Method and device for controlling flexible gait motion planning of humanoid robot

Abstract

The invention provides a control method and device for flexible gait motion planning of a humanoid robot, and the method comprises the steps: in a gait motion period of a target humanoid robot, aiming at each leg part of the target humanoid robot, carrying out the gait motion planning of the target humanoid robot; acquiring preset initial state data and expected state data corresponding to a support phase period of the leg part in the gait motion period; based on the initial state data and the expected state data, respectively determining an amplitude coefficient corresponding to the leg part in the gait motion period and sole landing position data corresponding to the leg part in the support phase period; and based on the amplitude coefficient, determining a foot sole ground contact force value corresponding to each moment of the leg part in the gait motion period, and based on the foot sole landing position data and the foot sole ground contact force value, controlling the target humanoid robot to perform smooth gait motion in the gait motion period. Through the method, the coordination, the stability and the efficiency of the flexible motion planning of the humanoid robot are improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a control method and apparatus for compliant gait motion planning of a humanoid robot. Background Technology

[0002] Currently, motion planning for humanoid robots generally uses kinematic planning methods to generate the robot's motion trajectory. This method does not have compliant motion characteristics. Specifically, it collects the current position and velocity feedback from sensors, combines this with the set target velocity, uses kinematic interpolation to generate a reference velocity trajectory, and then uses numerical integration to obtain the target position to complete the kinematic planning.

[0003] Because the above method ignores the dynamic characteristics of humanoid robots and does not consider the compliant contact characteristics between the soles of the feet and the ground, the motion planning results in periodic abrupt changes in the ground contact force. At the beginning of the support phase, the ground contact force of the soles of the feet abruptly changes from 0 to the magnitude of gravity, and at the end of the support phase, it abruptly changes from the magnitude of gravity back to 0. With the support and airborne movement of the legs, there are periodic abrupt changes. These periodic abrupt changes in ground contact force will cause continuous impact on the electronic control and mechanical systems of humanoid robots. In severe cases, it will cause electromechanical system coupling resonance, reduce the coordination and stability of humanoid robot movement, and reduce the lifespan of humanoid robots.

[0004] Furthermore, while the SLIP model-based planning method inspired by leg and foot biomechanics can achieve compliant motion planning, it still has some drawbacks, including: the ground contact time is difficult to control intuitively; the efficiency of nonlinear programming calculations is low, which cannot guarantee the efficiency and reliability of motion planning; the approximate analytical results reduce the accuracy of compliant motion planning, and the efficiency of motion planning decreases as the complexity of the approximate analytical results of three-dimensional compliant motion increases. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a control method and device for compliant gait motion planning of a humanoid robot. By acquiring the preset initial state data and expected state data of each leg component in the support phase cycle of the target humanoid robot, the amplitude coefficient corresponding to the gait motion cycle and the foot landing position data corresponding to the support phase cycle are determined. Stable and efficient target tracking control without beat is then performed based on the amplitude coefficient of the foot contact force. Based on the amplitude coefficient, the foot contact force value corresponding to each moment in the gait motion cycle is determined. The foot contact force time explicit biomimetic trajectory is used to achieve compliant interaction between the foot and the ground, avoiding periodic force abrupt changes in motion planning. This achieves stable and compliant gait motion planning for the humanoid robot, reduces the landing impact noise and electromechanical system coupling resonance of the humanoid robot, and improves the coordination, stability and efficiency of compliant motion planning for the humanoid robot, thereby increasing the service life of the humanoid robot.

[0006] This application provides a control method for compliant gait motion planning of a humanoid robot, the control method comprising: In the gait motion cycle of the target humanoid robot, for each leg component in the two leg components of the target humanoid robot, the preset initial state data and expected state data corresponding to the support phase cycle of the leg component in the gait motion cycle are obtained; Based on the initial state data and the desired state data, the amplitude coefficient of the leg component corresponding to the gait motion cycle and the foot landing position data of the leg component corresponding to the support phase cycle are determined respectively. Based on the amplitude coefficient, the foot contact force value corresponding to each moment in the gait cycle of the leg component is determined, and based on the foot landing position data and the foot contact force value, the target humanoid robot is controlled to perform compliant gait movement in the gait cycle.

[0007] Furthermore, the initial state data includes initial position data and initial velocity data, and the desired state data includes desired position data and desired velocity data; The initial position data includes the initial three-dimensional spatial coordinates corresponding to the center of mass of the foot of the leg component, and the initial velocity data includes the lateral initial velocity value, longitudinal initial velocity value, and vertical initial velocity value corresponding to the center of mass of the foot of the leg component, respectively; the desired position data includes the desired three-dimensional spatial coordinates corresponding to the center of mass of the foot of the leg component, and the desired velocity data includes the lateral desired velocity value, longitudinal desired velocity value, and vertical desired velocity value corresponding to the center of mass of the foot of the leg component, respectively.

[0008] Furthermore, the desired vertical velocity value is preset through the following steps: The preset first duration corresponding to the air phase period in the gait motion cycle and the gravitational acceleration value corresponding to the position of the target humanoid robot are obtained respectively. The desired vertical velocity value is determined based on the first duration and the gravitational acceleration value.

[0009] Furthermore, determining the amplitude coefficient of the leg component corresponding to the gait motion cycle and the foot landing position data of the leg component corresponding to the support phase cycle based on the initial state data and the desired state data includes: Obtain the preset second duration corresponding to the period of the support phase; Based on the initial position data, the initial velocity data, the desired position data, the desired velocity data, and the second duration, the amplitude coefficient of the leg component corresponding to the gait motion cycle is determined; wherein, the amplitude coefficient includes a lateral amplitude coefficient, a first longitudinal amplitude coefficient, a second longitudinal amplitude coefficient, a first vertical amplitude coefficient, and a second vertical amplitude coefficient; Based on the initial position data, the initial velocity data, the desired velocity data, and the second duration, the foot landing position data of the leg component corresponding to the support phase cycle is determined.

[0010] Furthermore, determining the amplitude coefficient of the leg component corresponding to the gait motion cycle based on the initial position data, the initial velocity data, the desired position data, the desired velocity data, and the second duration includes: The gravitational acceleration value corresponding to the location of the target humanoid robot and the mass value corresponding to the target humanoid robot are obtained respectively. Based on the initial three-dimensional spatial coordinates, the desired three-dimensional spatial coordinates, the initial lateral velocity value, the initial longitudinal velocity value, the initial vertical velocity value, the desired lateral velocity value, the desired longitudinal velocity value, the desired vertical velocity value, the second duration, the gravitational acceleration value, and the mass value, the lateral amplitude coefficient, the first longitudinal amplitude coefficient, the second longitudinal amplitude coefficient, the first vertical amplitude coefficient, and the second vertical amplitude coefficient of the leg component corresponding to the gait motion cycle are determined respectively.

