally and needs to be compensated horizontally. The specific compensation method is as shown in the above formula.

[0121] The method of the embodiment of the present invention can achieve that the heel leaves the ground first and the toe leaves the ground later, and the heel touches the ground first and the toe touches the ground later by controlling the ankle angle during the takeoff stage of the humanoid robot's foot and controlling the ankle angle and ankle position during the landing stage of the humanoid robot's foot, which is closer to the walking mode of humans and makes the walking of the humanoid robot more natural. The method of the embodiment of the present invention has good versatility and practicability, is applicable to various humanoid robots, and can be applied to various terrains, especially the walking of humanoid robots on uneven terrains.

[0122] The present invention also provides a control device for a humanoid robot's foot, and the device includes:

[0123] A controller, configured to control the ankle angle during the takeoff stage of the humanoid robot's foot, so that the heel of the humanoid robot's foot leaves the ground first and the toe leaves the ground later;

[0124] The controller is further configured to control the ankle angle and ankle position during the landing stage of the humanoid robot's foot, so that the heel of the humanoid robot's foot touches the ground first and the toe touches the ground later.

[0125] In an embodiment of the present invention, the controller is further configured to:

[0126] Obtain the first starting position and the first ending position of the ankle during the take-off phase;

[0127] Obtain a plurality of first sampling points between the first starting position and the first ending position;

[0128] Obtain the ankle angle of each of the first sampling points;

[0129] Control the movement of the foot of the humanoid robot according to the ankle angle of each of the first sampling points.

[0130] In an embodiment of the present invention, the controller is further configured to:

[0131] Obtain an expected parameter of the current first sampling point according to the ankle angle of the current sampling point, where the expected parameter includes an expected ankle position, an expected attitude, an expected speed, and an expected acceleration;

[0132] Convert the expected parameter of the current first sampling point into a current control parameter of the execution unit;

[0133] Drive the movement of the foot of the humanoid robot according to the current control parameter.

[0134] In an embodiment of the present invention, the controller is further configured to:

[0135] Obtain an actual parameter of the current first sampling point according to the movement of the foot of the humanoid robot, where the actual parameter includes an actual ankle position, an actual attitude, an actual speed, and an actual acceleration;

[0136] Compare the actual parameter of the current first sampling point with the corresponding expected parameter of the current first sampling point to obtain a current adjustment parameter;

[0137] Adjust the ankle angle of the next first sampling point according to the current adjustment parameter.

[0138] In an embodiment of the present invention, the controller is further configured to obtain the ankle angle of each of the first sampling points in the following manner:

[0139]

[0140] where q t is the ankle angle of the t-th first sampling point, z(t) is the position of the ankle in the vertical direction at the t-th first sampling point, and L h is the length from the ankle to the toe tip.

[0141] In an embodiment of the present invention, the controller is further configured to obtain the ankle angle of each of the first sampling points in the following manner:

[0142]

[0143] Among them, q t is the ankle angle at the first sampling point t, z(t) is the z-axis coordinate of the ankle at the first sampling point t, L h is the length from the ankle to the toe tip, and k is an adjustment parameter, where k ∈ (0, 1).

[0144] In an embodiment of the present invention, the controller is further configured to:

[0145] Obtain the inherent parameters of the foot of the humanoid robot;

[0146] Limit the ankle angle of each of the first sampling points according to the inherent parameters.

[0147] In an embodiment of the present invention, the controller is further configured to limit the ankle angle of each of the first sampling points according to the inherent parameters in the following manner:

[0148]

[0149] Among them, q t is the ankle angle at the first sampling point t, z(t) is the z-axis coordinate of the ankle at the first sampling point t, L h is the length from the ankle to the toe tip, is an inherent parameter.

[0150] In an embodiment of the present invention, the controller is further configured to:

[0151] Obtain the second starting position and the second ending position of the ankle during the take-off phase;

[0152] Obtain a plurality of second sampling points between the second starting position and the second ending position;

[0153] Obtain the ankle angle and the ankle position of each of the second sampling points;

[0154] Control the movement of the foot of the humanoid robot according to the ankle angle of each of the second sampling points.

[0155] The controller is further configured to:

[0156] Control the movement of the foot of the humanoid robot according to the ankle position of each of the second sampling points.

