Quadruped robot attitude dynamic balance method, system and program product

Abstract

The invention belongs to the technical field of robots, and particularly discloses a quadruped robot attitude dynamic balance method and system and a program product. The four-foot height adjustment condition analysis and the four-foot gravity distribution condition analysis of the four-foot robot are carried out by collecting posture sensing data, gravity sensing data and motion state detection data of the four-foot robot in real time, and the foot end height adjustment amount and the foot end vertical force adjustment amount of the four feet are determined; and finally, based on the foot end height adjustment amount and the foot end vertical force adjustment amount of the four feet, corresponding telescopic height adjustment instructions and joint torque adjustment instructions are generated and distributed to joint control ends of the four feet, and efficient dynamic balance control over the advancing posture of the quadruped robot can be achieved. According to the method, the coupling control purpose of compatible foot end height adjustment and gravity distribution adjustment can be achieved, the control timeliness is improved, efficient dynamic balance of the quadruped robot under the complex terrain is achieved, and good engineering applicability is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of robotics technology, and in particular relates to a quadruped robot posture dynamic balancing method, system and program product. Background Art

[0002] As a key research area in robotics, quadruped robots have garnered widespread attention in recent years. Their flexible mobility demonstrates significant potential for applications in diverse fields, including reconnaissance and rescue, and industrial inspection. A quadruped robot typically consists of a body, four legs, and associated drive and sensor systems. Each leg has adjustable joints. Joint controllers utilize motors to drive these joints, thereby controlling the leg's position and posture, enabling complex motion adjustments.

[0003] During actual operation, the body posture and support force distribution of a quadruped robot will change with the changing terrain environment. How to effectively ensure that the quadruped robot can maintain real-time posture balance has become a key issue in quadruped robot control. Traditional quadruped robot dynamic balance control methods mostly use independent leg extension height adjustment and gravity distribution adjustment methods, resulting in insufficient control coupling, a relatively complex solution adjustment process, poor control response timeliness, and difficulty in quickly and effectively adapting to complex terrain. Summary of the Invention

[0004] The purpose of the present invention is to provide a quadruped robot posture dynamic balancing method, system and program product to solve the above-mentioned problems existing in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: In a first aspect, a method for dynamic balancing of a quadruped robot is provided, comprising: Real-time collection of the quadruped robot's posture sensing data, gravity sensing data, and motion state detection data, wherein the posture sensing data includes pitch angle and roll angle, the gravity sensing data includes the gravity sensed by the quadruped's foot end, and the motion state detection data includes the center of gravity position parameters, the quadruped's foot end position parameters, and the quadruped's joint torque; Determine the height of the foot end of the quadruped relative to the horizontal plane where the center of gravity is located, and the horizontal projection distance from the foot end of the quadruped to the center of gravity according to the center of gravity position parameters and the foot end position parameters of the quadruped; Determine a foot end height reference value based on the foot end height of the quadruped, and determine a joint torque reference value based on the joint torque of the quadruped; Calculating the foot-end height adjustment of the quadruped using the pitch angle, the roll angle, the foot-end height reference value, and the foot-end height of the quadruped; The weight factor of the quadruped is calculated using the horizontal projection distance from the foot end of the quadruped to the center of gravity, the joint torque of the quadruped, the joint torque reference value and the height adjustment of the foot end of the quadruped; The weight factors of the four legs and the induced gravity at the feet of the four legs are used to calculate the distributed vertical force at the feet of the four legs, and the adjustment amount of the vertical force at the feet of the four legs is determined according to the distributed vertical force at the feet of the four legs and the induced gravity at the feet of the four legs; Based on the foot end height adjustment amount and the foot end vertical force adjustment amount of the quadruped, the telescopic height adjustment instruction and the joint torque adjustment instruction of the quadruped are generated, and the telescopic height adjustment instruction and the joint torque adjustment instruction of the quadruped are distributed to the joint control end of the quadruped.