[0011] Furthermore, the foot landing position data includes the two-dimensional landing coordinates of the leg component's foot landing position corresponding to the support phase cycle; determining the foot landing position data of the leg component corresponding to the support phase cycle based on the initial position data, the initial velocity data, the desired velocity data, and the second duration includes: Based on the initial lateral velocity value, the desired lateral velocity value, the second duration, and the preset lateral velocity error control coefficient, the relative landing lateral coordinate of the foot landing position relative to the initial three-dimensional spatial coordinates is determined; Based on the initial longitudinal velocity value, the desired longitudinal velocity value, the second duration, the lateral velocity error control coefficient, and the flag parameters corresponding to the leg component, the relative landing longitudinal coordinate of the foot landing position relative to the initial three-dimensional spatial coordinates is determined; The two-dimensional landing coordinates are determined based on the relative landing x-coordinate, the relative landing y-coordinate, and the initial three-dimensional spatial coordinates.

[0012] Furthermore, the plantar contact force value includes a lateral plantar contact force value, a longitudinal plantar contact force value, and a vertical plantar contact force value; determining the plantar contact force value corresponding to each moment of the leg component in the gait cycle based on the amplitude coefficient includes: For the airborne phase of the gait cycle, preset values ​​are respectively determined as the lateral foot contact force, longitudinal foot contact force, and vertical foot contact force values ​​of the leg component at each moment of the airborne phase. For the support phase cycle in the gait movement cycle, based on the lateral amplitude coefficient in the amplitude coefficient and the preset deformation coefficient, the lateral foot contact force value corresponding to each moment in the support phase cycle of the leg component is determined; Based on the first longitudinal amplitude coefficient and the second longitudinal amplitude coefficient in the amplitude coefficient, the longitudinal foot contact force value corresponding to each moment in the support phase cycle of the leg component is determined; Based on the first vertical amplitude coefficient and the second vertical amplitude coefficient in the amplitude coefficient, the vertical foot contact force value corresponding to each moment in the support phase cycle of the leg component is determined.

[0013] This application embodiment also provides a control device for compliant gait motion planning of a humanoid robot, the control device comprising: The data acquisition module is used to acquire, during the gait motion cycle of the target humanoid robot, preset initial state data and expected state data corresponding to the support phase cycle of each leg component in the gait motion cycle of the target humanoid robot. The data calculation module is used to determine, based on the initial state data and the desired state data, the amplitude coefficient of the leg component in the gait motion cycle and the foot landing position data of the leg component in the support phase cycle, respectively. The motion control module is used to determine the foot contact force value corresponding to each moment of the leg component in the gait motion cycle based on the amplitude coefficient, and to control the target humanoid robot to perform compliant gait motion in the gait motion cycle based on the foot landing position data and the foot contact force value.

[0014] Furthermore, the initial state data includes initial position data and initial velocity data, and the desired state data includes desired position data and desired velocity data; The initial position data includes the initial three-dimensional spatial coordinates corresponding to the center of mass of the foot of the leg component, and the initial velocity data includes the lateral initial velocity value, longitudinal initial velocity value, and vertical initial velocity value corresponding to the center of mass of the foot of the leg component, respectively; the desired position data includes the desired three-dimensional spatial coordinates corresponding to the center of mass of the foot of the leg component, and the desired velocity data includes the lateral desired velocity value, longitudinal desired velocity value, and vertical desired velocity value corresponding to the center of mass of the foot of the leg component, respectively.

[0015] Furthermore, when the data acquisition module is used to preset the desired vertical velocity value, the data acquisition module is used to: The preset first duration corresponding to the air phase period in the gait motion cycle and the gravitational acceleration value corresponding to the position of the target humanoid robot are obtained respectively. The desired vertical velocity value is determined based on the first duration and the gravitational acceleration value.

[0016] Furthermore, when the data calculation module determines the amplitude coefficient of the leg component corresponding to the gait motion cycle and the foot landing position data of the leg component corresponding to the support phase cycle based on the initial state data and the desired state data, the data calculation module is used to: Obtain the preset second duration corresponding to the period of the support phase; Based on the initial position data, the initial velocity data, the desired position data, the desired velocity data, and the second duration, the amplitude coefficient of the leg component corresponding to the gait motion cycle is determined; wherein, the amplitude coefficient includes a lateral amplitude coefficient, a first longitudinal amplitude coefficient, a second longitudinal amplitude coefficient, a first vertical amplitude coefficient, and a second vertical amplitude coefficient; Based on the initial position data, the initial velocity data, the desired velocity data, and the second duration, the foot landing position data of the leg component corresponding to the support phase cycle is determined.

[0017] Furthermore, when the data calculation module determines the amplitude coefficient of the leg component corresponding to the gait motion cycle based on the initial position data, the initial velocity data, the desired position data, the desired velocity data, and the second duration, the data calculation module is used to: The gravitational acceleration value corresponding to the location of the target humanoid robot and the mass value corresponding to the target humanoid robot are obtained respectively. Based on the initial three-dimensional spatial coordinates, the desired three-dimensional spatial coordinates, the initial lateral velocity value, the initial longitudinal velocity value, the initial vertical velocity value, the desired lateral velocity value, the desired longitudinal velocity value, the desired vertical velocity value, the second duration, the gravitational acceleration value, and the mass value, the lateral amplitude coefficient, the first longitudinal amplitude coefficient, the second longitudinal amplitude coefficient, the first vertical amplitude coefficient, and the second vertical amplitude coefficient of the leg component corresponding to the gait motion cycle are determined respectively.

[0018] Furthermore, the foot landing position data includes the two-dimensional landing coordinates of the leg component's foot landing position corresponding to the support phase cycle; when the data calculation module determines the foot landing position data of the leg component corresponding to the support phase cycle based on the initial position data, the initial velocity data, the desired velocity data, and the second duration, the data calculation module is used to: Based on the initial lateral velocity value, the desired lateral velocity value, the second duration, and the preset lateral velocity error control coefficient, the relative landing lateral coordinate of the foot landing position relative to the initial three-dimensional spatial coordinates is determined; Based on the initial longitudinal velocity value, the desired longitudinal velocity value, the second duration, the lateral velocity error control coefficient, and the flag parameters corresponding to the leg component, the relative landing longitudinal coordinate of the foot landing position relative to the initial three-dimensional spatial coordinates is determined; The two-dimensional landing coordinates are determined based on the relative landing x-coordinate, the relative landing y-coordinate, and the initial three-dimensional spatial coordinates.

