Simulation methods, devices, electronic equipment, and storage media for hydraulic muscle models

Abstract

This application provides a method, apparatus, electronic device, and storage medium for simulating a hydraulic muscle model. The method includes: acquiring detection parameters of a hydraulic muscle model to be simulated, wherein the hydraulic muscle model includes at least a tendon, a connecting block, and a rope; one end of the tendon is deployed at a first target node, the other end of the tendon is deployed at a first surface of the connecting block, one end of the rope is fixed to a second surface of the connecting block, and the other end of the rope is fixed to a second target node; the detection parameters include at least a first nonlinear damping coefficient and a first stiffness coefficient of the rope; inputting the detection parameters into a physics engine based on multibody dynamics to obtain an initial hydraulic muscle simulation model; configuring the dynamic characteristic parameters of the simulation connecting block in the initial hydraulic muscle simulation model to obtain a hydraulic muscle simulation model. This application can achieve hydraulic muscle simulation modeling based on multibody dynamics with high simulation accuracy.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a method, device, electronic device and storage medium for simulating a hydraulic muscle model. Background Technology

[0002] Existing models of hydraulic muscles mostly use a single medium for actuation, while pure hydraulic muscle systems have significant response delays, and the length of hydraulic muscles is difficult to span long joints or double joints like real human muscles.

[0003] In related technologies, the length of real human muscles is simulated by directly connecting hydraulic muscles to ropes. However, the direct connection between the ropes and the muscles results in the rope length constantly changing while the muscle length remains constant, which does not match the actual situation of muscle movement, thus leading to low accuracy in the simulation. Summary of the Invention

[0004] In view of this, this application provides a method, device, electronic device and storage medium for simulating a hydraulic muscle model, which can realize the simulation modeling of hydraulic muscles based on multibody dynamics and has high simulation accuracy.

[0005] A first aspect of this application provides a method for simulating a hydraulic muscle model, comprising: acquiring detection parameters of a hydraulic muscle model to be simulated, wherein the hydraulic muscle model includes at least a tendon, a connecting block, and a rope, one end of the tendon is deployed at a first target node, the other end of the tendon is deployed at a first surface of the connecting block, one end of the rope is fixed to a second surface of the connecting block, and the other end of the rope is fixed to a second target node, the first surface and the second surface are arranged opposite to each other, the first target node and the second target node are located on different structures of the hydraulic muscle model, and the detection parameters include at least a first nonlinear damping coefficient and a first stiffness coefficient of the rope; inputting the detection parameters into a physics engine based on multibody dynamics to obtain an initial hydraulic muscle simulation model of the hydraulic muscle model, wherein the initial hydraulic muscle simulation model has the same structure as the hydraulic muscle model; configuring the dynamic characteristic parameters of the simulation connecting block in the initial hydraulic muscle simulation model to obtain a hydraulic muscle simulation model, wherein the dynamic characteristic parameters characterize the force transmitted by the simulation connecting block to the simulation rope during the movement of the hydraulic muscle simulation model.

[0006] In one possible implementation, the detection parameters further include the mass of the connecting block, the real-time hydraulic pressure of the tendon in the hydrodynamic muscle model, the real-time acceleration of the connecting block corresponding to the real-time hydraulic pressure, and the effective working area of ​​the tendon; configuring the dynamic characteristic parameters of the simulation connecting block includes configuring the dynamic characteristic parameters according to the following formula: ;in, These are the dynamic characteristic parameters. The real-time hydraulic pressure is [the pressure described]. The effective area is... The mass of the connecting block, The real-time acceleration is referred to as [the acceleration].

[0007] In one possible implementation, the detection parameters further include the position information, attitude information, and motion trajectory information of the connecting block, as well as the connection information between the connecting block and the rope. The step of inputting the detection parameters into a multibody dynamics-based physics engine to obtain an initial hydrodynamic muscle simulation model includes: inputting the position information, attitude information, motion trajectory information, and connection information into the physics engine; the physics engine generating a simulation connecting block with an initial position and attitude in the initial hydrodynamic muscle simulation model based on the position information and attitude information; establishing a target connection type between the simulation connecting block and the simulation rope in the initial hydrodynamic muscle simulation model based on the connection information; and restricting the motion trajectory of the simulation connecting block in the initial hydrodynamic muscle simulation model based on the motion trajectory information.