[0006] In one possible design, determining the foot end height of the quadruped relative to the horizontal plane where the center of gravity is located, and the horizontal projection distance from the foot end of the quadruped to the center of gravity based on the center of gravity position parameters and the foot end position parameters of the quadruped includes: The center of gravity and the foot ends of the quadrupeds are calibrated in the spatial coordinate system according to the center of gravity position parameters and the foot end position parameters of the quadrupeds, and the horizontal plane where the center of gravity is located is calibrated in the spatial coordinate system, and the horizontal plane where the center of gravity is located is used as a reference plane; Calculate the distance from the foot end of the quadruped to the reference surface in the spatial coordinate system, and use the distance from the foot end of the quadruped to the reference surface as the foot end height of the quadruped relative to the horizontal plane where the center of gravity is located; Project the foot tips of the four legs onto the reference plane respectively to obtain the corresponding foot tip projection points, and use the distance from the foot tip projection points to the center of gravity in the reference plane as the horizontal projection distance from the corresponding foot tip to the center of gravity.

[0007] In one possible design, determining the foot end height reference value based on the foot end height of the quadruped and determining the joint torque reference value based on the joint torque of the quadruped includes: Calculate the average foot-end height of the four legs and use the average foot-end height of the four legs as the reference value of the foot-end height; Calculate the average joint torque of the four legs and use the average joint torque of the four legs as the joint torque reference value.

[0008] In one possible design, the method of calculating the quadruped's foot-end height adjustment using the pitch angle, the roll angle, the foot-end height reference value, and the quadruped's foot-end height includes: Substitute the pitch angle, roll angle, foot-end height reference value, and the foot-end height of the quadruped into a preset height adjustment calculation model to calculate the foot-end height adjustment of the quadruped. The height adjustment calculation model is:

[0009] Where i is the number of each foot, ΔH i Represents the height adjustment of the foot end of the i-th foot, H iRepresents the foot end height of the i-th foot, H r represents the foot end height reference value, θ represents the pitch angle, φ represents the roll angle, K1, K2 and K3 are the set first component adjustment coefficient, second component adjustment coefficient and third component adjustment coefficient respectively.

[0010] In one possible design, the calculation of the quadruped weight factor using the horizontal projection distance from the quadruped's foot end to the center of gravity, the quadruped's joint torque, the joint torque reference value, and the quadruped's foot end height adjustment amount includes: Substitute the horizontal projection distance from the foot end of the quadruped to the center of gravity, the joint torque of the quadruped, the joint torque reference value, and the foot end height adjustment of the quadruped into the preset weight factor calculation model for calculation to obtain the weight factor of the quadruped. The weight factor calculation model is:

[0011] Among them, W i Characterize the weight factor of the i-th foot, D i Represents the horizontal projection distance from the foot tip to the center of gravity of the i-th foot, M i Represents the joint torque of the i-th foot, M r Represents the reference value of the joint torque, ε is the set anti-zero constant, and α is the set height adjustment coefficient.

[0012] In one possible design, the method of calculating the vertical force distributed at the foot ends of the quadruped using the weight factor of the quadruped and the gravity sensed at the foot ends of the quadruped includes: Substitute the quadruped's weight factor and the quadruped's foot-end induced gravity into the preset gravity distribution formula to calculate the distributed vertical force at the quadruped's foot end. The gravity distribution formula is:

[0013] Among them, F i Characterizes the vertical force distributed at the foot end of the i-th foot, G i Represents the gravity sensed by the foot of the i-th foot.

[0014] In one possible design, determining the adjustment amount of the vertical force at the foot ends of the quadrupeds based on the distributed vertical force at the foot ends of the quadrupeds and the sensed gravity at the foot ends includes: The vertical force adjustment amount at the foot end of each foot is obtained by subtracting the induced gravity at the foot end from the distributed vertical force at the foot end of each foot.