[0019] Furthermore, the plantar contact force value includes a lateral plantar contact force value, a longitudinal plantar contact force value, and a vertical plantar contact force value; when the motion control module determines the plantar contact force value corresponding to the leg component at each moment in the gait cycle based on the amplitude coefficient, the motion control module is used to: For the airborne phase of the gait cycle, preset values ​​are respectively determined as the lateral foot contact force, longitudinal foot contact force, and vertical foot contact force values ​​of the leg component at each moment of the airborne phase. For the support phase cycle in the gait movement cycle, based on the lateral amplitude coefficient in the amplitude coefficient and the preset deformation coefficient, the lateral foot contact force value corresponding to each moment in the support phase cycle of the leg component is determined; Based on the first longitudinal amplitude coefficient and the second longitudinal amplitude coefficient in the amplitude coefficient, the longitudinal foot contact force value corresponding to each moment in the support phase cycle of the leg component is determined; Based on the first vertical amplitude coefficient and the second vertical amplitude coefficient in the amplitude coefficient, the vertical foot contact force value corresponding to each moment in the support phase cycle of the leg component is determined.

[0020] This application also provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the control method for humanoid robot compliant gait motion planning described above are performed.

[0021] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the control method for humanoid robot compliant gait motion planning described above.

[0022] This application provides a control method and apparatus for compliant gait planning of a humanoid robot. The control method includes: during the gait cycle of a target humanoid robot, for each leg component of the target humanoid robot, acquiring preset initial state data and desired state data corresponding to the support phase cycle of the leg component in the gait cycle; based on the initial state data and the desired state data, determining the amplitude coefficient corresponding to the leg component in the gait cycle and the foot landing position data corresponding to the foot component in the support phase cycle; based on the amplitude coefficient, determining the foot contact force value corresponding to the leg component at each moment in the gait cycle; and based on the foot landing position data and the foot contact force value, controlling the target humanoid robot to perform compliant gait movement in the gait cycle.

[0023] Compared to existing methods that use kinematic planning to generate the motion trajectory of humanoid robots and planning methods based on SLIP models inspired by leg biomechanics, which can achieve compliant motion planning, this method obtains preset initial and expected state data for each leg component of the target humanoid robot during the support phase cycle. It determines the amplitude coefficient corresponding to the gait cycle and the foot landing position data corresponding to the support phase cycle. Based on the amplitude coefficient of the foot contact force, stable and efficient target tracking without beat control is performed. Furthermore, based on the amplitude coefficient, the foot contact force value corresponding to each moment in the gait cycle is determined. This allows for the use of explicit biomimetic trajectories based on the foot contact force time to achieve compliant interaction between the foot and the ground, avoiding periodic force abrupt changes in motion planning. This results in stable and compliant gait planning for the humanoid robot, reducing landing impact noise and electromechanical system coupling resonance, and improving the coordination, stability, and efficiency of compliant motion planning, thereby extending the lifespan of the humanoid robot.

[0024] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A flowchart illustrating a control method for compliant gait motion planning of a humanoid robot, provided as an embodiment of this application; Figure 2 A snapshot diagram illustrating a humanoid robot's compliant motion planning for an embodiment of this application; Figure 3 This is a schematic diagram illustrating the change in the velocity of the center of mass of a humanoid robot, provided in an embodiment of this application. Figure 4 A schematic diagram illustrating the change in the vertical height of the center of mass of a humanoid robot, provided as an embodiment of this application; Figure 5 A schematic diagram illustrating the variation of foot contact force in the horizontal direction, provided as an embodiment of this application. Figure 6 This is a schematic diagram of the structure of a control device for compliant gait planning of a humanoid robot provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0028] Research has shown that humanoid robots possess strong stable movement capabilities and are at a crucial stage of transitioning from the laboratory to practical applications. Improving the compliant interaction between humanoid robots and the ground is an important foundation for further enhancing their overall coordinated movement capabilities, and is of great significance for promoting the practical application of humanoid robots.

[0029] Currently, motion planning for humanoid robots generally uses kinematic planning methods to generate the robot's trajectory. This method lacks compliant motion characteristics. Specifically, it collects the current position and velocity feedback from sensors and combines this with a set target velocity. Kinematic interpolation is then used to generate a reference velocity trajectory, and numerical integration is used to obtain the target position to complete the kinematic planning. Furthermore, the results of planning using the classic linear inverted pendulum (LIP) model will produce periodic abrupt changes in ground contact force.

[0030] Because the above method ignores the dynamic characteristics of humanoid robots and does not consider the compliant contact characteristics between the soles of the feet and the ground, the motion planning results in periodic abrupt changes in the ground contact force. At the beginning of the support phase, the ground contact force of the soles of the feet abruptly changes from 0 to the magnitude of gravity, and at the end of the support phase, it abruptly changes from the magnitude of gravity back to 0. With the support and airborne movement of the legs, there are periodic abrupt changes. These periodic abrupt changes in ground contact force will cause continuous impact on the electronic control and mechanical systems of humanoid robots. In severe cases, it will cause electromechanical system coupling resonance, reduce the coordination and stability of humanoid robot movement, and reduce the lifespan of humanoid robots.

[0031] Furthermore, existing compliant motion planning based on leg and foot bio-inspired models has significant limitations. Running and walking movements exhibit compliant motion characteristics, meaning that within a single support cycle, the plantar contact force changes continuously from 0, eventually returning to 0 at the end of the support phase, exhibiting a sudden loss of power. Vertically, it displays a single-peak shape, while laterally, it presents a shape similar to a sine function. Therefore, the Spring-Loaded Inverted Pendulum (SLIP) is used to model and describe the compliant motion characteristics. The biomimetic compliant motion characteristics of the SLIP include an implicit biomimetic trajectory of the plantar contact force, making the foot-ground interaction force not directly related to time, but rather having an explicit temporal relationship with the motion state, thus indirectly linking the motion trajectory to time.

[0032] While the SLIP model-based planning method inspired by leg and foot biomechanics can achieve compliant motion planning, it still has some drawbacks, including: the ground contact time is difficult to control intuitively; the efficiency of nonlinear programming calculations is low, which cannot guarantee the efficiency and reliability of motion planning; the approximate analytical results reduce the accuracy of compliant motion planning, and the efficiency of motion planning decreases as the complexity of the approximate analytical results of three-dimensional compliant motion increases.