[0008] In one possible implementation, the detection parameters further include a first length limit range for the rope, a visualized rope diameter, and coordinate information of the two endpoints of the rope. The step of inputting the detection parameters into a multibody dynamics-based physics engine to obtain an initial hydrodynamic muscle simulation model includes: inputting the first length limit range, the visualized rope diameter, and the coordinate information into the physics engine; the physics engine generating the simulation rope between the simulation connection block and the target simulation structure based on the first nonlinear damping coefficient, the first stiffness coefficient, the visualized rope diameter, and the coordinate information; and limiting the tensile length of the simulation rope in the initial hydrodynamic muscle simulation model according to the first length limit range, wherein the target simulation structure is the simulation structure corresponding to the position of the second target node in the initial hydrodynamic muscle simulation model.

[0009] In one possible implementation, the material of the hydrodynamic muscle model includes rubber, and the detection parameters further include a second nonlinear damping coefficient and a second stiffness coefficient of the rubber.

[0010] In one possible implementation, the initial hydrodynamic muscle simulation model includes N simulated tendons connected to the same joint, where N is an integer greater than 1; the detection parameters further include: a second length limit range of the simulated tendons, a visualized muscle diameter, the length of the first tendon when fully contracted, and the length of the second tendon when fully relaxed.

[0011] In one possible implementation, the physics engine is the MuJoCo physics engine.

[0012] Secondly, this application also provides a simulation device for a hydraulic muscle model, comprising: an acquisition module, an input module, and a configuration module; the acquisition module is used to acquire detection parameters of the hydraulic muscle model to be simulated, wherein the hydraulic muscle model includes at least a tendon, a connecting block, and a rope, one end of the tendon is deployed at a first target node, the other end of the tendon is deployed at a first surface of the connecting block, one end of the rope is fixed to a second surface of the connecting block, and the other end of the rope is fixed to a second target node, the first surface and the second surface are arranged opposite to each other, and the first target node and the second target node are located at different points in the hydraulic muscle model. Structurally, the detection parameters include at least the first nonlinear damping coefficient and the first stiffness coefficient of the rope; the input module is used to input the detection parameters into a physics engine based on multibody dynamics to obtain an initial hydraulic muscle simulation model of the hydraulic muscle model, wherein the initial hydraulic muscle simulation model has the same structure as the hydraulic muscle model; the configuration module is used to configure the dynamic characteristic parameters of the simulation connecting block in the initial hydraulic muscle simulation model to obtain a hydraulic muscle simulation model, wherein the dynamic characteristic parameters characterize the force transmitted by the simulation connecting block to the simulation rope during the movement of the hydraulic muscle simulation model.

[0013] Thirdly, embodiments of this application also provide an electronic device, the electronic device including a processor and a memory, the memory being used to store instructions, and the processor being used to call the instructions in the memory, causing the electronic device to execute the hydraulic muscle model simulation method as described in the first aspect.

[0014] Fourthly, embodiments of this application also provide a storage medium that stores computer instructions that, when executed on an electronic device, cause the electronic device to perform the hydraulic muscle model simulation method as described in the first aspect.

[0015] Compared with related technologies, the embodiments of this application have at least the following advantages: By acquiring the detection parameters of the hydraulic muscle model, the detection parameters are input into the physics engine to obtain the initial hydraulic muscle simulation model. Since the initial hydraulic muscle simulation model has the same structure as the hydraulic muscle model, and since the hydraulic muscle model includes tendons, connecting blocks, and ropes, and the tendons, connecting blocks, and ropes are connected sequentially, on the one hand, the sequential connection of the simulated tendons, simulated connecting blocks, and simulated ropes in the initial hydraulic muscle simulation model realizes the biomechanical simulation of long muscles spanning multiple joints, avoiding the situation where "the length of hydraulic muscles is difficult to span long joints or double joints like real human muscles, resulting in low simulation accuracy," thus improving the simulation accuracy of the initial hydraulic muscle simulation model; on the other hand, by setting connecting blocks and configuring dynamic characteristic parameters for the connecting blocks, the situation where "the simulated rope is directly connected to the simulated tendon, resulting in the simulated rope length constantly changing while the simulated tendon length remains unchanged, which does not match the actual situation of muscle movement" is avoided, and the force transmission delay from the simulated tendon to the simulated rope is reduced, further improving the simulation accuracy of the initial hydraulic muscle simulation model. Furthermore, since nonlinear damping coefficients and stiffness coefficients are more suitable for dynamic simulation, inputting the detection parameters, including the first nonlinear damping coefficient and the first stiffness coefficient of the rope, into a physics engine based on multibody dynamics can improve the computational efficiency of the physics engine, thereby reducing the modeling complexity of the initial hydrodynamic muscle simulation model and enabling the initial hydrodynamic muscle simulation model to accurately simulate the effect of muscle contraction pulling the joint.

