Legged robot walking control method based on ground contact control operator and related equipment

Abstract

The present application belongs to the technical field of robot control, and discloses a walking control method of a legged robot based on a touchdown control operator and related equipment. The method includes: using a Kalman filter algorithm, according to a preset touchdown control operator evaluation model, calculating the touchdown control operator of each foot end of the legged robot; according to the touchdown control operator of each foot end of the legged robot and the corresponding dynamic data, calculating the phase planning information of each foot end of the legged robot; controlling each foot end of the legged robot to walk according to the corresponding phase planning information; during the walking process of the legged robot, based on the phase planning information, regulating the abnormal touchdown situation of each foot end of the legged robot; during the walking process of the legged robot, regulating the abnormal touchdown situation of each foot end of the legged robot according to the phase planning information calculated by the touchdown control operator, thereby improving the ground walking efficiency of the legged robot.

Description

Technical Field

[0001] The present application relates to the technical field of robot control, and in particular to a walking control method for a legged robot based on a ground contact control operator and related equipment. Background Art

[0002] Legged robots, a highly innovative and promising branch of robotics, encompass a wide range of types, from quadrupeds to humanoids. These robots cleverly mimic the leg and foot structure and locomotion of animals in nature, eliminating the reliance of traditional wheeled chassis on flat, regular terrain and demonstrating remarkable adaptability to complex, irregular terrain.

[0003] Currently, traditional legged robot control methods are based on clear physical models and mathematical principles, are highly interpretable and stable, and can achieve relatively precise motion control in a short period of time. In the walking control of legged robots, traditional control methods generally adopt a strategy of alternating swing phases and support phases. However, determining whether a legged robot's swinging legs touch the ground mainly relies on solutions based on body sensors. Proper sensor-based solutions often use the force generated when the foot contacts the ground to determine the contact situation. However, in actual application tests, a large interaction force between the foot and the ground is usually required to achieve accurate judgment. During the robot's walking process, the large interaction force may cause the robot body to shake significantly and become unstable, affecting the robot's walking performance and safety. Summary of the Invention

[0004] The purpose of the present application is to provide a legged robot walking control method and related equipment based on a touchdown control operator. By using phase planning information calculated based on a preset touchdown control operator evaluation model and corresponding dynamic data, the abnormal touchdown conditions of each foot end of the legged robot are regulated during the walking process of the legged robot. This solves the problem that the traditional legged robot control method requires a large interaction force between the foot end and the ground when using the body sensor to accurately judge the touchdown condition, which affects the walking stability of the legged robot. Phase planning and abnormal control are performed based on the touchdown control operator of each foot end, thereby enhancing the adaptability on complex terrain and improving the ground walking efficiency of the legged robot.

[0005] In a first aspect, the present application provides a walking control method for a legged robot based on a ground contact control operator, comprising:

[0006] Obtain dynamic data of each foot of the legged robot;

[0007] By using a Kalman filter algorithm, according to a preset ground contact control operator evaluation model and in combination with the dynamic data, a ground contact control operator of each foot end of the legged robot is calculated;

[0008] Calculating phase planning information of each foot end of the legged robot according to the ground contact control operator of each foot end of the legged robot and the corresponding dynamic data;

[0009] Controlling each foot end of the legged robot to walk according to corresponding phase planning information;

[0010] During the walking process of the legged robot, abnormal ground contact situations occurring at each foot end of the legged robot are regulated based on the phase planning information.

[0011] The legged robot walking control method based on the touchdown control operator provided in the present application can realize the control of the ground walking of the legged robot. Through the phase planning information calculated based on the preset touchdown control operator evaluation model and the corresponding dynamic data, the abnormal touchdown conditions of each foot end of the legged robot are regulated during the walking process of the legged robot, thereby solving the problem that the traditional legged robot control method requires a large interaction force between the foot end and the ground when using the body sensor to accurately judge the touchdown condition, which affects the walking stability of the legged robot. Phase planning and abnormal control are performed based on the touchdown control operator of each foot end, thereby enhancing the adaptability on complex terrain and improving the ground walking efficiency of the legged robot.

[0012] Optionally, the preset touchdown control operator evaluation model includes a preset phase transfer model, a preset force correction model and a preset Bayesian correction model.

[0013] Optionally, the ground contact control operator of each foot of the legged robot is calculated by using a Kalman filter algorithm, according to a preset ground contact control operator evaluation model, and in combination with the dynamic data, including:

[0014] According to the preset phase transfer model and in combination with the dynamic data, a priori ground contact control operator of each foot end of the legged robot is calculated;

[0015] According to the preset force correction model and in combination with the dynamic data, a first a posteriori ground contact control operator of each foot end of the legged robot is calculated;

[0016] According to the preset Bayesian correction model and in combination with the dynamic data, a second posterior ground contact control operator of each foot end of the legged robot is calculated;

[0017] The ground contact control operator of each foot end of the legged robot is calculated based on the prior ground contact control operator, the first a posteriori ground contact control operator and the second a posteriori ground contact control operator through the Kalman filter algorithm.

[0018] The legged robot walking control method based on the touchdown control operator provided in the present application can realize the control of the ground walking of the legged robot. The phase transfer model, the force correction model and the Bayesian correction model are used to respectively calculate the prior touchdown control operator and the posterior touchdown control operator (including the first posterior touchdown control operator and the second posterior touchdown control operator) of each foot end of the legged robot. The prior probability and the posterior probability are fused through the Kalman filter algorithm to calculate the touchdown control operator of each foot end of the legged robot. The touchdown control operator can accurately predict the touchdown situation of each foot end when walking on a plane, which is beneficial to improving the walking stability of the legged robot.

[0019] Optionally, during the walking process of the legged robot, regulating abnormal ground contact conditions occurring at each foot end of the legged robot based on the phase planning information includes:

[0020] During the walking process of the legged robot, real-time dynamic data of the legged robot is acquired in real time;

[0021] Based on the real-time dynamic data and the phase planning information, determine whether there is an abnormal ground contact situation at each foot end of the legged robot; if so, regulate each foot end of the legged robot according to the abnormal ground contact situation at each foot end of the legged robot; if not, control each foot end of the legged robot to walk normally according to the phase planning information.

[0022] Optionally, judging whether abnormal ground contact occurs at each foot end of the legged robot based on the real-time dynamic data and the phase planning information includes:

[0023] Based on the real-time swing phase and the real-time support phase in the real-time dynamic data, determining whether each foot end of the legged robot walks according to the corresponding phase planning information;

[0024] If so, it is determined that each foot end of the legged robot is walking normally;

[0025] If not, it is determined that an abnormal ground contact occurs at the foot end that is not walking according to the corresponding phase planning information.