[0033] Based on this, this application provides a control method for compliant gait motion planning of a humanoid robot. By acquiring preset initial state data and expected state data for each leg component of the target humanoid robot during the support phase cycle, the amplitude coefficient corresponding to the gait motion cycle and the foot landing position data corresponding to the support phase cycle are determined. Stable and efficient target tracking control without beat is then performed based on the amplitude coefficient of the foot contact force. Based on the amplitude coefficient, the foot contact force value corresponding to each moment in the gait motion cycle is determined. A compliant interaction between the foot and the ground is achieved by using an explicit biomimetic trajectory of the foot contact force time, avoiding periodic force abrupt changes in motion planning. This results in stable and compliant gait motion planning for the humanoid robot, reducing landing impact noise and electromechanical system coupling resonance, and improving the coordination, stability, and efficiency of compliant motion planning for the humanoid robot, thereby increasing the service life of the humanoid robot.

[0034] Please see Figure 1 , Figure 1 A flowchart illustrating a control method for compliant gait motion planning of a humanoid robot, provided as an embodiment of this application. Figure 1 As shown in the embodiments of this application, the control method for humanoid robot compliant gait planning is generally applicable to the gait planning and control of bipedal robots in service and flexible industrial scenarios. The control method includes: S101. During the gait cycle of the target humanoid robot, for each leg component of the target humanoid robot's two leg components, obtain the preset initial state data and expected state data corresponding to the support phase cycle of the leg component in the gait cycle.

[0035] It should be noted that a humanoid robot refers to a bipedal robot whose shape and movement mimic humans. A humanoid robot has a bipedal walking structure, including two leg components, each of which includes a hip-knee-ankle joint. The goal is to achieve human-like mobility, manipulation, and interaction capabilities. The target humanoid robot described in this application embodiment is a humanoid robot that is expected to perform compliant gait motion planning using the method described in this application embodiment.

[0036] In the embodiments of this application, the gait cycle of the target humanoid robot refers to the complete motion process experienced by the humanoid robot from the moment one foot touches the ground until that foot touches the ground again. It is the basic time unit for analyzing and controlling bipedal movement.

[0037] Here, for a single leg component, a single gait cycle includes a support phase cycle and a take-off phase cycle. The support phase cycle refers to the stage in which the leg component remains in contact with the ground and bears the body weight. During this period, the humanoid robot transmits forces and torques through the support leg component to maintain balance and propel the body forward. The take-off phase refers to the stage in which the swinging leg component leaves the ground and swings forward to prepare for the next landing. At this time, the leg component does not bear the weight of the humanoid robot.

[0038] For example, within a single gait cycle, the humanoid robot's right leg component experiences one support phase cycle and one take-off phase cycle, while the humanoid robot's left leg component synchronously experiences the opposite phase (i.e., when the right leg is in support, the left leg is in take-off); double support occurs twice: at the beginning of the cycle and in the middle (i.e., at the moment of leg switching).

[0039] In this embodiment of the application, the initial state data includes initial position data and initial velocity data, and the desired state data includes desired position data and desired velocity data.

[0040] Here, the expected state data includes the position that the leg component is expected to reach at the end of the support phase cycle in the gait movement cycle and the speed at which it reaches that position.

[0041] The initial position data includes the initial three-dimensional spatial coordinates corresponding to the center of mass of the foot of the leg component, for example, The initial velocity data includes the lateral initial velocity values ​​corresponding to the plantar center of gravity positions of the leg components (e.g., ...). ), longitudinal initial velocity value (e.g., ) and vertical initial velocity value (e.g., ).

[0042] The desired position data includes the desired three-dimensional spatial coordinates corresponding to the center of mass of the foot of the leg component, for example... The desired velocity data includes the lateral desired velocity values ​​corresponding to the plantar center of gravity positions of the leg component (e.g., ), longitudinal expected velocity value (e.g., ) and vertical desired velocity value (e.g., ).

[0043] In one possible implementation of this application, in specific implementation, the step of presetting the desired vertical velocity value in step S101 may include: S1011. Obtain the preset first duration corresponding to the airborne phase period in the gait motion cycle, and the gravitational acceleration value corresponding to the location of the target humanoid robot.

[0044] In this embodiment of the application, the vertical expected velocity value corresponding to the foot center of mass position of the leg component is determined by a calculation method based on the expected velocity at the end of the vertical support phase with a given airtime.

[0045] Based on the assumption that the vertical displacements during take-off and landing are equal and the velocities are opposite, the final velocity of the humanoid robot's foot center of mass in the vertical direction can be deduced, that is, the expected vertical velocity value corresponding to the position of the foot center of mass of the leg component.

[0046] S1012. Based on the first duration and the gravitational acceleration value, determine the vertical desired velocity value.

[0047] In this embodiment of the application, the desired vertical velocity value is determined by the following formula.

[0048] .

[0049] in, This represents the expected vertical velocity value corresponding to the position of the foot's center of mass in the leg component; This indicates the preset first duration corresponding to the airborne phase period in the gait cycle; This represents the gravitational acceleration value corresponding to the location of the target humanoid robot.

[0050] For example, assuming the first duration is set to 0.05 s, the gravitational acceleration is 9.8 m / s². 2 The desired vertical velocity can be determined to be 0.245 m / s.

[0051] S102. Based on the initial state data and the desired state data, determine the amplitude coefficient of the leg component corresponding to the gait motion cycle, and the foot landing position data of the leg component corresponding to the support phase cycle.

[0052] Here, the amplitude coefficients include the lateral amplitude coefficient, the first longitudinal amplitude coefficient, the second longitudinal amplitude coefficient, the first vertical amplitude coefficient, and the second vertical amplitude coefficient.

[0053] In this embodiment of the application, a target tracking control method based on the foot contact force amplitude coefficient is used. Based on the initial state data of the support phase period and the expected state data at the end of the support phase period, the lateral amplitude coefficient, the first longitudinal amplitude coefficient, the second longitudinal amplitude coefficient, the first vertical amplitude coefficient and the second vertical amplitude coefficient are determined according to the compliant motion control algebraic equation.

[0054] Here, the foot landing position data includes the two-dimensional landing coordinates of the foot landing position of the leg component corresponding to the support phase period.

[0055] In this embodiment, the foot landing position data corresponding to the support phase cycle of the leg component is determined based on the principle of symmetry.

[0056] In one possible implementation of this application, step S102 may include: S1021. Obtain the second duration corresponding to the period of the support phase.