[0016] The technical effects achieved by the second, third, and fourth aspects mentioned above are similar to those achieved by the corresponding technical means in the first aspect, and will not be repeated here. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating one step of a simulation method for a hydraulic muscle model provided in an embodiment of this application.

[0018] Figure 2 This is a schematic diagram illustrating the simulation effect of a hydrodynamic muscle model provided in one embodiment of this application.

[0019] Figure 3 Another flowchart of the simulation method for a hydraulic muscle model provided in an embodiment of this application.

[0020] Figure 4 This is a functional block diagram of a hydraulic muscle model simulation device provided in an embodiment of this application.

[0021] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0022] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0023] The following description sets forth many specific details to provide a full understanding of this application. The described embodiments are only some, not all, of the embodiments of this application.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0025] It should be further noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0026] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0027] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0028] For ease of understanding, some concepts related to the embodiments of this application are illustrated and explained by way of example for reference.

[0029] MuJoCo Physics Engine: A high-performance physics engine focused on robotics, biomechanics, and machine learning. Its core design integrates innovative technologies from dynamics simulation and contact mechanics. It pioneered the combination of generalized coordinates from robotics with modern contact dynamics optimization methods, solving soft contact constraints through convex optimization. This avoids the instability of traditional spring-damped models, significantly improving the accuracy and stability of simulations of complex joint systems. It supports tendon modeling (3D path constraints, entanglement simulation) and general actuator models (unified modeling of motors / hydraulics / biological muscles), meeting diverse physical interaction needs.

[0030] Hydraulic muscle: This is a soft actuator that uses hydraulic or pneumatic pressure to drive flexible materials, simulating the contraction of biological muscles. Its core principle is to use fluid pressure to deform an elastic structure and generate mechanical motion. It consists of an elastic inner liner (rubber / silicone) and a braided sleeve. After fluid is injected, the internal pressure increases, and the sleeve's constraint causes axial contraction and outputs tensile force. The deformation rate can reach 20%-30%.

[0031] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating the steps of an embodiment of the hydraulic muscle model simulation method of this application. Depending on different requirements, the order of the steps in this flowchart can be changed, and some steps can be omitted.

[0032] It should be noted that the hydraulic muscle model simulation method of this application embodiment can be applied to robot simulation scenarios, and its execution subject can be a hydraulic muscle model simulation device. For example, in a robot simulation scenario, the simulation of a robot can be achieved through a hydraulic muscle model simulation device. Of course, the hydraulic muscle model simulation method can also be applied to other scenarios that require robot simulation, and this application does not specifically limit it in this regard.

[0033] The specific process of this embodiment is as follows: Figure 1 As shown, it includes the following steps:

[0034] S101, obtain the detection parameters of the hydraulic muscle model to be simulated.

[0035] Please refer to Figure 2 This is a schematic diagram illustrating the simulation effect of a hydraulic muscle model. The hydraulic muscle model includes at least a tendon 1, a connecting block 2, and a rope 3. One end 11 of the tendon 1 is deployed at the first target node A, and the other end 12 of the tendon is deployed at the first surface 21 of the connecting block 2. One end 31 of the rope 3 is fixed to the second surface 22 of the connecting block 2, and the other end 32 of the rope 3 is fixed to the second target node B. The first surface 21 and the second surface 22 are set opposite to each other. The first target node A and the second target node B are located on different structures of the hydraulic muscle model. The detection parameters include at least the first nonlinear damping coefficient and the first stiffness coefficient of the rope.