[0015] In a second aspect, a quadruped robot posture dynamic balancing system is provided, comprising a data acquisition unit, a distance determination unit, a reference analysis unit, a first calculation unit, a second calculation unit, a force distribution unit, and an instruction adjustment unit, wherein: A data acquisition unit is used to collect the attitude sensing data, gravity sensing data and motion state detection data of the quadruped robot in real time, wherein the attitude sensing data includes pitch angle and roll angle, the gravity sensing data includes the gravity sensed by the foot end of the quadruped, and the motion state detection data includes the center of gravity position parameters, the foot end position parameters of the quadruped, and the joint torque of the quadruped; a distance determination unit, configured to determine, based on the center of gravity position parameters and the foot end position parameters of the quadruped, the foot end height of the quadruped relative to the horizontal plane where the center of gravity is located, and the horizontal projection distance from the foot end of the quadruped to the center of gravity; a reference analysis unit, configured to determine a foot end height reference value based on the foot end height of the quadruped, and determine a joint torque reference value based on the joint torque of the quadruped; a first calculation unit, configured to calculate a foot-end height adjustment amount of the quadruped using the pitch angle, the roll angle, the foot-end height reference value, and the foot-end height of the quadruped; a second calculation unit, configured to calculate a weight factor of the quadruped using a horizontal projection distance from the foot end of the quadruped to the center of gravity, a joint torque of the quadruped, a joint torque reference value, and an adjustment amount of the foot end height of the quadruped; A force distribution unit is used to calculate the distributed vertical force at the foot end of the quadruped using the weight factor of the quadruped and the sensed gravity at the foot end of the quadruped, and determine the adjustment amount of the vertical force at the foot end of the quadruped according to the distributed vertical force at the foot end of the quadruped and the sensed gravity at the foot end; The command adjustment unit is used to generate the telescopic height adjustment command and joint torque adjustment command of the quadruped based on the foot end height adjustment amount and foot end vertical force adjustment amount of the quadruped, and distribute the telescopic height adjustment command and joint torque adjustment command of the quadruped to the joint control end of the quadruped.

[0016] In a third aspect, a quadruped robot posture dynamic balancing system is provided, comprising: a memory for storing instructions; A processor is used to read the instructions stored in the memory and execute the quadruped robot posture dynamic balancing method described in any one of the first aspects according to the instructions.

[0017] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to execute any one of the quadruped robot posture dynamic balancing methods described in the first aspect. Also provided is a computer program product that, when executed on a computer, executes any one of the quadruped robot posture dynamic balancing methods described in the first aspect.

[0018] Beneficial effects: The present invention collects the posture sensing data, gravity sensing data and motion state detection data of the quadruped robot in real time to analyze the height adjustment of the quadruped robot and the gravity distribution of the quadruped robot, determines the foot-end height adjustment amount and the foot-end vertical force adjustment amount of the quadruped, and finally generates corresponding telescopic height adjustment instructions and joint torque adjustment instructions based on the foot-end height adjustment amount and the foot-end vertical force adjustment amount of the quadruped and distributes them to the joint control end of the quadruped, thereby realizing efficient dynamic balance control of the moving posture of the quadruped robot. The present invention can effectively solve the problems of insufficient control coupling, poor timeliness and poor terrain adaptability existing in the traditional dynamic balance control method of the quadruped robot, achieve the purpose of coupled control that is compatible with foot-end height adjustment and gravity distribution adjustment, improve control timeliness, realize efficient dynamic balance of the quadruped robot in complex terrain, and has good engineering applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 Schematic diagram of the steps of the method in Example 1 of the present invention; Figure 2 Schematic diagram of the system structure in Example 2 of the present invention; Figure 3 This is a schematic diagram of the system structure in Example 3 of the present invention. DETAILED DESCRIPTION

[0021] It should be noted that the description of these embodiments is intended to help understand the present invention, but does not constitute a limitation of the present invention. The specific structural and functional details disclosed herein are merely intended to describe exemplary embodiments of the present invention. However, the present invention may be embodied in a variety of alternative forms, and should not be construed as being limited to the embodiments set forth herein.