[0057] S1022. Based on the initial position data, the initial velocity data, the desired position data, the desired velocity data, and the second duration, determine the amplitude coefficient of the leg component corresponding to the gait motion cycle.

[0058] In one possible implementation of this application, step S1022 may include: S10221. Obtain the gravitational acceleration value corresponding to the location of the target humanoid robot, and the mass value corresponding to the target humanoid robot.

[0059] S10222. Based on the initial three-dimensional spatial coordinates, the desired three-dimensional spatial coordinates, the initial lateral velocity value, the initial longitudinal velocity value, the initial vertical velocity value, the desired lateral velocity value, the desired longitudinal velocity value, the desired vertical velocity value, the second duration, the gravitational acceleration value, and the mass value, determine the lateral amplitude coefficient, the first longitudinal amplitude coefficient, the second longitudinal amplitude coefficient, the first vertical amplitude coefficient, and the second vertical amplitude coefficient of the leg component corresponding to the gait motion cycle, respectively.

[0060] In this embodiment, the lateral amplitude coefficient of the leg component during the gait cycle is determined by the following compliant motion control algebraic equation formula based on the desired abscissa in the desired three-dimensional spatial coordinates, the desired lateral velocity value, the initial lateral velocity value, the initial abscissa in the initial three-dimensional spatial coordinates, the second duration, the mass value, and the preset deformation coefficient.

[0061] .

[0062] in, Indicates the horizontal amplitude coefficient; This represents the initial x-coordinate in the initial three-dimensional spatial coordinate system. This represents the desired x-coordinate in the desired three-dimensional spatial coordinate system. Indicates the second duration; Indicates the quality value; This represents the preset deformation coefficient; This represents the expected lateral velocity value; This represents the initial lateral velocity value.

[0063] Furthermore, based on the desired ordinate in the desired three-dimensional spatial coordinates, the initial ordinate in the initial three-dimensional spatial coordinates, the desired longitudinal velocity value, the initial longitudinal velocity value, the second duration, the mass value, and the gravitational acceleration value, the first longitudinal amplitude coefficient and the second longitudinal amplitude coefficient of the leg component during the gait motion cycle are determined by the following compliant motion control algebraic equation formula.

[0064] .

[0065] in, Indicates the first longitudinal amplitude coefficient; Indicates the second longitudinal amplitude coefficient; This represents the desired ordinate in the desired three-dimensional spatial coordinate system. This represents the initial ordinate in the initial three-dimensional spatial coordinate system. This represents the expected longitudinal velocity value; This represents the initial longitudinal velocity value; Indicates the second duration; Indicates the quality value; This represents the value of gravitational acceleration.

[0066] Furthermore, based on the desired vertical coordinate in the desired three-dimensional spatial coordinates, the initial vertical coordinate in the initial three-dimensional spatial coordinates, the desired vertical velocity value, the initial vertical velocity value, the second duration, the mass value, and the gravitational acceleration value, the following compliant motion control algebraic equation formula is used to determine the first vertical amplitude coefficient and the second vertical amplitude coefficient corresponding to the leg component in the gait motion cycle.

[0067] 。

[0068] in, Indicates the first vertical amplitude coefficient; Indicates the second vertical amplitude coefficient; This represents the desired vertical coordinate in the desired three-dimensional spatial coordinate system. This represents the initial vertical coordinate in the initial three-dimensional spatial coordinate system. This represents the desired vertical velocity value; This represents the initial vertical velocity value; Indicates the second duration; Indicates the quality value; This represents the value of gravitational acceleration.

[0069] S1023. Based on the initial position data, the initial velocity data, the desired velocity data, and the second duration, determine the foot landing position data of the leg component corresponding to the support phase cycle.

[0070] In one possible implementation of this application, step S1023 may include: S10231. Based on the initial lateral velocity value, the desired lateral velocity value, the second duration, and the preset lateral velocity error control coefficient, determine the relative landing lateral coordinate of the foot landing position relative to the initial three-dimensional spatial coordinates.

[0071] In this embodiment of the application, the relative landing x-coordinate is determined by the following formula.

[0072] .

[0073] in, This represents the relative horizontal coordinate of the foot's landing position relative to the initial three-dimensional spatial coordinates; This represents the initial lateral velocity value; This represents the expected lateral velocity value; Indicates the second duration; This represents the preset lateral velocity error control coefficient.

[0074] S10232. Based on the initial longitudinal velocity value, the desired longitudinal velocity value, the second duration, the lateral velocity error control coefficient, and the flag position parameter corresponding to the leg component, determine the relative landing longitudinal coordinate of the foot landing position relative to the initial three-dimensional spatial coordinates.

[0075] In this embodiment of the application, the relative landing ordinate is determined by the following formula.

[0076] .

[0077] in, This represents the relative vertical coordinate of the foot's landing position relative to the initial three-dimensional spatial coordinates; This represents the initial longitudinal velocity value; This represents the expected longitudinal velocity value; Indicates the second duration; This represents the lateral velocity error control coefficient; This indicates the flag parameter corresponding to the leg component.

[0078] here, The flag information indicates the left and right leg components, where, This indicates that the current support phase cycle is the left leg support, meaning that this leg component is the left leg; This indicates that the current support phase cycle is right leg support, meaning that this leg component is the right leg.

[0079] in, The flag parameters corresponding to this leg component are preset constants. Used to ensure the lateral dynamic balance of humanoid robots during gait.

[0080] S10233. Based on the relative landing horizontal coordinate, the relative landing vertical coordinate, and the initial three-dimensional spatial coordinates, determine the two-dimensional landing coordinates.

[0081] Here, the two-dimensional landing coordinates are the position coordinates of the foot of the leg component relative to the world coordinate system; the two-dimensional landing coordinates include the horizontal coordinate and the vertical coordinate of the landing.

[0082] In this embodiment of the application, the horizontal coordinate of the landing in the two-dimensional landing coordinate system is determined by the following formula.

[0083] .

[0084] in, This represents the horizontal coordinate of the landing point in a two-dimensional landing coordinate system. This represents the initial x-coordinate in the initial three-dimensional spatial coordinate system. Represents the relative x-coordinate of the landing.

[0085] In this embodiment of the application, the landing ordinate in the two-dimensional landing coordinate system is determined by the following formula.

[0086] 。

[0087] in, This represents the vertical coordinate of the landing point in a two-dimensional landing coordinate system. This represents the initial x-coordinate in the initial three-dimensional spatial coordinate system. This represents the relative vertical coordinate of the landing point.

[0088] S103. Based on the amplitude coefficient, determine the foot contact force value corresponding to each moment of the leg component in the gait cycle, and based on the foot landing position data and the foot contact force value, control the target humanoid robot to perform compliant gait movement in the gait cycle.