[0026] The legged robot walking control method based on the touchdown control operator provided in the present application can realize the control of the ground walking of the legged robot. By comparing the real-time swing phase and the real-time support phase of each foot end of the legged robot with the corresponding phase planning information, it is determined whether each foot end has abnormal touchdown. Abnormal touchdown can be identified without large force, thereby improving the walking stability of the legged robot.

[0027] Optionally, the abnormal touchdown includes an early touchdown situation and a delayed touchdown situation.

[0028] Optionally, regulating each foot end of the legged robot according to an abnormal ground contact situation of each foot end of the legged robot includes:

[0029] identifying abnormal ground contact conditions occurring at each foot end of the legged robot based on the real-time swing phase and the real-time support phase in the real-time dynamic data;

[0030] When the early ground contact situation occurs, controlling all foot ends that have the early ground contact situation and all supporting feet to jointly support the legged robot;

[0031] When the delayed ground contact situation occurs, all supporting feet are controlled to stop swinging until the ends of all feet that have experienced the delayed ground contact situation touch the ground.

[0032] In a second aspect, the present application provides a walking control device for a legged robot based on a ground contact control operator, comprising:

[0033] An acquisition module is used to obtain dynamic data of each foot end of the legged robot;

[0034] A first calculation module is configured to calculate a ground contact control operator of each foot of the legged robot using a Kalman filter algorithm, according to a preset ground contact control operator evaluation model, and in combination with the dynamic data;

[0035] a second calculation module, configured to calculate phase planning information of each foot end of the legged robot based on the ground contact control operator of each foot end of the legged robot and the corresponding dynamic data;

[0036] A control module, configured to control each foot end of the legged robot to walk according to corresponding phase planning information;

[0037] The control module is used to control the abnormal ground contact situation of each foot end of the legged robot based on the phase planning information during the walking process of the legged robot.

[0038] The legged robot walking control device based on the touchdown control operator controls abnormal touchdown conditions at each foot of the legged robot during walking by using phase planning information calculated based on a preset touchdown control operator evaluation model and corresponding dynamic data. This solves the problem that traditional legged robot control methods require a large interaction force between the foot end and the ground when using the body sensor to accurately judge the touchdown condition, which affects the walking stability of the legged robot. Phase planning and abnormal control are performed based on the touchdown control operator of each foot end, thereby enhancing the adaptability on complex terrain and improving the ground walking efficiency of the legged robot.

[0039] In a third aspect, the present application provides an electronic device comprising a processor and a memory, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, it runs the steps of the legged robot walking control method based on the touch control operator as described above.

[0040] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, runs the steps of the legged robot walking control method based on the ground contact control operator as described above.

[0041] Beneficial effect: The legged robot walking control method and related equipment based on the touchdown control operator provided in the present application regulate the abnormal touchdown conditions of each foot end of the legged robot during the walking process of the legged robot through the phase planning information calculated based on the preset touchdown control operator evaluation model and the corresponding dynamic data, thereby solving the problem that the traditional legged robot control method requires a large interaction force between the foot end and the ground when using the body sensor to accurately judge the touchdown condition, which affects the walking stability of the legged robot. Phase planning and abnormal control are performed based on the touchdown control operator of each foot end, thereby enhancing the adaptability on complex terrain and improving the ground walking efficiency of the legged robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 Flowchart of a legged robot walking control method based on a ground contact control operator provided in an embodiment of the present application.

[0043] Figure 2 A schematic structural diagram of a legged robot walking control device based on a ground contact control operator provided in an embodiment of the present application.

[0044] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0045] Figure 4 and the gait cycle proportion diagram of the swing phase provided in the embodiment of the present application.

[0046] Figure 5 and the gait cycle proportion diagram of the support phase provided in the embodiment of the present application.

[0047] Explanation of reference numerals: 1. Acquisition module; 2. First calculation module; 3. Second calculation module; 4. Control module; 5. Regulation module; 301. Processor; 302. Memory; 303. Communication bus. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work fall within the scope of protection of the present application.

[0049] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0050] Please refer to Figure 1 , Figure 1 A method for controlling a legged robot's walking based on a ground contact control operator in some embodiments of the present application is provided, which is used to control the ground walking of the legged robot, and includes the following steps:

[0051] Step S101, obtaining dynamic data of each foot end of the legged robot;

[0052] Step S102: Using a Kalman filter algorithm, based on a preset ground contact control operator evaluation model and combined with dynamic data, a ground contact control operator for each foot of the legged robot is calculated (the ground contact control operator is used to evaluate the ground contact condition of the foot);

[0053] Step S103, calculating phase planning information of each foot end of the legged robot based on the ground contact control operator of each foot end of the legged robot and the corresponding dynamic data;

[0054] Step S104, controlling each foot end of the legged robot to walk according to the corresponding phase planning information;

[0055] Step S105 , during the walking process of the legged robot, based on the phase planning information, regulating the abnormal ground contact situation of each foot end of the legged robot.

[0056] The legged robot walking control method based on the touchdown control operator controls abnormal touchdown conditions at each foot of the legged robot during walking by using phase planning information calculated based on a preset touchdown control operator evaluation model and corresponding dynamic data. This method solves the problem that traditional legged robot control methods require a large interaction force between the foot end and the ground when using the body sensor to accurately judge the touchdown condition, which affects the walking stability of the legged robot. Phase planning and abnormal control are performed based on the touchdown control operator of each foot end, thereby enhancing the adaptability on complex terrain and improving the ground walking efficiency of the legged robot.

[0057] Specifically, in step S101, the dynamic data of each foot of the legged robot is obtained, wherein the dynamic data refers to the key physical quantities that affect the movement law of the legged robot, including the force, displacement, velocity, acceleration, swing phase and support phase data of the foot.

[0058] Specifically, the preset ground contact control operator evaluation model includes a preset phase transfer model, a preset force correction model, and a preset Bayesian correction model. In step S102, the ground contact control operator of each foot of the legged robot is calculated based on the preset ground contact control operator evaluation model and the dynamic data using a Kalman filter algorithm, including:

[0059] Based on the preset phase transfer model and combined with the dynamic data, the prior ground contact control operator of each foot of the legged robot is calculated;

[0060] According to the preset force correction model and combined with the dynamic data, the first a posteriori touchdown control operator of each foot of the legged robot is calculated;

[0061] Based on the preset Bayesian correction model and combined with the dynamic data, the second a posteriori touchdown control operator of each foot of the legged robot is calculated;

[0062] Through the Kalman filter algorithm, based on the priori touchdown control operator, the first a posteriori touchdown control operator and the second a posteriori touchdown control operator, the touchdown control operator of each foot of the legged robot is calculated.