[0036] In some embodiments, the material of the hydrodynamic muscle model includes rubber, and the detection parameters also include a second nonlinear damping coefficient and a second stiffness coefficient of the rubber.

[0037] In some embodiments, a physical hydraulic muscle model is created using rubber, and then the hydraulic muscle model is tested to obtain test parameters.

[0038] It is worth noting that since the material of the hydraulic muscle model includes rubber, and the detection parameters include the second nonlinear damping coefficient and the second stiffness coefficient of the rubber, and since the rubber itself is a hyperelastic material, considering its anisotropic deformation would greatly increase the amount of computation and the computation speed. The second nonlinear damping coefficient and the second stiffness coefficient are more suitable for dynamic simulation. Therefore, inputting the detection parameters into a physics engine based on multibody dynamics can improve the computational efficiency of the physics engine, thereby reducing the modeling complexity of the initial hydraulic muscle simulation model, and enabling the initial hydraulic muscle simulation model to well simulate the effect of muscle contraction pulling the joint.

[0039] S102, input the detection parameters into the physics engine based on multibody dynamics to obtain the initial hydraulic muscle simulation model of the hydraulic muscle model, wherein the initial hydraulic muscle simulation model has the same structure as the hydraulic muscle model.

[0040] In some embodiments, the physics engine is the MuJoCo physics engine. Inputting the detection parameters into the MuJoCo physics engine yields the initial hydrodynamic muscle simulation model.

[0041] In some embodiments, the detection parameters further include: a second length limit range of the simulated tendon, a visualized muscle diameter of the simulated tendon, a first tendon length when the simulated tendon is fully contracted, and a second tendon length when the simulated tendon is fully relaxed.

[0042] It should be noted that the calculation of the second length limit range, the length of the first tendon, and the length of the second tendon are based on the contraction rate of biological muscle. Here, the second length limit range restores the length change of the actual muscle during contraction at a 1:1 ratio, thereby further improving the simulation accuracy of the initial hydrodynamic muscle simulation model.

[0043] In some embodiments, the initial hydrodynamic muscle simulation model includes N simulated tendons connected to the same joint, where N is an integer greater than 1.

[0044] Specifically, each simulated tendon is equipped with a muscle actuator, which drives the simulated tendon to move. By setting up N simulated tendons connected to the same joint and equipping each simulated tendon with a muscle actuator, multiple simulated tendons can drive the same joint in parallel, which is more in line with the actual movement of biological muscles, thereby further improving the simulation accuracy of the hydraulic muscle simulation model.

[0045] It is worth noting that by setting up N simulated tendons connected to the same joint in the initial hydraulic muscle simulation model and configuring a muscle actuator for each simulated tendon, multiple simulated tendons can drive the same joint in parallel, thus achieving high simulation accuracy of the hydraulic muscle simulation model.

[0046] In some embodiments, N is an integer greater than 1. This embodiment does not impose specific limitations on the value of N, and it can be set according to actual needs.

[0047] S103, In the initial hydraulic muscle simulation model, configure the dynamic characteristic parameters of the simulation connecting block to obtain the hydraulic muscle simulation model. The dynamic characteristic parameters characterize the force transmitted from the simulation connecting block to the simulation rope during the movement of the hydraulic muscle simulation model.

[0048] In some embodiments, the detection parameters further include the mass of the connecting block, the real-time hydraulic pressure of the tendon in the hydrodynamic muscle model, the real-time acceleration of the connecting block corresponding to the real-time hydraulic pressure, and the effective working area of ​​the tendon; configuring the dynamic characteristic parameters of the simulated connecting block includes configuring the dynamic characteristic parameters according to the following formula:

[0049] ;in, These are dynamic characteristic parameters. For real-time hydraulic pressure, For the effective area, For the quality of the connecting block, For real-time acceleration.