[0022] It should be understood that, unless otherwise expressly specified or limited, the corresponding terms should be understood in a broad sense. For example, "connection" can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a direct connection, an indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments based on specific circumstances.

[0023] In the following description, certain details are provided to facilitate a thorough understanding of the example embodiments. However, one skilled in the art will appreciate that the example embodiments may be practiced without these specific details. For example, devices may be shown in block diagrams to avoid obscuring the examples with unnecessary detail. In other embodiments, well-known processes, structures, and techniques may be shown without unnecessary detail to avoid obscuring the embodiments.

[0024] Example 1: This embodiment provides a quadruped robot posture dynamic balancing method, which can be applied to corresponding robot control systems, such as Figure 1 As shown, the method includes the following steps: S1. Real-time collection of the quadruped robot's posture sensing data, gravity sensing data and motion state detection data, wherein the posture sensing data includes the pitch angle and roll angle, the gravity sensing data includes the gravity sensed by the foot ends of the quadruped, and the motion state detection data includes the center of gravity position parameters, the foot end position parameters of the quadruped and the joint torque of the quadruped.

[0025] During specific implementation, the control system can collect the quadruped robot's posture sensing data, gravity sensing data, and motion state detection data in real time. Specifically, posture sensing data can be obtained by detecting the posture measurement sensors installed on the quadruped robot, and the posture sensing data may include the robot's pitch angle and roll angle; gravity sensing data can be detected by detecting the gravity sensors installed on the robot's four legs, and the gravity sensing data includes the gravity sensed by the four legs' feet; motion state detection data includes the center of gravity position parameters, the four legs' foot end position parameters, and the four legs' joint torques. The center of gravity position parameters and the four legs' foot end position parameters can be detected by the laser radar installed on the robot. The robot's center of gravity is set with a corresponding reference object. The laser radar scans the center of gravity reference object and the four legs' feet, and then performs scanning and detection data analysis to obtain the center of gravity position parameters and the four legs' foot end position parameters. The four legs' joint torques can be fed back in real time by the four legs' joint control end.

[0026] S2. Determine the height of the foot end of the quadruped relative to the horizontal plane where the center of gravity is located, and the horizontal projection distance from the foot end of the quadruped to the center of gravity based on the center of gravity position parameters and the foot end position parameters of the quadruped.

[0027] During specific implementation, the control system calibrates the center of gravity and the foot ends of the four legs in the spatial coordinate system according to the center of gravity position parameters and the foot end position parameters of the four legs, and calibrates the horizontal plane where the center of gravity is located in the spatial coordinate system, and uses the horizontal plane where the center of gravity is located as the reference plane; then the distance from the foot ends of the four legs to the reference plane is calculated in the spatial coordinate system, and the distance from the foot ends of the four legs to the reference plane is used as the foot end height of the four legs relative to the horizontal plane where the center of gravity is located; then the foot ends of the four legs are projected into the reference plane respectively to obtain the corresponding foot end projection points, and the distance from the foot end projection points to the center of gravity in the reference plane is used as the horizontal projection distance from the corresponding foot end to the center of gravity.

[0028] S3. Determine a foot end height reference value based on the foot end height of the quadruped, and determine a joint torque reference value based on the joint torque of the quadruped.

[0029] In specific implementation, the control system can calculate the average foot end height of the four legs and use the average foot end height of the four legs as the foot end height reference value, and can calculate the average joint torque of the four legs and use the average joint torque of the four legs as the joint torque reference value.

[0030] S4. Calculate the foot-end height adjustment amount of the quadruped using the pitch angle, roll angle, foot-end height reference value, and the foot-end height of the quadruped.