[0063] In step S102, a preset phase transfer model, a preset force correction model, and a preset Bayesian correction model are used in conjunction with dynamic data to calculate the a priori, first, and second a posteriori touchdown control operators for each foot. A Kalman filter algorithm is employed to integrate the a priori probability, the first and second a posteriori touchdown control operators, effectively addressing system noise and uncertainty and outputting a reliable touchdown control operator. (The touchdown control operator is used to assess the foot's ground contact; when the touchdown control operator is greater than or equal to 0.5, the corresponding foot is considered to have touched the ground.) This allows accurate ground contact determination during walking without relying on high interaction forces, thus avoiding robot wobbling and instability caused by high forces.

[0064] A preset phase transfer model is established based on the relationship between the phase and the touchdown. The preset phase transfer model is specifically:

[0065] ;

[0066] in, is the prior ground contact control operator of the i-th foot of the legged robot; is an error function (the error function is a prior art and will not be described in detail here); is the support phase of the i-th foot end; is the swing phase of the i-th foot end (swing phase and support phase Each occupies 1 / 2 of the gait cycle T, as shown in the following example: Figure 4 and Figure 5 As shown, Figure 4 The horizontal axis is the period, Figure 4 The vertical coordinate is the swing phase value, and line segment a is the swing phase. Figure 5 The horizontal axis is the period, Figure 5 The vertical axis is the support phase value, and line segment b is the support phase); c represents the ground contact state; 、 、 、 They are the first calculated intermediate quantity, the second calculated intermediate quantity, the third calculated intermediate quantity, and the fourth calculated intermediate quantity, respectively, where: , , , , is the phase mean of the foot end of the first diagonal line switching from the contact state to the swing state (the foot end of the first diagonal line refers to the foot end that is in the same state (the same contact state or the same swing state) at the same time), is the phase mean square error of the first diagonal foot end switching from the ground contact state to the swing state, is the phase mean of the foot end of the second diagonal line switching from the contact state to the swing state (the foot end of the second diagonal line refers to the foot end that is in a different state from the foot end of the first diagonal line at the same time, that is, when the foot end of the first diagonal line is in the contact state, the foot end of the second diagonal line is in the swing state, or when the foot end of the first diagonal line is in the swing state, the foot end of the second diagonal line is in the contact state). is the phase mean square error of the second diagonal foot end switching from the ground contact state to the swing state, is the phase mean of the foot end of the first diagonal line switching from the swing state to the ground contact state, is the phase mean square error of the first diagonal foot end switching from the swing state to the ground contact state, is the phase mean of the foot end of the second diagonal line switching from the swing state to the ground contact state, is the phase mean square error of the foot end of the second diagonal line switching from the swing state to the ground contact state; 、 are the fifth and sixth intermediate quantities respectively. hour, , , in other cases, , .

[0067] A force correction model is constructed based on the standard mathematical ERF formula (the force correction model indicates that when the force on the foot end is greater than the preset force judgment threshold, the probability of ground contact is closer to 1). The force correction model calculates the first posterior ground contact control operator based on the estimated vertical force (i.e., the force on the foot end in the vertical direction). The force correction model is specifically:

[0068] ;

[0069] in, is the ground contact control operator based on the vertical force estimation of the i-th foot end (i.e., the first a posteriori ground contact control operator); is the longitudinal force of the foot end of the i-th foot end (i.e., the force on the foot end in the walking direction, which can be obtained from the force sensor set at the foot end), is the preset force judgment threshold, is the standard deviation of the longitudinal force at all foot ends.

[0070] The Bayesian correction model is constructed based on the characteristics of foot contact / swing combined with the Bayesian estimation of the normal distribution, and is used to calculate the second posterior contact control operator based on the foot's speed and position. The Bayesian correction model is specifically:

[0071] ;

[0072] ;

[0073] ;

[0074] ;

[0075] ;

[0076] In the touchdown state, that is, when When:

[0077] ;

[0078] ;

[0079] In the swing state, that is, when When:

[0080] ;

[0081] ;

[0082] in, is the touchdown control operator based on speed and position of the i-th foot end (i.e., the second a posteriori touchdown control operator); is the actual position of the foot end; is the actual speed of the foot end; Indicates the probability that the foot is in the ground contact state; represents the state transition probability matrix; represents the normalization constant; n is the control time domain, which represents the maximum control range at time k; is the probability density function of the normal distribution; 、 、 、 They are respectively the first phase correlation function, the second phase correlation function, the third phase correlation function and the fourth phase correlation function, which can be fitted according to the test data; is the ground height, is the expected mean ground height, is the ground height variance, 、 and It can be set according to actual needs; k is the kth moment (k is a positive integer greater than 0), is the state of the foot at time k (ground contact state or swing state), Indicates that it is in a swinging state. Indicates that it is in the touchdown state. is the state of the foot end at time k-1. When k=1, Indicates the foot end state at the initial moment; is the desired swing position of the foot end, is the expected foot end swing speed; is the observation information at time k, is the observation information at time k-1, represents the probability of the foot end state at time k, Represents the probability of the foot end state at time k-1. When k=1, represents the observation information at the initial moment, represents the probability of the foot end state at the initial moment; represents the probability that the foot end state at time k is in the swing state, represents the probability that the foot end state at time k is in the ground contact state, Indicates the probability that the foot end state is the ground contact state; is the state transition probability, which means the conditional probability of the foot end being in the state at time k when the foot end is in the state at time k-1; Indicates the probability that the actual position of the foot end is within a reasonable distribution range and the probability that the foot end speed is within a reasonable distribution range; Table in foot end state Under known conditions, the actual position of the foot is observed and the joint probability density of the actual speed v; C is the normalization coefficient; is the position likelihood function, when in the touchdown state, , Indicates the reasonable distribution range of the actual position of the foot end when the foot end is in the ground contact state. In the swing state, , Indicates the reasonable distribution range of the actual position of the foot end when the foot end is in a swinging state; is the velocity likelihood function, when in the touchdown state, , Indicates the reasonable distribution range of the foot end speed when the foot end is in the ground contact state and the actual position of the foot end is in the reasonable distribution range. In the swing state, , It indicates the reasonable distribution range of the foot end velocity when the foot end is in a swinging state and the actual position of the foot end is within the reasonable distribution range.

[0083] By using the Kalman filter algorithm, the a priori touchdown control operator, the first a posteriori touchdown control operator, and the second a posteriori touchdown control operator are substituted to calculate the touchdown control operator of each foot of the legged robot, which specifically includes:

[0084] 1) Establish Kalman filter algorithm model:

[0085] ;

[0086] ;

[0087] in, is the predicted foot contact control operator at time k; is the predicted foot contact control operator at time k-1. When k=1, represents the foot contact control operator at the predicted initial moment; is the covariance matrix at moment k predicted based on the data at moment k-1; is the covariance matrix at time k-1; is the foot contact control operator at time k predicted based on the data at time k-1; is the input; A is the transfer matrix; is the covariance matrix of process noise, and the superscript T represents the transposed symbol;

[0088] in, , , , A=0 i ;

[0089] in, is the touchdown control operator of the i-th foot; is the process noise variance of the i-th foot end; A=0 i Indicates that the transfer matrix A is a zero matrix.