[0089] The plantar contact force value includes the lateral plantar contact force value, the longitudinal plantar contact force value, and the vertical plantar contact force value.

[0090] It should be noted that the key to achieving compliant interaction in the support phase for humanoid robots lies in the precise control of the foot landing position and the ground contact force, enabling the robot to naturally adapt to changes in the ground, absorb impact energy, and maintain balance.

[0091] In this embodiment, impedance control is used to adjust the joint torque according to the foot contact force value, and the center of mass trajectory or gait parameters are adjusted according to the foot landing position data, so as to control the target humanoid robot to perform smooth gait movement in the gait movement cycle.

[0092] Here, the foot contact force value corresponding to each moment in the gait motion cycle of the leg component has the reference trajectory shape generated by SLIP motion. By adjusting the amplitude coefficient and deformation coefficient, the decoupled motion control of the target humanoid robot in the three directions of lateral, longitudinal and vertical can be realized, so as to accurately track the desired state of the support phase cycle independently in the three directions of lateral, longitudinal and vertical.

[0093] In one possible implementation of this application, step S103 may include: S1031. For the airborne phase of the gait cycle, the preset values ​​are respectively determined as the lateral foot contact force value, the longitudinal foot contact force value, and the vertical foot contact force value corresponding to each moment of the airborne phase of the leg component.

[0094] In the embodiments of this application, the preset value is generally set to 0.

[0095] Here, the force on each leg component is not constant at zero during a single support phase cycle, but is constant at zero during a single airborne phase cycle. That is, the humanoid robot has the general morphological characteristics of compliant movement of legged organisms.

[0096] S1032. For the support phase cycle in the gait movement cycle, based on the lateral amplitude coefficient in the amplitude coefficient and the preset deformation coefficient, determine the lateral foot contact force value corresponding to each moment in the support phase cycle of the leg component.

[0097] In this embodiment, the lateral foot contact force value of the leg component at each moment in the support phase cycle is determined by the following formula.

[0098] .

[0099] in, This represents the normalization coefficient corresponding to each moment in the support phase cycle (0 at the beginning of the support phase cycle and 1 at the end of the support phase cycle). Indicates the horizontal amplitude coefficient; This represents the preset deformation coefficient; This indicates the lateral foot contact force value of the leg component at each moment in the support phase cycle.

[0100] S1033. Based on the first longitudinal amplitude coefficient and the second longitudinal amplitude coefficient in the amplitude coefficient, determine the longitudinal foot contact force value corresponding to each moment in the support phase cycle of the leg component.

[0101] In this embodiment, the longitudinal foot contact force value of the leg component at each moment in the support phase cycle is determined by the following formula.

[0102] .

[0103] in, This represents the normalization coefficient corresponding to each moment in the support phase cycle (0 at the beginning of the support phase cycle and 1 at the end of the support phase cycle). Indicates the first longitudinal amplitude coefficient; Indicates the second longitudinal amplitude coefficient; This indicates the longitudinal foot contact force value of the leg component at each moment in the support phase cycle.

[0104] S1034. Based on the first vertical amplitude coefficient and the second vertical amplitude coefficient in the amplitude coefficient, determine the vertical foot contact force value corresponding to each moment in the support phase cycle of the leg component.

[0105] .

[0106] in, This represents the normalization coefficient corresponding to each moment in the support phase cycle (0 at the beginning of the support phase cycle and 1 at the end of the support phase cycle). Indicates the first vertical amplitude coefficient; Indicates the second vertical amplitude coefficient; This indicates the vertical foot contact force value corresponding to each moment in the support phase cycle of the leg component.

[0107] For example, please refer to Figure 2 , Figure 2 This is a snapshot diagram illustrating a humanoid robot's compliant motion planning according to an embodiment of this application. Figure 2 As shown in the embodiments of this application, the method described can realize stable and compliant gait planning for humanoid robots.

[0108] For example, please refer to Figure 3 , Figure 3 This is a schematic diagram illustrating the change in the velocity of the center of mass of a humanoid robot, as provided in an embodiment of this application. Figure 3 As shown, through motion control of a single support phase cycle, the actual velocity (dashed line) of the center of mass at the lateral end of the support phase cycle tracks the target velocity (dotted line) to perform repeated cyclic motion in subsequent support phase cycles.

[0109] For example, please refer to Figure 4 , Figure 4 This is a schematic diagram illustrating the change in the vertical height of the center of mass of a humanoid robot, provided as an embodiment of this application. Figure 4 As shown, through motion control of a single support phase cycle, the center of mass tracks the target position (dotted line) at the actual vertical end position (dashed line) of the support phase cycle, and repeats the cycle motion in subsequent support phase cycles.

[0110] For example, please refer to Figure 5 , Figure 5 This is a schematic diagram illustrating the variation of foot contact force in the horizontal direction, provided as an embodiment of this application. Figure 5 As shown, during the first support phase cycle, the plantar contact force changes rapidly to ensure a transition from the initial state to the desired final state. The periodic motion maintains the same pattern of plantar contact force as in leg and foot biological motion, that is, the vertical plantar contact force (Fz) exhibits a unimodal function, and the lateral plantar contact force (Fx) exhibits a function similar to a sine wave.

[0111] The control method for compliant gait planning of humanoid robots provided in this application obtains preset initial state data and expected state data for each leg component of the target humanoid robot during the support phase cycle. It determines the amplitude coefficient corresponding to the gait cycle and the foot landing position data corresponding to the support phase cycle. Based on the amplitude coefficient of the foot contact force, it performs stable and efficient target tracking without beat control. Based on the amplitude coefficient, it determines the foot contact force value corresponding to each moment in the gait cycle. It uses an explicit biomimetic trajectory of foot contact force time to achieve compliant interaction between the foot and the ground, avoiding periodic force abrupt changes in motion planning. This achieves stable and compliant gait planning for the humanoid robot, reduces landing impact noise and electromechanical system coupling resonance, and improves the coordination, stability, and efficiency of compliant motion planning for the humanoid robot, thereby increasing the service life of the humanoid robot.

[0112] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of a control device for compliant gait planning of a humanoid robot, provided in an embodiment of this application. Figure 6 As shown, the control device 600 includes: The data acquisition module 610 is used to acquire, during the gait motion cycle of the target humanoid robot, preset initial state data and expected state data corresponding to the support phase cycle of each leg component in the gait motion cycle of the target humanoid robot. The data calculation module 620 is used to determine, based on the initial state data and the desired state data, the amplitude coefficient of the leg component in the gait motion cycle and the foot landing position data of the leg component in the support phase cycle, respectively. The motion control module 630 is used to determine the foot contact force value corresponding to each moment of the leg component in the gait motion cycle based on the amplitude coefficient, and to control the target humanoid robot to perform compliant gait motion in the gait motion cycle based on the foot landing position data and the foot contact force value.