[0050] Compared with related technologies, the embodiments of this application have at least the following advantages: By acquiring the detection parameters of the hydraulic muscle model, the detection parameters are input into the physics engine to obtain the initial hydraulic muscle simulation model. Since the initial hydraulic muscle simulation model has the same structure as the hydraulic muscle model, and since the hydraulic muscle model includes tendons, connecting blocks, and ropes, and the tendons, connecting blocks, and ropes are connected sequentially, on the one hand, the sequential connection of the simulated tendons, simulated connecting blocks, and simulated ropes in the initial hydraulic muscle simulation model realizes the biomechanical simulation of long muscles spanning multiple joints, avoiding the situation where "the length of hydraulic muscles is difficult to span long joints or double joints like real human muscles, resulting in low simulation accuracy," thus improving the simulation accuracy of the initial hydraulic muscle simulation model; on the other hand, by setting connecting blocks and configuring dynamic characteristic parameters for the connecting blocks, the situation where "the simulated ropes are directly connected to the simulated tendons, causing the length of the simulated ropes to change continuously while the length of the simulated tendons remains unchanged, which does not match the actual situation of muscle movement" is avoided, further improving the simulation accuracy of the initial hydraulic muscle simulation model. Furthermore, since nonlinear damping coefficients and stiffness coefficients are more suitable for dynamic simulation, inputting the detection parameters, including the first nonlinear damping coefficient and the first stiffness coefficient of the rope, into a physics engine based on multibody dynamics can improve the computational efficiency of the physics engine, thereby reducing the modeling complexity of the initial hydrodynamic muscle simulation model and enabling the initial hydrodynamic muscle simulation model to accurately simulate the effect of muscle contraction pulling the joint.

[0051] Please refer to Figure 3 , Figure 3 This is a flowchart illustrating one embodiment of the hydraulic muscle model simulation method of this application. Depending on different requirements, the order of the steps in this flowchart can be changed, and some steps can be omitted. This hydraulic muscle model simulation method can be applied to the aforementioned hydraulic muscle model simulation device, but is not limited thereto, and the embodiments of this application do not limit it in this regard.

[0052] This embodiment is a detailed description of the foregoing embodiment, mainly illustrating how to generate simulated connecting blocks and simulated ropes in a physics engine when the detection parameters also include the position information, attitude information, motion trajectory information, connection information between the connecting block and the rope, as well as the first length limit range of the rope, the visualized rope diameter, and the coordinate information of the two ends of the rope. This method can further improve the simulation accuracy of the initial hydrodynamic muscle simulation model.

[0053] The specific process of this embodiment is as follows: Figure 3 As shown, it includes the following steps:

[0054] S301, obtain the detection parameters of the hydraulic muscle model to be simulated.

[0055] S302 inputs the position information, attitude information, motion trajectory information and connection information of the connecting block into the physics engine.

[0056] S303: The physics engine generates a simulation connection block with an initial position and initial posture in the initial hydraulic muscle simulation model based on the position and posture information; establishes the target connection type between the simulation connection block and the simulation rope in the initial hydraulic muscle simulation model based on the connection information; and restricts the motion trajectory of the simulation connection block in the initial hydraulic muscle simulation model based on the motion trajectory information.

[0057] S304 inputs the first length limit of the rope, the visualized rope diameter, and coordinate information into the physics engine.

[0058] S305, the physics engine generates a simulation rope between the simulation connection block and the target simulation structure based on the first nonlinear damping coefficient, the first stiffness coefficient, the visualized rope diameter, and coordinate information; the tensile length of the simulation rope in the initial hydraulic muscle simulation model is limited according to the first length limit range, wherein the target simulation structure is the simulation structure corresponding to the position of the second target node in the initial hydraulic muscle simulation model.

[0059] In some embodiments, the simulated rope may be configured with multiple nodes to simulate the function of a rope redirecting force when it passes around a pulley in real life.

[0060] S306, In the initial hydraulic muscle simulation model, configure the dynamic characteristic parameters of the simulation connecting block to obtain the hydraulic muscle simulation model. The dynamic characteristic parameters characterize the force transmitted from the simulation connecting block to the simulation rope during the movement of the hydraulic muscle simulation model.