[0031] In specific implementation, the control system can substitute the pitch angle, roll angle, foot end height reference value and the foot end height of the quadruped into a preset height adjustment calculation model to calculate and obtain the foot end height adjustment of the quadruped. The height adjustment calculation model is:

[0032] Where i is the number of each foot, ΔH i Represents the height adjustment of the foot end of the i-th foot, H i Represents the foot end height of the i-th foot, H r represents the foot-end height reference value, θ represents the pitch angle, φ represents the roll angle, K1, K2 and K3 are the set first component adjustment coefficient, second component adjustment coefficient and third component adjustment coefficient respectively. The first component adjustment coefficient, the second component adjustment coefficient and the third component adjustment coefficient can be configured manually, or after accumulating a certain amount of historical experience data, the experience data can be learned and trained through a machine learning algorithm to achieve automatic optimization of the component adjustment coefficients and obtain the optimal combination of component adjustment coefficients.

[0033] S5. Calculate the weight factor of the quadruped using the horizontal projection distance from the foot end of the quadruped to the center of gravity, the joint torque of the quadruped, the joint torque reference value, and the height adjustment amount of the foot end of the quadruped.

[0034] In specific implementation, the control system substitutes the horizontal projection distance from the foot end of the quadruped to the center of gravity, the joint torque of the quadruped, the joint torque reference value, and the foot end height adjustment of the quadruped into the preset weight factor calculation model for calculation to obtain the weight factor of the quadruped. The weight factor calculation model is:

[0035] Among them, W i Characterize the weight factor of the i-th foot, D i Represents the horizontal projection distance from the foot tip to the center of gravity of the i-th foot, M i Represents the joint torque of the i-th foot, M r Represents the reference value of the joint torque, ε is the set anti-zero constant, and α is the set height adjustment coefficient.

[0036] S6. Calculate the distributed vertical force at the foot end of the quadruped using the weight factor of the quadruped and the sensed gravity at the foot end of the quadruped, and determine the adjustment amount of the vertical force at the foot end of the quadruped based on the distributed vertical force at the foot end of the quadruped and the sensed gravity at the foot end.

[0037] In specific implementation, the control system substitutes the weight factors of the four legs and the sensed gravity at the foot ends of the four legs into the preset gravity distribution formula to calculate and obtain the vertical force distributed at the foot ends of the four legs. The gravity distribution formula is:

[0038] Among them, F i Characterizes the vertical force distributed at the foot end of the i-th foot, G i Represents the foot-end sensed gravity of the i-th foot. After calculating the distributed vertical force at the foot ends of the four feet, the control system subtracts the foot-end sensed gravity from the distributed vertical force at the foot end of each foot to obtain the foot-end vertical force adjustment for each foot.

[0039] S7. Generate the telescopic height adjustment instructions and joint torque adjustment instructions of the quadruped based on the foot end height adjustment amount and the foot end vertical force adjustment amount of the quadruped, and distribute the telescopic height adjustment instructions and joint torque adjustment instructions of the quadruped to the joint control end of the quadruped.

[0040] During specific implementation, after determining the foot-end height adjustment amount and foot-end vertical force adjustment amount of the quadruped, the control system finally generates the quadruped's telescopic height adjustment instructions and joint torque adjustment instructions based on the foot-end height adjustment amount and foot-end vertical force adjustment amount of the quadruped, and then distributes the quadruped's telescopic height adjustment instructions and joint torque adjustment instructions to the joint control end of the quadruped, so that the joint control end of the quadruped adjusts and controls the quadruped's telescopic height and joint torque according to the corresponding telescopic height adjustment instructions and joint torque adjustment instructions, so that the quadruped's moving posture achieves dynamic balance.

[0041] This method can effectively solve the problems of insufficient control coupling, poor timeliness and poor terrain adaptability existing in the traditional dynamic balance control method of quadruped robots, achieve the purpose of coupled control that is compatible with foot height adjustment and gravity distribution adjustment, improve control timeliness, and realize efficient dynamic balance of quadruped robots in complex terrains, with good engineering applicability.