[0090] 2) Use the first and second a posteriori touchdown control operators to represent the observation vector in the Kalman filter. Divide the observation vector into two parts, the upper part of which is represented by the first a posteriori touchdown control operator and the lower part by the second a posteriori touchdown control operator, to obtain:

[0091] ;

[0092] in, is the observation vector, i.e., the posterior touchdown control operator at time k; represents the first a posteriori touchdown control operator at time k; represents the second a posteriori touchdown control operator at time k; is the first a posteriori touchdown control operator of the i-th foot end, , , ; is the second posterior touchdown control operator of the i-th foot end, , , , represents the second posterior touchdown control operator of the i-th foot.

[0093] 3) Optimize the touchdown control operator and obtain:

[0094] ;

[0095] ;

[0096] ;

[0097] , , ;

[0098] ;

[0099] in, is the Kalman gain at time k; is the covariance matrix at time k; is the observation matrix; is the identity matrix; is the i-order identity matrix, that is, an i×i (i-row, i-column) matrix, where all elements on the main diagonal are 1 and all other elements are 0; is the observation noise covariance, represents the noise covariance of the force correction model (diagonal matrix), represents the noise covariance of the Bayesian correction model (diagonal matrix), is the uncertainty of the force sensor at the i-th foot end, Uncertainties of the position and velocity sensors of the i-th foot.

[0100] For each foot end i (i.e., the i-th foot end), according to the updated foot end contact control operator in If the touchdown judgment is , it is determined to be touching the ground, if not, it is determined to be not touching the ground.

[0101] Specifically, in step S103, the swing phase timing and support phase timing of each foot end are planned by combining the ground contact control operator and the phase information in the dynamics data, and the phase planning information corresponding to each foot end is generated.

[0102] Specifically, in step S104, the foot ends of the legged robot are controlled to walk according to the corresponding phase planning information, so that the foot ends walk in a coordinated manner.

[0103] Specifically, in step S105, during the walking process of the legged robot, based on the phase planning information, the abnormal ground contact situation of each foot end of the legged robot is regulated, including:

[0104] During the walking process of the legged robot, real-time dynamic data of the legged robot is obtained in real time;

[0105] Based on real-time dynamic data and phase planning information, it is determined whether there is any abnormal ground contact between the feet of the legged robot; if so, the feet of the legged robot are regulated according to the abnormal ground contact between the feet; if not, the feet of the legged robot are controlled to walk normally according to the phase planning information.

[0106] In step S105, during the walking process of the legged robot, the real-time dynamic data of the legged robot is obtained in real time, that is, the swing phase and support phase of each foot end are obtained through the phase planner of the legged robot.

[0107] Specifically, in step S105, based on the real-time dynamic data and phase planning information, determining whether each foot of the legged robot has abnormal ground contact includes:

[0108] Based on the real-time swing phase and real-time support phase in the real-time dynamics data, it is determined whether each foot of the legged robot walks according to the corresponding phase planning information;

[0109] If so, it is determined that each foot of the legged robot is walking normally;

[0110] If not, it is determined that an abnormal ground contact occurs at the foot end that is not walking according to the corresponding phase planning information.

[0111] In step S105, the actual data of the real-time swing phase and the real-time support phase are dynamically compared with the phase planning information. If the two are consistent, it is determined that the foot end is walking normally and the walking continuity is maintained; if they are inconsistent, it is identified as an abnormal touchdown situation, such as early touchdown or delayed touchdown, thereby reducing the dependence on the large force between the foot end and the ground, and avoiding the shaking of the robot due to force detection.

[0112] Specifically, abnormal ground contact includes early ground contact and delayed ground contact. In step S105, according to the abnormal ground contact situation of each foot end of the legged robot, each foot end of the legged robot is regulated, including:

[0113] According to the real-time swing phase and real-time support phase in the real-time dynamic data, the abnormal ground contact situation of each foot end of the legged robot is identified;

[0114] When premature ground contact occurs, all the foot ends that have premature ground contact and all the supporting feet (the supporting feet are the foot ends in the supporting phase, i.e., the foot ends that touch the ground) are controlled to jointly support the legged robot;

[0115] When a delayed touchdown occurs, all supporting feet are controlled to stop swinging until the ends of all feet with delayed touchdown touch the ground.

[0116] In step S105, the actual data of the real-time swing phase and the real-time support phase are dynamically compared with the phase planning information to determine whether there is an abnormal ground contact situation at each foot end of the legged robot. If the actual data of the real-time swing phase and the real-time support phase of any foot end are inconsistent with the phase planning information, it is determined that the corresponding foot end has an abnormal ground contact situation.

[0117] Based on the real-time swing and stance phases in real-time dynamic data, abnormal ground contact conditions at each foot of the legged robot are identified. If a foot enters the stance phase prematurely (the phase planning information indicates that the foot has entered the swing phase, but the foot has already begun to enter the stance phase, meaning it has already touched the ground during the swing phase (before transitioning to the stance phase)), this is considered an early ground contact. This foot is then controlled to support the robot together with the current supporting foot, thereby dispersing the impact force. The phase planning information is then adjusted based on the actual situation, and a new gait cycle is initiated. If a foot enters the stance phase late (the phase planning information indicates that the foot has entered the stance phase, but the foot remains in the swing phase, meaning it has not touched the ground at the end of the swing phase (when it should transition to the stance phase)), this is considered a delayed ground contact. All supporting feet are controlled to pause their swing phase until the delayed foot contacts the ground, thereby maintaining support balance. The phase planning information is then adjusted based on the actual situation, and a new gait cycle is initiated.

[0118] From the above, it can be seen that the walking control method of the legged robot based on the touchdown control operator obtains the dynamic data of each foot end of the legged robot, and calculates the touchdown control operator of each foot end of the legged robot according to the preset touchdown control operator evaluation model and the dynamic data through the Kalman filter algorithm. According to the touchdown control operator of each foot end of the legged robot and the corresponding dynamic data, the phase planning information of each foot end of the legged robot is calculated, and each foot end of the legged robot is controlled to walk according to the corresponding phase planning information. During the walking process of the legged robot, based on the phase planning information, the abnormalities of each foot end of the legged robot are The ground contact situation is regulated; thus, through the phase planning information calculated based on the preset ground contact control operator evaluation model and the corresponding dynamic data, the abnormal ground contact situation of each foot end of the legged robot is regulated during the walking process of the legged robot, so as to solve the problem that the traditional legged robot control method requires a large interaction force between the foot end and the ground when using the body sensor to accurately judge the ground contact situation, which affects the walking stability of the legged robot. Phase planning and abnormal control are performed based on the ground contact control operator of each foot end, thereby enhancing the adaptability on complex terrain and improving the ground walking efficiency of the legged robot.