[0061] Compared with related technologies, the embodiments of this application have at least the following advantages: By acquiring the detection parameters of the hydraulic muscle model, the detection parameters are input into the physics engine to obtain the initial hydraulic muscle simulation model. Since the initial hydraulic muscle simulation model has the same structure as the hydraulic muscle model, and since the hydraulic muscle model includes tendons, connecting blocks, and ropes, and the tendons, connecting blocks, and ropes are connected sequentially, on the one hand, the sequential connection of the simulated tendons, simulated connecting blocks, and simulated ropes in the initial hydraulic muscle simulation model realizes the biomechanical simulation of long muscles spanning multiple joints, avoiding the situation where "the length of hydraulic muscles is difficult to span long joints or double joints like real human muscles, resulting in low simulation accuracy," thus improving the simulation accuracy of the initial hydraulic muscle simulation model; on the other hand, by setting connecting blocks and configuring dynamic characteristic parameters for the connecting blocks, the situation where "the simulated rope is directly connected to the simulated tendon, resulting in the simulated rope length constantly changing while the simulated tendon length remains unchanged, which does not match the actual situation of muscle movement" is avoided, and the force transmission delay from the simulated tendon to the simulated rope is reduced, further improving the simulation accuracy of the initial hydraulic muscle simulation model. Furthermore, since nonlinear damping coefficients and stiffness coefficients are more suitable for dynamic simulation, inputting the detection parameters, including the first nonlinear damping coefficient and the first stiffness coefficient of the rope, into a physics engine based on multibody dynamics can improve the computational efficiency of the physics engine, thereby reducing the modeling complexity of the initial hydrodynamic muscle simulation model and enabling the initial hydrodynamic muscle simulation model to accurately simulate the effect of muscle contraction pulling the joint.

[0062] Based on the same idea as the hydraulic muscle model simulation method in the above embodiments, this application also provides a hydraulic muscle model simulation device, which can be used to execute the above-described hydraulic muscle model simulation method. For ease of explanation, the structural schematic diagram of the hydraulic muscle model simulation device embodiment only shows the parts related to the embodiments of this application. Those skilled in the art will understand that the illustrated structure does not constitute a limitation on the device, and it may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0063] like Figure 4 As shown, the hydraulic muscle model simulation device 40 includes an acquisition module 401, an input module 402, and a configuration module 403. In some embodiments, the above modules can be programmable software instructions stored in memory and executable by a processor. It is understood that in other embodiments, the above modules can also be program instructions or firmware embedded in the processor.

[0064] The acquisition module 401 is used to acquire the detection parameters of the hydraulic muscle model to be simulated. The hydraulic muscle model includes at least a tendon, a connecting block, and a rope. One end of the tendon is deployed at a first target node, and the other end of the tendon is deployed at a first surface of the connecting block. One end of the rope is fixed to a second surface of the connecting block, and the other end of the rope is fixed to a second target node. The first surface and the second surface are arranged opposite to each other. The first target node and the second target node are located on different structures of the hydraulic muscle model. The detection parameters include at least a first nonlinear damping coefficient and a first stiffness coefficient of the rope.

[0065] Input module 402 is used to input the detection parameters into a physics engine based on multibody dynamics to obtain an initial hydraulic muscle simulation model of the hydraulic muscle model, wherein the initial hydraulic muscle simulation model has the same structure as the hydraulic muscle model;

[0066] The configuration module 403 is used to configure the dynamic characteristic parameters of the simulation connecting block in the initial hydraulic muscle simulation model to obtain the hydraulic muscle simulation model, wherein the dynamic characteristic parameters characterize the force transmitted by the simulation connecting block to the simulation rope during the movement of the hydraulic muscle simulation model.

[0067] The hydraulic muscle model simulation device 40 provided in the above embodiments can realize the technical solutions described in the above hydraulic muscle model simulation method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above hydraulic muscle model simulation method embodiments, and will not be repeated here.

[0068] Please refer to point 5. Figure 5 This is a schematic diagram of an embodiment of the electronic device of this application.

[0069] In some embodiments, processor 501 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 502 or process data, such as the hydraulic muscle model simulation method of the present invention.

[0070] In some embodiments, processor 501 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 501 may be local or remote. In some embodiments, processor 501 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, inter-cloud, multi-cloud, or any combination thereof.