[0042] Example 2: This embodiment provides a quadruped robot posture dynamic balancing system, such as Figure 2 As shown, it includes a data acquisition unit, a distance determination unit, a reference analysis unit, a first calculation unit, a second calculation unit, a force distribution unit and an instruction adjustment unit, wherein: A data acquisition unit is used to collect the attitude sensing data, gravity sensing data and motion state detection data of the quadruped robot in real time, wherein the attitude sensing data includes pitch angle and roll angle, the gravity sensing data includes the gravity sensed by the foot end of the quadruped, and the motion state detection data includes the center of gravity position parameters, the foot end position parameters of the quadruped, and the joint torque of the quadruped; a distance determination unit, configured to determine, based on the center of gravity position parameters and the foot end position parameters of the quadruped, the foot end height of the quadruped relative to the horizontal plane where the center of gravity is located, and the horizontal projection distance from the foot end of the quadruped to the center of gravity; a reference analysis unit, configured to determine a foot end height reference value based on the foot end height of the quadruped, and determine a joint torque reference value based on the joint torque of the quadruped; a first calculation unit, configured to calculate a foot-end height adjustment amount of the quadruped using the pitch angle, the roll angle, the foot-end height reference value, and the foot-end height of the quadruped; a second calculation unit, configured to calculate a weight factor of the quadruped using a horizontal projection distance from the foot end of the quadruped to the center of gravity, a joint torque of the quadruped, a joint torque reference value, and an adjustment amount of the foot end height of the quadruped; A force distribution unit is used to calculate the distributed vertical force at the foot end of the quadruped using the weight factor of the quadruped and the sensed gravity at the foot end of the quadruped, and determine the adjustment amount of the vertical force at the foot end of the quadruped according to the distributed vertical force at the foot end of the quadruped and the sensed gravity at the foot end; The command adjustment unit is used to generate the telescopic height adjustment command and joint torque adjustment command of the quadruped based on the foot end height adjustment amount and foot end vertical force adjustment amount of the quadruped, and distribute the telescopic height adjustment command and joint torque adjustment command of the quadruped to the joint control end of the quadruped.

[0043] Example 3: This embodiment provides a quadruped robot posture dynamic balancing system, such as Figure 3 As shown, at the hardware level, it includes: Data interface, used to establish data connection between the processor and the external data terminal; a memory for storing instructions; The processor is used to read the instructions stored in the memory and execute the quadruped robot posture dynamic balancing method in Example 1 according to the instructions.

[0044] Optionally, the system further includes an internal bus, through which the processor, memory, and data interface can be interconnected. The internal bus may be a PCIe (Peripheral Component Interconnect Eexpress) bus, which may be divided into an address bus, a data bus, a control bus, etc. The memory may include, but is not limited to, random access memory (RAM), read-only memory (ROM), flash memory, first-in first-out (FIFO), and / or first-in last-out (FILO). The processor may be a general-purpose processor, including a central processing unit (CPU) or a network processor (NP); it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0045] Example 4: This embodiment provides a computer-readable storage medium having instructions stored thereon. When the instructions are executed on a computer, the computer is caused to execute the quadruped robot posture dynamic balancing method described in Example 1. The computer-readable storage medium refers to a data storage medium and may include, but is not limited to, a floppy disk, a CD, a hard disk, a flash memory, a USB flash drive, and / or a memory stick. The computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable device.

[0046] This embodiment further provides a computer program product, which, when executed on a computer, executes the quadruped robot posture dynamic balancing method in Example 1. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.