[0119] refer to Figure 2 The present application provides a walking control device for a legged robot based on a ground contact control operator, which is used to control the ground walking of the legged robot, including:

[0120] Acquisition module 1, used to obtain dynamic data of each foot end of the legged robot;

[0121] A first calculation module 2 is configured to calculate a ground contact control operator for each foot of the legged robot using a Kalman filter algorithm, according to a preset ground contact control operator evaluation model, and in combination with dynamic data (the ground contact control operator is used to evaluate the ground contact condition of the foot);

[0122] The second calculation module 3 is used to calculate the phase planning information of each foot end of the legged robot based on the ground contact control operator of each foot end of the legged robot and the corresponding dynamic data;

[0123] Control module 4, used to control each foot of the legged robot to walk according to the corresponding phase planning information;

[0124] The control module 5 is used to control the abnormal ground contact situation of each foot end of the legged robot based on the phase planning information during the walking process of the legged robot.

[0125] The legged robot walking control device based on the touchdown control operator controls abnormal touchdown conditions at each foot of the legged robot during walking by using phase planning information calculated based on a preset touchdown control operator evaluation model and corresponding dynamic data. This solves the problem that traditional legged robot control methods require a large interaction force between the foot end and the ground when using the body sensor to accurately judge the touchdown condition, which affects the walking stability of the legged robot. Phase planning and abnormal control are performed based on the touchdown control operator of each foot end, thereby enhancing the adaptability on complex terrain and improving the ground walking efficiency of the legged robot.

[0126] Specifically, when the acquisition module 1 is executed, it obtains the dynamic data of each foot of the legged robot, where the dynamic data refers to the key physical quantities that affect the movement laws of the legged robot, including the force, displacement, velocity, acceleration, swing phase and support phase data of the foot.

[0127] Specifically, the preset ground contact control operator evaluation model includes a preset phase transfer model, a preset force correction model, and a preset Bayesian correction model. When the first calculation module 2 calculates the ground contact control operator of each foot of the legged robot based on the preset ground contact control operator evaluation model and the dynamic data through the Kalman filter algorithm, it executes:

[0128] Based on the preset phase transfer model and combined with the dynamic data, the priori ground contact control operators of each foot of the legged robot are calculated;

[0129] According to the preset force correction model and combined with the dynamic data, the first a posteriori touchdown control operator of each foot of the legged robot is calculated;

[0130] Based on the preset Bayesian correction model and combined with the dynamic data, the second a posteriori touchdown control operator of each foot of the legged robot is calculated;

[0131] Through the Kalman filter algorithm, based on the priori touchdown control operator, the first a posteriori touchdown control operator and the second a posteriori touchdown control operator, the touchdown control operator of each foot of the legged robot is calculated.

[0132] During execution, the first calculation module 2 utilizes a preset phase transfer model, a preset force correction model, and a preset Bayesian correction model, combined with dynamic data, to calculate the prior, first, and second a posteriori touchdown control operators for each foot. A Kalman filter algorithm is employed to integrate the prior probability, the first and second a posteriori touchdown control operators, effectively addressing system noise and uncertainty and outputting a reliable touchdown control operator. (The touchdown control operator is used to assess the foot's ground contact; when the touchdown control operator is greater than or equal to 0.5, the corresponding foot is considered to have touched the ground.) This allows the legged robot to accurately determine ground contact during walking without relying on high interaction forces, thus avoiding robot shaking and instability caused by high forces.

[0133] A preset phase transfer model is established based on the relationship between the phase and the touchdown. The preset phase transfer model is specifically:

[0134] ;

[0135] in, is the prior ground contact control operator of the i-th foot of the legged robot; is an error function (the error function is a prior art and will not be described in detail here); is the support phase of the i-th foot end; is the swing phase of the i-th foot end (swing phase and support phase Each occupies 1 / 2 of the gait cycle T, as shown in the following example: Figure 4 and Figure 5 As shown, Figure 4 The horizontal axis is the period, Figure 4 The vertical axis is the swing phase, Figure 5 The horizontal axis is the period, Figure 5 The vertical axis is the support phase); c represents the ground contact state; 、 、 、 They are the first calculated intermediate quantity, the second calculated intermediate quantity, the third calculated intermediate quantity, and the fourth calculated intermediate quantity, respectively, where: , , , , is the phase mean of the foot end of the first diagonal line switching from the contact state to the swing state (the foot end of the first diagonal line refers to the foot end that is in the same state (the same contact state or the same swing state) at the same time), is the phase mean square error of the first diagonal foot end switching from the ground contact state to the swing state, is the phase mean of the foot end of the second diagonal line switching from the contact state to the swing state (the foot end of the second diagonal line refers to the foot end that is in a different state from the foot end of the first diagonal line at the same time, that is, when the foot end of the first diagonal line is in the contact state, the foot end of the second diagonal line is in the swing state, or when the foot end of the first diagonal line is in the swing state, the foot end of the second diagonal line is in the contact state). is the phase mean square error of the second diagonal foot end switching from the ground contact state to the swing state, is the phase mean of the foot end of the first diagonal line switching from the swing state to the ground contact state, is the phase mean square error of the first diagonal foot end switching from the swing state to the ground contact state, is the phase mean of the foot end of the second diagonal line switching from the swing state to the ground contact state, is the phase mean square error of the foot end of the second diagonal line switching from the swing state to the ground contact state; 、 are the fifth and sixth intermediate quantities respectively. hour, , , in other cases, , .

[0136] A force correction model is constructed based on the standard mathematical ERF formula (the force correction model indicates that when the force on the foot end is greater than the preset force judgment threshold, the probability of ground contact is closer to 1). The force correction model calculates the first posterior ground contact control operator based on the estimated vertical force (i.e., the force on the foot end in the vertical direction). The force correction model is specifically:

[0137] ;

[0138] in, is the ground contact control operator based on the vertical force estimation of the i-th foot end (i.e., the first a posteriori ground contact control operator); is the longitudinal force of the foot end of the i-th foot end (i.e., the force on the foot end in the walking direction, which can be obtained from the force sensor set at the foot end), is the preset force judgment threshold, is the standard deviation of the longitudinal force at all foot ends.