[0157] In an embodiment of the present invention, the controller is further configured to obtain the ankle angle of each of the second sampling points in the following manner:

[0158]

[0159] Among them, q mThe ankle angle at the m-th second sampling point, z d z(m) is the z-axis coordinate of the ankle at the m-th second sampling point, L h is the length from the ankle to the toe tip, is an inherent parameter, f is a continuous function defined by represents the desired touchdown angle of the heel, represents z d the maximum value of z(m), k is an adjustment parameter, k ∈ (0, 1).

[0160] In an embodiment of the present invention, the controller is further configured to obtain the ankle position of each of the second sampling points in the following manner:

[0161]

[0162] wherein, (x d , y d , z d ) is the ankle position of the second sampling point, x d (m) is the x-axis coordinate of the ankle at the m-th second sampling point, z d (m) is the z-axis coordinate of the ankle at the m-th second sampling point, x heel (m) is the x-axis coordinate of the heel at the m-th second sampling point, z heel (m) is the z-axis coordinate of the heel at the m-th second sampling point, L h is the length from the ankle to the toe tip, q m is the ankle angle at the m-th second sampling point, is the x-axis speed of the foot, is the z-axis speed of the foot.

[0163] In an embodiment of the present invention, the controller is further configured to:

[0164] In the ascending stage, control the ankle position to move the foot of the humanoid robot in the horizontal direction and / or the vertical direction;

[0165] In the descending stage, control the ankle position to move the foot of the humanoid robot in the horizontal direction and / or the vertical direction.

[0166] In an embodiment of the present invention, by controlling the ankle angle during the liftoff stage of the foot of the humanoid robot and controlling the ankle angle and ankle position during the landing stage of the foot of the humanoid robot, it is possible to achieve that the heel leaves the ground first, the toe leaves the ground later, the heel touches the ground first, and the toe touches the ground later, which is closer to the walking manner of humans, making the walking of the humanoid robot more natural. The method of the embodiment of the present invention has good generality and practicability, is applicable to various humanoid robots, and is applied to various terrains, especially the walking of humanoid robots on uneven terrains. ​

[0167] An embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the following method is implemented: during the liftoff stage of the humanoid robot's foot, control the ankle angle so that the heel of the humanoid robot's foot leaves the ground first and the toe leaves the ground later; during the landing stage of the humanoid robot's foot, control the ankle angle and ankle position so that the heel of the humanoid robot's foot touches the ground first and the toe touches the ground later.

[0168] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following method is implemented: during the liftoff stage of the humanoid robot's foot, control the ankle angle so that the heel of the humanoid robot's foot leaves the ground first and the toe leaves the ground later; during the landing stage of the humanoid robot's foot, control the ankle angle and ankle position so that the heel of the humanoid robot's foot touches the ground first and the toe touches the ground later.

[0169] The above control method for the humanoid robot's foot achieves the beneficial effect of being able to solve the technical problems proposed in the background art.

[0170] Figure 2 It is a flowchart showing the control method for the humanoid robot's foot in one embodiment. It should be understood that although Figure 2 the steps in the flowchart are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 2 at least a part of the steps in

[0171] Figure 5 include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential either, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps. Figure 1 in Figure 5As shown, the computer device includes a processor, a memory, a network interface, an input device, and a display screen connected via a system bus. Among them, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement the control method for the feet of a humanoid robot. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can implement the control method for the feet of a humanoid robot. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the housing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0172] Those skilled in the art can understand that Figure 5 the structure shown in is only a block diagram of some structures related to the solution of the present invention, and does not constitute a limitation on the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0173] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided by the present invention can include non-volatile and / or volatile memories. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or an external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0174] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0175] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for controlling a humanoid robot foot, characterized in that: The humanoid robot foot includes a toe, an ankle and a heel, and the control method includes: When the foot of the humanoid robot leaves the ground, controlling the ankle angle so that the heel of the foot of the humanoid robot leaves the ground first and the toe leaves the ground later; During the landing phase of the humanoid robot foot, the ankle angle and ankle position are controlled so that the heel of the humanoid robot foot touches the ground first and the toe touches the ground later.

2. The method according to claim 1, characterized in that Controlling the ankle angle during the phase of the humanoid robot foot leaving the ground comprises: Acquire a first starting position and a first ending position of the ankle in the off-ground phase; Acquire a plurality of first sampling points between the first starting position and the first ending position; Acquire the ankle angle of each of the first sampling points; The movement of the foot of the humanoid robot is controlled according to the ankle angle of each of the first sampling points.