[0113] Furthermore, the initial state data includes initial position data and initial velocity data, and the desired state data includes desired position data and desired velocity data; The initial position data includes the initial three-dimensional spatial coordinates corresponding to the center of mass of the foot of the leg component, and the initial velocity data includes the lateral initial velocity value, longitudinal initial velocity value, and vertical initial velocity value corresponding to the center of mass of the foot of the leg component, respectively; the desired position data includes the desired three-dimensional spatial coordinates corresponding to the center of mass of the foot of the leg component, and the desired velocity data includes the lateral desired velocity value, longitudinal desired velocity value, and vertical desired velocity value corresponding to the center of mass of the foot of the leg component, respectively.

[0114] Furthermore, when the data acquisition module 610 is used to preset the desired vertical velocity value, the data acquisition module 610 is used to: The preset first duration corresponding to the air phase period in the gait motion cycle and the gravitational acceleration value corresponding to the position of the target humanoid robot are obtained respectively. The desired vertical velocity value is determined based on the first duration and the gravitational acceleration value.

[0115] Furthermore, when the data calculation module 620 determines the amplitude coefficient of the leg component corresponding to the gait motion cycle and the foot landing position data of the leg component corresponding to the support phase cycle based on the initial state data and the desired state data, the data calculation module 620 is used to: Obtain the preset second duration corresponding to the period of the support phase; Based on the initial position data, the initial velocity data, the desired position data, the desired velocity data, and the second duration, the amplitude coefficient of the leg component corresponding to the gait motion cycle is determined; wherein, the amplitude coefficient includes a lateral amplitude coefficient, a first longitudinal amplitude coefficient, a second longitudinal amplitude coefficient, a first vertical amplitude coefficient, and a second vertical amplitude coefficient; Based on the initial position data, the initial velocity data, the desired velocity data, and the second duration, the foot landing position data of the leg component corresponding to the support phase cycle is determined.

[0116] Furthermore, when the data calculation module 620 determines the amplitude coefficient of the leg component corresponding to the gait motion cycle based on the initial position data, the initial velocity data, the desired position data, the desired velocity data, and the second duration, the data calculation module 620 is used to: The gravitational acceleration value corresponding to the location of the target humanoid robot and the mass value corresponding to the target humanoid robot are obtained respectively. Based on the initial three-dimensional spatial coordinates, the desired three-dimensional spatial coordinates, the initial lateral velocity value, the initial longitudinal velocity value, the initial vertical velocity value, the desired lateral velocity value, the desired longitudinal velocity value, the desired vertical velocity value, the second duration, the gravitational acceleration value, and the mass value, the lateral amplitude coefficient, the first longitudinal amplitude coefficient, the second longitudinal amplitude coefficient, the first vertical amplitude coefficient, and the second vertical amplitude coefficient of the leg component corresponding to the gait motion cycle are determined respectively.

[0117] Furthermore, the foot landing position data includes the two-dimensional landing coordinates of the leg component's foot landing position corresponding to the support phase cycle; when the data calculation module 620 determines the foot landing position data of the leg component corresponding to the support phase cycle based on the initial position data, the initial velocity data, the desired velocity data, and the second duration, the data calculation module 620 is used to: Based on the initial lateral velocity value, the desired lateral velocity value, the second duration, and the preset lateral velocity error control coefficient, the relative landing lateral coordinate of the foot landing position relative to the initial three-dimensional spatial coordinates is determined; Based on the initial longitudinal velocity value, the desired longitudinal velocity value, the second duration, the lateral velocity error control coefficient, and the flag parameters corresponding to the leg component, the relative landing longitudinal coordinate of the foot landing position relative to the initial three-dimensional spatial coordinates is determined; The two-dimensional landing coordinates are determined based on the relative landing x-coordinate, the relative landing y-coordinate, and the initial three-dimensional spatial coordinates.

[0118] Furthermore, the plantar contact force value includes a lateral plantar contact force value, a longitudinal plantar contact force value, and a vertical plantar contact force value; when the motion control module 630 determines the plantar contact force value corresponding to each moment of the leg component in the gait cycle based on the amplitude coefficient, the motion control module 630 is used to: For the airborne phase of the gait cycle, preset values ​​are respectively determined as the lateral foot contact force, longitudinal foot contact force, and vertical foot contact force values ​​of the leg component at each moment of the airborne phase. For the support phase cycle in the gait movement cycle, based on the lateral amplitude coefficient in the amplitude coefficient and the preset deformation coefficient, the lateral foot contact force value corresponding to each moment in the support phase cycle of the leg component is determined; Based on the first longitudinal amplitude coefficient and the second longitudinal amplitude coefficient in the amplitude coefficient, the longitudinal foot contact force value corresponding to each moment in the support phase cycle of the leg component is determined; Based on the first vertical amplitude coefficient and the second vertical amplitude coefficient in the amplitude coefficient, the vertical foot contact force value corresponding to each moment in the support phase cycle of the leg component is determined.

[0119] The control device for compliant gait planning of a humanoid robot provided in this application acquires preset initial state data and expected state data for each leg component of the target humanoid robot during the support phase cycle. It determines the amplitude coefficient corresponding to the gait cycle and the foot landing position data corresponding to the support phase cycle. Based on the amplitude coefficient of the foot contact force, it performs stable and efficient target tracking without beat control. Based on the amplitude coefficient, it determines the foot contact force value corresponding to each moment in the gait cycle. It uses an explicit biomimetic trajectory of foot contact force time to achieve compliant interaction between the foot and the ground, avoiding periodic force abrupt changes in motion planning. This achieves stable and compliant gait planning for the humanoid robot, reduces landing impact noise and electromechanical system coupling resonance, and improves the coordination, stability, and efficiency of compliant motion planning for the humanoid robot, thereby increasing the service life of the humanoid robot.

[0120] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 7 As shown, the electronic device 700 includes a processor 710, a memory 720, and a bus 730.