[0047] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A quadruped robot posture dynamic balancing method, characterized in that: include: Real-time collection of the quadruped robot's posture sensing data, gravity sensing data, and motion state detection data, wherein the posture sensing data includes pitch angle and roll angle, the gravity sensing data includes the gravity sensed by the quadruped's foot end, and the motion state detection data includes the center of gravity position parameters, the quadruped's foot end position parameters, and the quadruped's joint torque; Determine the height of the foot end of the quadruped relative to the horizontal plane where the center of gravity is located, and the horizontal projection distance from the foot end of the quadruped to the center of gravity according to the center of gravity position parameters and the foot end position parameters of the quadruped; Determine a foot end height reference value based on the foot end height of the quadruped, and determine a joint torque reference value based on the joint torque of the quadruped; Calculating the foot-end height adjustment of the quadruped using the pitch angle, the roll angle, the foot-end height reference value, and the foot-end height of the quadruped; The weight factor of the quadruped is calculated using the horizontal projection distance from the foot end of the quadruped to the center of gravity, the joint torque of the quadruped, the joint torque reference value and the height adjustment of the foot end of the quadruped; The weight factors of the four legs and the induced gravity at the feet of the four legs are used to calculate the distributed vertical force at the feet of the four legs, and the adjustment amount of the vertical force at the feet of the four legs is determined according to the distributed vertical force at the feet of the four legs and the induced gravity at the feet of the four legs; Based on the foot end height adjustment amount and the foot end vertical force adjustment amount of the quadruped, the telescopic height adjustment instruction and the joint torque adjustment instruction of the quadruped are generated, and the telescopic height adjustment instruction and the joint torque adjustment instruction of the quadruped are distributed to the joint control end of the quadruped.

2. A quadruped robot posture dynamic balancing method according to claim 1, characterized in that: Determining the height of the foot end of the quadruped relative to the horizontal plane where the center of gravity is located, and the horizontal projection distance from the foot end of the quadruped to the center of gravity according to the center of gravity position parameters and the foot end position parameters of the quadruped includes: The center of gravity and the foot ends of the quadrupeds are calibrated in the spatial coordinate system according to the center of gravity position parameters and the foot end position parameters of the quadrupeds, and the horizontal plane where the center of gravity is located is calibrated in the spatial coordinate system, and the horizontal plane where the center of gravity is located is used as a reference plane; Calculate the distance from the foot end of the quadruped to the reference surface in the spatial coordinate system, and use the distance from the foot end of the quadruped to the reference surface as the foot end height of the quadruped relative to the horizontal plane where the center of gravity is located; Project the foot tips of the four legs onto the reference plane respectively to obtain the corresponding foot tip projection points, and use the distance from the foot tip projection points to the center of gravity in the reference plane as the horizontal projection distance from the corresponding foot tip to the center of gravity.

3. A quadruped robot posture dynamic balancing method according to claim 1, characterized in that: The method of determining a foot end height reference value based on the foot end height of the quadruped and determining a joint torque reference value based on the joint torque of the quadruped includes: Calculate the average foot-end height of the four legs and use the average foot-end height of the four legs as the reference value of the foot-end height; Calculate the average joint torque of the four legs and use the average joint torque of the four legs as the joint torque reference value.

4. A quadruped robot posture dynamic balancing method according to claim 1, characterized in that: The method of calculating the quadruped's foot-end height adjustment amount by using the pitch angle, the roll angle, the foot-end height reference value, and the quadruped's foot-end height includes: Substitute the pitch angle, roll angle, foot-end height reference value, and the foot-end height of the quadruped into a preset height adjustment calculation model to calculate the foot-end height adjustment of the quadruped. The height adjustment calculation model is: Where i is the number of each foot, ΔH i Represents the height adjustment of the foot end of the i-th foot, H i Represents the foot end height of the i-th foot, H r represents the foot end height reference value, θ represents the pitch angle, φ represents the roll angle, K1, K2 and K3 are the set first component adjustment coefficient, second component adjustment coefficient and third component adjustment coefficient respectively.