3. The method according to claim 2, characterized in that The step of controlling the movement of the foot of the humanoid robot according to the ankle angle of each of the first sampling points comprises: According to the ankle angle of the current sampling point, obtaining expected parameters of the current first sampling point, wherein the expected parameters include an expected ankle position, an expected posture, an expected speed, and an expected acceleration; Converting the expected parameter of the current first sampling point into the current control parameter of the execution unit; According to the current control parameters, the movement of the humanoid robot foot is driven.

4. The method according to claim 3, characterized in that After driving the movement of the foot of the humanoid robot according to the current control parameters, the method further includes: According to the movement of the foot of the humanoid robot, actual parameters of the current first sampling point are obtained, wherein the actual parameters include actual ankle position, actual posture, actual speed and actual acceleration; Compare the actual parameter of the current first sampling point with the corresponding expected parameter of the current first sampling point to obtain a current adjustment parameter; The ankle angle of the next first sampling point is adjusted according to the current adjustment parameter.

5. The method according to claim 2, characterized in that: The ankle angle of each first sampling point is obtained in the following manner: Among them, q t is the ankle angle at the first sampling point of t, z(t) is the vertical position of the ankle at the first sampling point of t, L h It is the length from ankle to toe.

6. The method according to claim 2, characterized in that The ankle angle of each first sampling point is obtained in the following manner: Among them, q t is the ankle angle of the first sampling point t, z(t) is the z-axis coordinate of the ankle at the first sampling point t, L h is the length from ankle to toe, k is the adjustment parameter, k∈(0,1).

7. The method according to claim 2, characterized in that The step of obtaining the ankle angle of each of the first sampling points further includes: Acquiring intrinsic parameters of the humanoid robot foot; The ankle angle of each of the first sampling points is limited according to the intrinsic parameter.

8. The method according to claim 7, characterized in that The ankle angle of each first sampling point is limited according to the intrinsic parameter in the following manner: Among them, q t is the ankle angle of the first sampling point t, z(t) is the z-axis coordinate of the ankle at the first sampling point t, L h The length from ankle to toe. is an intrinsic parameter.

9. The method according to claim 1, characterized in that: During the landing phase of the humanoid robot foot, controlling the ankle angle and ankle position includes: Acquire a second starting position and a second ending position of the ankle in the off-ground phase; Acquire a plurality of second sampling points between the second starting position and the second ending position; Acquire the ankle angle and ankle position of each of the second sampling points; The movement of the foot of the humanoid robot is controlled according to the ankle angle and the ankle position of each second sampling point.

10. The method according to claim 9, characterized in that The ankle angle of each second sampling point is obtained in the following manner: Among them, q m is the ankle angle of the second sampling point, z d (m) is the z-axis coordinate of the ankle of the second sampling point m, L h The length from ankle to toe. is the intrinsic parameter, and f is given by The continuous function defined is represents the desired heel contact angle, Indicates z d (m), k is the adjustment parameter, k∈(0,1).

11. The method according to claim 9, characterized in that The ankle position of each second sampling point is obtained in the following manner: Among them, (x d ,y d ,z d ) is the ankle position of the second sampling point, x d (m) is the x-axis coordinate of the ankle of the second sampling point m, z d (m) is the z-axis coordinate of the ankle of the second sampling point m, x heel (m) is the x-axis coordinate of the heel of the second sampling point m, z heel (m) is the z-axis coordinate of the heel of the second sampling point m, L h is the length from ankle to toe, q m is the ankle angle of the second sampling point of m, is the x-axis velocity of the foot, is the z-axis velocity of the foot.

12. The method according to claim 1, characterized in that The method further comprises: During the ascent phase, controlling the ankle position to move the humanoid robot foot in a horizontal direction and / or a vertical direction; During the descending phase, the ankle position is controlled to move the humanoid robot foot in the horizontal direction and / or the vertical direction.

13. A control device for a humanoid robot foot, characterized in that: The humanoid robot foot comprises a toe, an ankle and a heel, and the device comprises: A controller, used for controlling the ankle angle during the stage of the foot of the humanoid robot leaving the ground, so that the heel of the foot of the humanoid robot leaves the ground first and the toe leaves the ground later; The controller is also used to control the ankle angle and ankle position during the landing phase of the humanoid robot's foot, so that the heel of the humanoid robot's foot touches the ground first and the toe touches the ground later.

14. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 12 is implemented.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

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