[0139] The Bayesian correction model is constructed based on the characteristics of foot contact / swing combined with the Bayesian estimation of the normal distribution, and is used to calculate the second posterior contact control operator based on the foot's speed and position. The Bayesian correction model is specifically:

[0140] ;

[0141] ;

[0142] ;

[0143] ;

[0144] ;

[0145] In the touchdown state, that is, when When:

[0146] ;

[0147] ;

[0148] In the swing state, that is, when When:

[0149] ;

[0150] ;

[0151] in, is the touchdown control operator based on speed and position of the i-th foot end (i.e., the second a posteriori touchdown control operator); is the actual position of the foot end; is the actual speed of the foot end; Indicates the probability that the foot is in the ground contact state; represents the state transition probability matrix; represents the normalization constant; n is the control time domain, which represents the maximum control range at time k; is the probability density function of the normal distribution; 、 、 、 They are respectively the first phase correlation function, the second phase correlation function, the third phase correlation function and the fourth phase correlation function, which can be fitted according to the test data; is the ground height, is the expected mean ground height, is the ground height variance, 、 and It can be set according to actual needs; k is the kth moment (k is a positive integer greater than 0), is the state of the foot at time k (ground contact state or swing state), Indicates that it is in a swinging state. Indicates that it is in the touchdown state. is the state of the foot end at time k-1. When k=1, Indicates the foot end state at the initial moment; is the desired swing position of the foot end, is the expected foot end swing speed; is the observation information at time k, is the observation information at time k-1, represents the probability of the foot end state at time k, Represents the probability of the foot end state at time k-1. When k=1, represents the observation information at the initial moment, represents the probability of the foot end state at the initial moment; represents the probability that the foot end state at time k is in the swing state, represents the probability that the foot end state at time k is in the ground contact state, Indicates the probability that the foot end state is the ground contact state; is the state transition probability, which means the conditional probability of the foot end being in the state at time k when the foot end is in the state at time k-1; Indicates the probability that the actual position of the foot end is within a reasonable distribution range and the probability that the foot end speed is within a reasonable distribution range; Table in foot end state Under known conditions, the actual position of the foot is observed and the joint probability density of the actual speed v; C is the normalization coefficient; is the position likelihood function, when in the touchdown state, , Indicates the reasonable distribution range of the actual position of the foot end when the foot end is in the ground contact state. In the swing state, , Indicates the reasonable distribution range of the actual position of the foot end when the foot end is in a swinging state; is the velocity likelihood function, when in the touchdown state, , Indicates the reasonable distribution range of the foot end speed when the foot end is in the ground contact state and the actual position of the foot end is in the reasonable distribution range. In the swing state, , It indicates the reasonable distribution range of the foot end velocity when the foot end is in a swinging state and the actual position of the foot end is within the reasonable distribution range.

[0152] By using the Kalman filter algorithm, the a priori touchdown control operator, the first a posteriori touchdown control operator, and the second a posteriori touchdown control operator are substituted to calculate the touchdown control operator of each foot of the legged robot, which specifically includes:

[0153] 1) Establish Kalman filter algorithm model:

[0154] ;

[0155] ;

[0156] in, is the predicted foot contact control operator at time k; is the predicted foot contact control operator at time k-1. When k=1, represents the foot contact control operator at the predicted initial moment; is the covariance matrix at moment k predicted based on the data at moment k-1; is the covariance matrix at time k-1; is the foot contact control operator at time k predicted based on the data at time k-1; is the input; A is the transfer matrix; is the covariance matrix of process noise, and the superscript T represents the transposed symbol;

[0157] in, , , , A=0 i ;

[0158] in, is the touchdown control operator of the i-th foot; is the process noise variance of the i-th foot end;

[0159] 2) Use the first and second a posteriori touchdown control operators to represent the observation vector in the Kalman filter. Divide the observation vector into two parts, the upper part of which is represented by the first a posteriori touchdown control operator and the lower part by the second a posteriori touchdown control operator, to obtain:

[0160] ;

[0161] in, is the observation vector, i.e., the posterior touchdown control operator at time k; represents the first a posteriori touchdown control operator at time k; represents the second a posteriori touchdown control operator at time k; is the first a posteriori touchdown control operator of the i-th foot end, , , ; is the second posterior touchdown control operator of the i-th foot end, , , , represents the second posterior touchdown control operator of the i-th foot.

[0162] 3) Optimize the touchdown control operator and obtain:

[0163] ;

[0164] ;

[0165] ;

[0166] , , ;

[0167] ;

[0168] in, is the Kalman gain at time k is the covariance matrix at time k is the observation matrix; is the identity matrix; is the i-order identity matrix, that is, an i×i (i-row, i-column) matrix, where all elements on the main diagonal are 1 and all other elements are 0; is the observation noise covariance, represents the noise covariance of the force correction model (diagonal matrix), represents the noise covariance of the Bayesian correction model (diagonal matrix), is the uncertainty of the force sensor at the i-th foot end, Uncertainties of the position and velocity sensors of the i-th foot.

[0169] For each foot end i (i.e., the i-th foot end), according to the updated foot end contact control operator in If the touchdown judgment is , it is determined to be touching the ground, if not, it is determined to be not touching the ground.

[0170] Specifically, when the second calculation module 3 is executed, it combines the contact control operator and the phase information in the dynamic data to plan the swing phase timing and the support phase timing of each foot end, and generates the phase planning information corresponding to each foot end.

[0171] Specifically, when the control module 4 is executed, it controls each foot end of the legged robot to walk according to the corresponding phase planning information, so that each foot end walks in a coordinated manner.

[0172] Specifically, when the control module 5 controls the abnormal ground contact situation of each foot end of the legged robot based on the phase planning information during the walking process of the legged robot, it executes:

[0173] During the walking process of the legged robot, real-time dynamic data of the legged robot is obtained in real time;

[0174] Based on real-time dynamic data and phase planning information, it is determined whether there is any abnormal ground contact between the feet of the legged robot; if so, the feet of the legged robot are regulated according to the abnormal ground contact between the feet; if not, the feet of the legged robot are controlled to walk normally according to the phase planning information.

[0175] When the control module 5 is executed, the real-time dynamic data of the legged robot is obtained in real time during the walking process of the legged robot, that is, the swing phase and support phase of each foot end are obtained through the phase planner of the legged robot.

[0176] Specifically, when the control module 5 determines whether any foot of the legged robot has abnormally touched the ground based on the real-time dynamic data and phase planning information, it executes:

[0177] Based on the real-time swing phase and real-time support phase in the real-time dynamics data, it is determined whether each foot of the legged robot walks according to the corresponding phase planning information;

[0178] If so, it is determined that each foot of the legged robot is walking normally;

[0179] If not, it is determined that an abnormal ground contact occurs at the foot end that is not walking according to the corresponding phase planning information.

[0180] When the control module 5 is executed, it uses the actual data of the real-time swing phase and the real-time support phase to dynamically compare with the phase planning information. If the two are consistent, it is determined that the foot end is walking normally and the walking continuity is maintained; if they are inconsistent, it is identified as an abnormal touchdown situation, such as early touchdown or delayed touchdown, thereby reducing the dependence on the large force between the foot end and the ground, and avoiding the shaking of the robot due to force detection.