5. A quadruped robot posture dynamic balancing method according to claim 4, characterized in that: The method of calculating the weight factor of the quadruped using the horizontal projection distance from the foot end of the quadruped to the center of gravity, the joint torque of the quadruped, the joint torque reference value, and the height adjustment amount of the foot end of the quadruped includes: Substitute the horizontal projection distance from the foot end of the quadruped to the center of gravity, the joint torque of the quadruped, the joint torque reference value, and the foot end height adjustment of the quadruped into the preset weight factor calculation model for calculation to obtain the weight factor of the quadruped. The weight factor calculation model is: Among them, W i Characterize the weight factor of the i-th foot, D i Represents the horizontal projection distance from the foot tip to the center of gravity of the i-th foot, M i Represents the joint torque of the i-th foot, M r Represents the reference value of the joint torque, ε is the set anti-zero constant, and α is the set height adjustment coefficient.

6. A quadruped robot posture dynamic balancing method according to claim 5, characterized in that: The method of calculating the vertical force distributed at the foot ends of the quadrupeds by using the weight factors of the quadrupeds and the gravity sensed at the foot ends of the quadrupeds includes: Substitute the quadruped's weight factor and the quadruped's foot-end induced gravity into the preset gravity distribution formula to calculate the distributed vertical force at the quadruped's foot end. The gravity distribution formula is: Among them, F i Characterizes the vertical force distributed at the foot end of the i-th foot, G i Represents the gravity sensed by the foot of the i-th foot.

7. A quadruped robot posture dynamic balancing method according to claim 1, characterized in that: The method of determining the adjustment amount of the vertical force at the foot ends of the quadrupeds according to the distributed vertical force at the foot ends of the quadrupeds and the sensed gravity at the foot ends includes: The vertical force adjustment amount at the foot end of each foot is obtained by subtracting the induced gravity at the foot end from the distributed vertical force at the foot end of each foot.

8. A quadruped robot posture dynamic balancing system, characterized in that: It includes a data acquisition unit, a distance determination unit, a reference analysis unit, a first calculation unit, a second calculation unit, a force distribution unit and an instruction adjustment unit, wherein: A data acquisition unit is used to collect the attitude sensing data, gravity sensing data and motion state detection data of the quadruped robot in real time, wherein the attitude sensing data includes pitch angle and roll angle, the gravity sensing data includes the gravity sensed by the foot end of the quadruped, and the motion state detection data includes the center of gravity position parameters, the foot end position parameters of the quadruped, and the joint torque of the quadruped; a distance determination unit, configured to determine, based on the center of gravity position parameters and the foot end position parameters of the quadruped, the foot end height of the quadruped relative to the horizontal plane where the center of gravity is located, and the horizontal projection distance from the foot end of the quadruped to the center of gravity; a reference analysis unit, configured to determine a foot end height reference value based on the foot end height of the quadruped, and determine a joint torque reference value based on the joint torque of the quadruped; a first calculation unit, configured to calculate a foot-end height adjustment amount of the quadruped using the pitch angle, the roll angle, the foot-end height reference value, and the foot-end height of the quadruped; a second calculation unit, configured to calculate a weight factor of the quadruped using a horizontal projection distance from the foot end of the quadruped to the center of gravity, a joint torque of the quadruped, a joint torque reference value, and an adjustment amount of the foot end height of the quadruped; A force distribution unit is used to calculate the distributed vertical force at the foot end of the quadruped using the weight factor of the quadruped and the sensed gravity at the foot end of the quadruped, and determine the adjustment amount of the vertical force at the foot end of the quadruped according to the distributed vertical force at the foot end of the quadruped and the sensed gravity at the foot end; The command adjustment unit is used to generate the telescopic height adjustment command and joint torque adjustment command of the quadruped based on the foot end height adjustment amount and foot end vertical force adjustment amount of the quadruped, and distribute the telescopic height adjustment command and joint torque adjustment command of the quadruped to the joint control end of the quadruped.

9. A quadruped robot posture dynamic balancing system, characterized in that: include: a memory for storing instructions; A processor is used to read the instructions stored in the memory and execute the quadruped robot posture dynamic balancing method according to any one of claims 1 to 7 according to the instructions.

10. A computer program product, characterized in that When the computer program product is run on a computer, the quadruped robot posture dynamic balancing method according to any one of claims 1 to 7 is executed.

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