[0071] In some embodiments, memory 502 may be an internal storage unit of electronic device 500, such as a hard disk or memory of electronic device 500. In other embodiments, memory 502 may also be an external storage device of electronic device 500, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 500.

[0072] Furthermore, the memory 502 may include both internal storage units of the electronic device 500 and external storage devices. The memory 502 is used to store application software and various types of data installed on the electronic device 500.

[0073] In some embodiments, display 503 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 503 is used to display information from electronic device 500 and to display a visual user interface. Components 501-503 of electronic device 500 communicate with each other via a system bus.

[0074] In one embodiment, when the processor 501 executes the hydraulic muscle model simulation program in the memory 502, the following steps can be implemented:

[0075] The detection parameters of the hydraulic muscle model to be simulated are obtained. The hydraulic muscle model includes at least a tendon, a connecting block, and a rope. One end of the tendon is deployed at a first target node, and the other end of the tendon is deployed at a first surface of the connecting block. One end of the rope is fixed to a second surface of the connecting block, and the other end of the rope is fixed to a second target node. The first surface and the second surface are arranged opposite to each other. The first target node and the second target node are located on different structures of the hydraulic muscle model. The detection parameters include at least a first nonlinear damping coefficient and a first stiffness coefficient of the rope.

[0076] The detection parameters are input into a physics engine based on multibody dynamics to obtain an initial hydraulic muscle simulation model of the hydraulic muscle model, wherein the initial hydraulic muscle simulation model has the same structure as the hydraulic muscle model.

[0077] In the initial hydraulic muscle simulation model, the dynamic characteristic parameters of the simulation connecting block are configured to obtain the hydraulic muscle simulation model. The dynamic characteristic parameters characterize the force transmitted by the simulation connecting block to the simulation rope during the movement of the hydraulic muscle simulation model.

[0078] It should be understood that when the processor 501 executes the hydraulic muscle model simulation program in the memory 502, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0079] Furthermore, this embodiment of the invention does not specifically limit the type of electronic device 500 mentioned. Electronic device 500 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the invention, electronic device 500 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0080] Accordingly, this application also provides a storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions in the hydraulic muscle model simulation methods provided in the above-described method embodiments.

[0081] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0082] The above provides a detailed description of the hydraulic muscle model simulation method, device, electronic equipment, and storage medium provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method of hydromuscular model simulation, characterized by, include: The detection parameters of the hydraulic muscle model to be simulated are obtained. The hydraulic muscle model includes at least a tendon, a connecting block, and a rope. One end of the tendon is deployed at a first target node, and the other end of the tendon is deployed at a first surface of the connecting block. One end of the rope is fixed to a second surface of the connecting block, and the other end of the rope is fixed to a second target node. The first surface and the second surface are arranged opposite to each other. The first target node and the second target node are located on different structures of the hydraulic muscle model. The detection parameters include at least a first nonlinear damping coefficient and a first stiffness coefficient of the rope. The detection parameters are input into a physics engine based on multibody dynamics to obtain an initial hydraulic muscle simulation model of the hydraulic muscle model, wherein the initial hydraulic muscle simulation model has the same structure as the hydraulic muscle model. In the initial hydraulic muscle simulation model, the dynamic characteristic parameters of the simulation connecting block are configured to obtain the hydraulic muscle simulation model. The dynamic characteristic parameters characterize the force transmitted by the simulation connecting block to the simulation rope during the movement of the hydraulic muscle simulation model. The detection parameters also include the mass of the connecting block, the real-time hydraulic pressure of the tendon in the hydraulic muscle model, the real-time acceleration of the connecting block corresponding to the real-time hydraulic pressure, and the effective working area of ​​the tendon. The configuration of the dynamic characteristic parameters of the simulation connection block includes: Configure the dynamic characteristic parameters according to the following formula: ; wherein, is the kinetic characteristic parameter, is the real-time hydraulic pressure, is the effective action area, is the mass of the connecting block, is the real-time acceleration.