[0181] Specifically, abnormal ground contact includes early ground contact and delayed ground contact. When the control module 5 controls each foot end of the legged robot according to the abnormal ground contact situation of each foot end, it executes:

[0182] According to the real-time swing phase and real-time support phase in the real-time dynamic data, the abnormal ground contact situation of each foot end of the legged robot is identified;

[0183] When premature ground contact occurs, all the foot ends that have premature ground contact and all the supporting feet (the supporting feet are the foot ends in the supporting phase, i.e., the foot ends that touch the ground) are controlled to jointly support the legged robot;

[0184] When a delayed touchdown occurs, all supporting feet are controlled to stop swinging until the ends of all feet with delayed touchdown touch the ground.

[0185] When the control module 5 is executed, it uses the actual data of the real-time swing phase and the real-time support phase to dynamically compare with the phase planning information to determine whether there is an abnormal ground contact situation at each foot end of the legged robot. If the actual data of the real-time swing phase and the real-time support phase of any foot end are inconsistent with the phase planning information, it is determined that the corresponding foot end has an abnormal ground contact situation.

[0186] Based on the real-time swing and stance phases in real-time dynamic data, abnormal ground contact conditions at each foot of the legged robot are identified. If a foot enters the stance phase prematurely (the phase planning information indicates that the foot has entered the swing phase, but the foot has already begun to enter the stance phase, meaning it has already touched the ground during the swing phase (before transitioning to the stance phase)), this is considered an early ground contact. This foot is then controlled to support the robot together with the current supporting foot, thereby dispersing the impact force. The phase planning information is then adjusted based on the actual situation, and a new gait cycle is initiated. If a foot enters the stance phase late (the phase planning information indicates that the foot has entered the stance phase, but the foot remains in the swing phase, meaning it has not touched the ground at the end of the swing phase (when it should transition to the stance phase)), this is considered a delayed ground contact. All supporting feet are controlled to pause their swing phase until the delayed foot contacts the ground, thereby maintaining support balance. The phase planning information is then adjusted based on the actual situation, and a new gait cycle is initiated.

[0187] From the above, it can be seen that the walking control device of the legged robot based on the touchdown control operator obtains the dynamic data of each foot end of the legged robot, calculates the touchdown control operator of each foot end of the legged robot according to the preset touchdown control operator evaluation model and the dynamic data through the Kalman filter algorithm, calculates the phase planning information of each foot end of the legged robot according to the touchdown control operator of each foot end of the legged robot and the corresponding dynamic data, controls each foot end of the legged robot to walk according to the corresponding phase planning information, and during the walking process of the legged robot, based on the phase planning information, The ground contact situation is regulated; thus, through the phase planning information calculated based on the preset ground contact control operator evaluation model and the corresponding dynamic data, the abnormal ground contact situation of each foot end of the legged robot is regulated during the walking process of the legged robot, so as to solve the problem that the traditional legged robot control method requires a large interaction force between the foot end and the ground when using the body sensor to accurately judge the ground contact situation, which affects the walking stability of the legged robot. Phase planning and abnormal control are performed based on the ground contact control operator of each foot end, thereby enhancing the adaptability on complex terrain and improving the ground walking efficiency of the legged robot.

[0188] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The present application provides an electronic device, comprising: a processor 301 and a memory 302. The processor 301 and the memory 302 are interconnected and communicate with each other via a communication bus 303 and / or other forms of connection mechanisms (not shown). The memory 302 stores a computer program executable by the processor 301. When the electronic device is in operation, the processor 301 executes the computer program to perform a legged robot walking control method based on a ground contact control operator in any optional implementation of the above-mentioned embodiment, to achieve the following functions: obtaining dynamic data of each foot of the legged robot; calculating a ground contact control operator for each foot of the legged robot using a Kalman filter algorithm, according to a preset ground contact control operator evaluation model, and in combination with the dynamic data; calculating phase planning information for each foot of the legged robot based on the ground contact control operator and the corresponding dynamic data of each foot of the legged robot; controlling each foot of the legged robot to walk according to the corresponding phase planning information; and regulating abnormal ground contact conditions occurring at each foot of the legged robot during walking based on the phase planning information.

[0189] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the walking control method of a legged robot based on a touchdown control operator in any optional implementation of the above-mentioned embodiment is executed to achieve the following functions: obtaining the dynamic data of each foot end of the legged robot, calculating the touchdown control operator of each foot end of the legged robot according to a preset touchdown control operator evaluation model and the dynamic data through a Kalman filter algorithm, calculating the phase planning information of each foot end of the legged robot according to the touchdown control operator of each foot end of the legged robot and the corresponding dynamic data, controlling each foot end of the legged robot to walk according to the corresponding phase planning information, and controlling the abnormal touchdown conditions of each foot end of the legged robot based on the phase planning information during the walking process of the legged robot. The storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage device, flash memory, magnetic disk, or optical disk.

[0190] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0191] In addition, the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, and may be located in one place or distributed across multiple network units. Some or all of these units may be selected based on actual needs to achieve the purpose of the solution of this embodiment.

[0192] Furthermore, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0193] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0194] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A walking control method for a legged robot based on a ground contact control operator, for controlling the ground walking of a legged robot, characterized in that: Including steps: Obtain dynamic data of each foot of the legged robot; By using a Kalman filter algorithm, according to a preset ground contact control operator evaluation model and in combination with the dynamic data, a ground contact control operator of each foot end of the legged robot is calculated; The ground contact control operator is used to evaluate the ground contact condition of the foot end; Calculating phase planning information of each foot end of the legged robot according to the ground contact control operator of each foot end of the legged robot and the corresponding dynamic data; Controlling each foot end of the legged robot to walk according to corresponding phase planning information; During the walking process of the legged robot, regulating abnormal ground contact conditions occurring at each foot end of the legged robot based on the phase planning information; The preset touchdown control operator evaluation model includes a preset phase transfer model, a preset force correction model and a preset Bayesian correction model; The calculation to obtain the ground contact control operator of each foot end of the legged robot includes: According to the preset phase transfer model and in combination with the dynamic data, a priori ground contact control operator of each foot end of the legged robot is calculated; According to the preset force correction model and in combination with the dynamic data, a first a posteriori ground contact control operator of each foot end of the legged robot is calculated; According to the preset Bayesian correction model and in combination with the dynamic data, a second posterior ground contact control operator of each foot end of the legged robot is calculated; Calculating a ground contact control operator for each foot of the legged robot based on the a priori ground contact control operator, the first a posteriori ground contact control operator, and the second a posteriori ground contact control operator using a Kalman filter algorithm; The preset phase transfer model is: ； in, is the prior ground contact control operator of the i-th foot of the legged robot; is the error function; is the support phase of the i-th foot end; is the swing phase of the i-th foot end; c represents the ground contact state; 、 、 、 They are the first calculated intermediate quantity, the second calculated intermediate quantity, the third calculated intermediate quantity, and the fourth calculated intermediate quantity, respectively, where: , , , , is the phase mean of the foot end of the first diagonal line switching from the ground contact state to the swing state, is the phase mean square error of the first diagonal foot end switching from the ground contact state to the swing state, is the phase mean of the foot end of the second diagonal line switching from the ground contact state to the swing state, is the phase mean square error of the second diagonal foot end switching from the ground contact state to the swing state, is the phase mean of the foot end of the first diagonal line switching from the swing state to the ground contact state, is the phase mean square error of the first diagonal foot end switching from the swing state to the ground contact state, is the phase mean of the foot end of the second diagonal line switching from the swing state to the ground contact state, is the phase mean square error of the foot ends of the second diagonal line switching from the swing state to the ground contact state; the foot ends of the first diagonal line refer to the foot ends that are in the same state at the same time, and the foot ends of the second diagonal line refer to the foot ends that are in a different state from the foot ends of the first diagonal line at the same time; 、 are the fifth and sixth intermediate quantities respectively. hour, , , in other cases, , ; The preset force correction model is: ； in, is the ground contact control operator based on the vertical force estimation of the i-th foot end, that is, the first a posteriori ground contact control operator; is the longitudinal force of the foot end of the i-th foot end; is the preset force judgment threshold, is the standard deviation of the longitudinal force at all foot ends.