[0121] The memory 720 stores machine-readable instructions executable by the processor 710. When the electronic device 700 is running, the processor 710 communicates with the memory 720 via the bus 730. When the machine-readable instructions are executed by the processor 710, they can perform the operations described above. Figure 1 The steps of the control method for humanoid robot compliant gait motion planning in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0122] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 1 The steps of the control method for humanoid robot compliant gait motion planning in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0123] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0124] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0125] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0126] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0127] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0128] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method of compliant gait motion planning for a humanoid robot, characterized by, The control method comprises: In a gait motion cycle of a target humanoid robot, for each leg component in the double leg components of the target humanoid robot, initial state data and expected state data corresponding to a support phase cycle in the gait motion cycle of the leg component are acquired; Based on the initial state data and the expected state data, an amplitude coefficient corresponding to the gait motion cycle of the leg component and foot landing position data corresponding to the support phase cycle of the leg component are respectively determined; Based on the amplitude coefficient, foot contact force values corresponding to each time in the gait motion cycle of the leg component are determined, and based on the foot landing position data and the foot contact force values, the target humanoid robot is controlled to perform a compliant gait motion in the gait motion cycle.

2. The method of claim 1, wherein, The initial state data comprises initial position data and initial velocity data, and the expected state data comprises expected position data and expected velocity data; The initial position data comprises initial three-dimensional space coordinates corresponding to a foot center of mass position of the leg component, the initial velocity data comprises a lateral initial velocity value, a longitudinal initial velocity value and a vertical initial velocity value corresponding to the foot center of mass position of the leg component, the expected position data comprises expected three-dimensional space coordinates corresponding to the foot center of mass position of the leg component, and the expected velocity data comprises a lateral expected velocity value, a longitudinal expected velocity value and a vertical expected velocity value corresponding to the foot center of mass position of the leg component.

3. The method of claim 2, wherein, The vertical expected velocity value is preset by the following steps: A first preset duration corresponding to a flight phase cycle in the gait motion cycle and a gravity acceleration value corresponding to a position of the target humanoid robot are acquired respectively; Based on the first duration and the gravity acceleration value, the vertical expected velocity value is determined.

4. The method of claim 2, wherein, The initial state data and the expected state data are used to determine the amplitude coefficient corresponding to the gait motion cycle of the leg component and the foot landing position data corresponding to the support phase cycle of the leg component, which comprises: A second preset duration corresponding to the support phase cycle is acquired; Based on the initial position data, the initial velocity data, the expected position data, the expected velocity data and the second duration, the amplitude coefficient corresponding to the gait motion cycle of the leg component is determined; wherein the amplitude coefficient comprises a lateral amplitude coefficient, a first longitudinal amplitude coefficient, a second longitudinal amplitude coefficient, a first vertical amplitude coefficient and a second vertical amplitude coefficient; Based on the initial position data, the initial velocity data, the expected velocity data and the second duration, the foot landing position data corresponding to the support phase cycle of the leg component is determined.

5. The method of claim 4, wherein, The initial position data, the initial velocity data, the expected position data, the expected velocity data and the second duration are used to determine the amplitude coefficient corresponding to the gait motion cycle of the leg component, which comprises: A gravity acceleration value corresponding to a position of the target humanoid robot and a mass value corresponding to the target humanoid robot are acquired respectively; Based on the initial three-dimensional spatial coordinates, the desired three-dimensional spatial coordinates, the initial lateral velocity value, the initial longitudinal velocity value, the initial vertical velocity value, the desired lateral velocity value, the desired longitudinal velocity value, the desired vertical velocity value, the second duration, the gravitational acceleration value, and the mass value, the lateral amplitude coefficient, the first longitudinal amplitude coefficient, the second longitudinal amplitude coefficient, the first vertical amplitude coefficient, and the second vertical amplitude coefficient of the leg component corresponding to the gait motion cycle are determined respectively.

6. The method of claim 4, wherein, The foot landing position data includes the two-dimensional landing coordinates of the leg component's foot landing position corresponding to the support phase cycle; determining the foot landing position data of the leg component corresponding to the support phase cycle based on the initial position data, the initial velocity data, the desired velocity data, and the second duration includes: Based on the initial lateral velocity value, the desired lateral velocity value, the second duration, and the preset lateral velocity error control coefficient, the relative landing lateral coordinate of the foot landing position relative to the initial three-dimensional spatial coordinates is determined; Based on the initial longitudinal velocity value, the desired longitudinal velocity value, the second duration, the lateral velocity error control coefficient, and the flag parameters corresponding to the leg component, the relative landing longitudinal coordinate of the foot landing position relative to the initial three-dimensional spatial coordinates is determined; The two-dimensional landing coordinates are determined based on the relative landing x-coordinate, the relative landing y-coordinate, and the initial three-dimensional spatial coordinates.

7. The method of claim 1, wherein, The plantar contact force value includes lateral plantar contact force value, longitudinal plantar contact force value, and vertical plantar contact force value; determining the plantar contact force value corresponding to each moment of the leg component in the gait cycle based on the amplitude coefficient includes: For the airborne phase of the gait cycle, preset values ​​are respectively determined as the lateral foot contact force, longitudinal foot contact force, and vertical foot contact force values ​​of the leg component at each moment of the airborne phase. For the support phase cycle in the gait movement cycle, based on the lateral amplitude coefficient in the amplitude coefficient and the preset deformation coefficient, the lateral foot contact force value corresponding to each moment in the support phase cycle of the leg component is determined; Based on the first longitudinal amplitude coefficient and the second longitudinal amplitude coefficient in the amplitude coefficient, the longitudinal foot contact force value corresponding to each moment in the support phase cycle of the leg component is determined; Based on the first vertical amplitude coefficient and the second vertical amplitude coefficient in the amplitude coefficient, the vertical foot contact force value corresponding to each moment in the support phase cycle of the leg component is determined.

8. A control device for compliant gait motion planning of a humanoid robot, characterized by, The control device includes: The data acquisition module is used to acquire, during the gait motion cycle of the target humanoid robot, preset initial state data and expected state data corresponding to the support phase cycle of each leg component in the gait motion cycle of the target humanoid robot. The data calculation module is used to determine, based on the initial state data and the desired state data, the amplitude coefficient of the leg component in the gait motion cycle and the foot landing position data of the leg component in the support phase cycle, respectively. The motion control module is used to determine the foot contact force value corresponding to each moment of the leg component in the gait motion cycle based on the amplitude coefficient, and to control the target humanoid robot to perform compliant gait motion in the gait motion cycle based on the foot landing position data and the foot contact force value.

9. An electronic device, comprising: include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. The machine-readable instructions are executed by the processor to perform the steps of the control method for compliant gait planning of a humanoid robot as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the control method for humanoid robot compliant gait motion planning as described in any one of claims 1 to 7.

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