2. The hydromuscle model simulation method according to claim 1, characterized by, The detection parameters also include the position information, attitude information, and motion trajectory information of the connecting block, as well as the connection information between the connecting block and the rope; The step of inputting the detection parameters into a multibody dynamics-based physics engine to obtain the initial hydrodynamic muscle simulation model of the hydrodynamic muscle model includes: The location information, the attitude information, the motion trajectory information, and the connection information are input into the physics engine; The physics engine generates a simulation connection block with an initial position and initial posture in the initial hydraulic muscle simulation model based on the position information and the posture information; establishes a target connection type between the simulation connection block and the simulation rope in the initial hydraulic muscle simulation model based on the connection information; and restricts the motion trajectory of the simulation connection block in the initial hydraulic muscle simulation model based on the motion trajectory information.

3. The hydromuscle model simulation method according to claim 2, characterized by, The detection parameters also include the first length limit range of the rope, the visualized rope diameter, and the coordinate information of the two ends of the rope; The step of inputting the detection parameters into a multibody dynamics-based physics engine to obtain the initial hydrodynamic muscle simulation model of the hydrodynamic muscle model includes: Input the first length limit range, the visualized rope diameter, and the coordinate information into the physics engine; The physics engine generates the simulation rope between the simulation connection block and the target simulation structure based on the first nonlinear damping coefficient, the first stiffness coefficient, the visualized rope diameter, and the coordinate information; and limits the stretching length of the simulation rope in the initial hydraulic muscle simulation model according to the first length limit range, wherein the target simulation structure is the simulation structure corresponding to the position of the second target node in the initial hydraulic muscle simulation model.

4. The hydromuscle model simulation method according to claim 1, characterized by, The material of the hydrodynamic muscle model includes rubber, and the detection parameters also include the second nonlinear damping coefficient and the second stiffness coefficient of the rubber.

5. The hydromuscle model simulation method according to claim 1, wherein The initial hydrodynamic muscle simulation model includes N simulated tendons connected to the same joint, where N is an integer greater than 1; The detection parameters also include: the second length limit range of the simulated tendon, the visualized muscle diameter, the length of the first tendon when fully contracted, and the length of the second tendon when fully relaxed.

6. The hydromuscle model simulation method according to claim 1, wherein The physics engine is the MuJoCo physics engine.

7. A hydraulic muscle model simulation device, characterized in that, include: The module includes an acquisition module, an input module, and a configuration module. The acquisition module is used to acquire the detection parameters of the hydraulic muscle model to be simulated. The hydraulic muscle model includes at least a tendon, a connecting block, and a rope. One end of the tendon is deployed at a first target node, and the other end of the tendon is deployed at a first surface of the connecting block. One end of the rope is fixed to a second surface of the connecting block, and the other end of the rope is fixed to a second target node. The first surface and the second surface are arranged opposite to each other. The first target node and the second target node are located on different structures of the hydraulic muscle model. The detection parameters include at least a first nonlinear damping coefficient and a first stiffness coefficient of the rope. The input module is used to input the detection parameters into a physics engine based on multibody dynamics to obtain an initial hydraulic muscle simulation model of the hydraulic muscle model, wherein the initial hydraulic muscle simulation model has the same structure as the hydraulic muscle model. The configuration module is used to configure the dynamic characteristic parameters of the simulation connecting block in the initial hydraulic muscle simulation model to obtain the hydraulic muscle simulation model. The dynamic characteristic parameters characterize the force transmitted by the simulation connecting block to the simulation rope during the movement of the hydraulic muscle simulation model. The detection parameters also include the mass of the connecting block, the real-time hydraulic pressure of the tendon in the hydraulic muscle model, the real-time acceleration of the connecting block corresponding to the real-time hydraulic pressure, and the effective working area of ​​the tendon. The configuration of the dynamic characteristic parameters of the simulation connection block includes: Configure the dynamic characteristic parameters according to the following formula: ;in, These are the dynamic characteristic parameters. The real-time hydraulic pressure is [the pressure described]. The effective area is... The mass of the connecting block, The real-time acceleration is referred to as [the acceleration].

8. An electronic device, the electronic device comprising a processor and a memory, characterized in that, The memory is used to store instructions, and the processor is used to call the instructions in the memory, causing the electronic device to execute the hydraulic muscle model simulation method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores computer instructions that, when executed on an electronic device, cause the electronic device to perform the hydraulic muscle model simulation method as described in any one of claims 1 to 6.

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