2. The walking control method of a legged robot based on a ground contact control operator according to claim 1, characterized in that: During the walking process of the legged robot, based on the phase planning information, regulating abnormal ground contact conditions occurring at each foot end of the legged robot, including: During the walking process of the legged robot, real-time dynamic data of the legged robot is acquired in real time; Based on the real-time dynamic data and the phase planning information, determine whether there is an abnormal ground contact situation at each foot end of the legged robot; if so, regulate each foot end of the legged robot according to the abnormal ground contact situation at each foot end of the legged robot; if not, control each foot end of the legged robot to walk normally according to the phase planning information.

3. The walking control method of a legged robot based on a ground contact control operator according to claim 2, characterized in that: Determining whether abnormal ground contact occurs at each foot end of the legged robot based on the real-time dynamic data and the phase planning information includes: Based on the real-time swing phase and the real-time support phase in the real-time dynamic data, determining whether each foot end of the legged robot walks according to the corresponding phase planning information; If so, it is determined that each foot end of the legged robot is walking normally; If not, it is determined that an abnormal ground contact occurs at the foot end that is not walking according to the corresponding phase planning information.

4. The walking control method of a legged robot based on a ground contact control operator according to claim 3, characterized in that: The abnormal touchdown conditions include an early touchdown condition and a delayed touchdown condition.

5. The walking control method of a legged robot based on a ground contact control operator according to claim 4, characterized in that: According to the abnormal ground contact situation of each foot end of the legged robot, each foot end of the legged robot is regulated, including: identifying abnormal ground contact conditions occurring at each foot end of the legged robot based on the real-time swing phase and the real-time support phase in the real-time dynamic data; When the early ground contact situation occurs, controlling all foot ends that have the early ground contact situation and all supporting feet to jointly support the legged robot; When the delayed ground contact situation occurs, all supporting feet are controlled to stop swinging until the ends of all feet that have experienced the delayed ground contact situation touch the ground.

6. A walking control device for a legged robot based on a ground contact control operator, for controlling the ground walking of a legged robot, characterized in that: include: An acquisition module is used to obtain dynamic data of each foot end of the legged robot; A first calculation module is configured to calculate a ground contact control operator of each foot of the legged robot using a Kalman filter algorithm, according to a preset ground contact control operator evaluation model, and in combination with the dynamic data; a second calculation module, configured to calculate phase planning information of each foot end of the legged robot based on the ground contact control operator of each foot end of the legged robot and the corresponding dynamic data; The ground contact control operator is used to evaluate the ground contact condition of the foot end; A control module, configured to control each foot end of the legged robot to walk according to corresponding phase planning information; a control module, configured to control abnormal ground contact conditions occurring at each foot end of the legged robot during walking of the legged robot based on the phase planning information; The preset touchdown control operator evaluation model includes a preset phase transfer model, a preset force correction model and a preset Bayesian correction model; The calculation to obtain the ground contact control operator of each foot end of the legged robot includes: According to the preset phase transfer model and in combination with the dynamic data, a priori ground contact control operator of each foot end of the legged robot is calculated; According to the preset force correction model and in combination with the dynamic data, a first a posteriori ground contact control operator of each foot end of the legged robot is calculated; According to the preset Bayesian correction model and in combination with the dynamic data, a second posterior ground contact control operator of each foot end of the legged robot is calculated; Calculating a ground contact control operator for each foot of the legged robot based on the a priori ground contact control operator, the first a posteriori ground contact control operator, and the second a posteriori ground contact control operator using a Kalman filter algorithm; The preset phase transfer model is: ； in, is the prior ground contact control operator of the i-th foot of the legged robot; is the error function; is the support phase of the i-th foot end; is the swing phase of the i-th foot end; c represents the ground contact state; 、 、 、 They are the first calculated intermediate quantity, the second calculated intermediate quantity, the third calculated intermediate quantity, and the fourth calculated intermediate quantity, respectively, where: , , , , is the phase mean of the foot end of the first diagonal line switching from the ground contact state to the swing state, is the phase mean square error of the first diagonal foot end switching from the ground contact state to the swing state, is the phase mean of the foot end of the second diagonal line switching from the ground contact state to the swing state, is the phase mean square error of the second diagonal foot end switching from the ground contact state to the swing state, is the phase mean of the foot end of the first diagonal line switching from the swing state to the ground contact state, is the phase mean square error of the first diagonal foot end switching from the swing state to the ground contact state, is the phase mean of the foot end of the second diagonal line switching from the swing state to the ground contact state, is the phase mean square error of the foot ends of the second diagonal line switching from the swing state to the ground contact state; the foot ends of the first diagonal line refer to the foot ends that are in the same state at the same time, and the foot ends of the second diagonal line refer to the foot ends that are in a different state from the foot ends of the first diagonal line at the same time; 、 are the fifth and sixth intermediate quantities respectively. hour, , , in other cases, , ; The preset force correction model is: ； in, is the ground contact control operator based on the vertical force estimation of the i-th foot end, that is, the first a posteriori ground contact control operator; is the longitudinal force of the foot end of the i-th foot end; is the preset force judgment threshold, is the standard deviation of the longitudinal force at all foot ends.

7. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, it runs the steps of the legged robot walking control method based on the ground contact control operator as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the legged robot walking control method based on the ground contact control operator as described in any one of claims 1 to 5 are executed.

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