A control method and device for compliant gait motion planning of a humanoid robot

Abstract

The application provides a control method and device for compliant gait motion planning of a humanoid robot. The control method comprises: in a gait motion cycle of a target humanoid robot, for each leg part of the target humanoid robot, obtaining preset initial state data and expected state data of the leg part in a support phase cycle in the gait motion cycle; based on the initial state data and the expected state data, respectively determining an amplitude coefficient of the leg part in the gait motion cycle and foot bottom landing position data of the leg part in the support phase cycle; based on the amplitude coefficient, determining a foot bottom touch-down force value corresponding to each time in the gait motion cycle of the leg part, and based on the foot bottom landing position data and the foot bottom touch-down force value, controlling the target humanoid robot to perform compliant gait motion in the gait motion cycle. Through the above method, the coordination, stability and efficiency of the compliant motion planning of the humanoid robot are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a control method and device for compliant gait motion planning of a humanoid robot. BACKGROUND

[0002] At present, the motion planning of a humanoid robot generally adopts a kinematic planning method to generate a motion trajectory of the humanoid robot, which does not have a compliant motion characteristic. Specifically, a sensor is used to collect a feedback position and a speed at a current time, a reference speed trajectory is generated by using a kinematic interpolation method in combination with a set target speed, and a target position is obtained by using a numerical integration method to complete kinematic planning.

[0003] Since the above method ignores the dynamic characteristics of the humanoid robot and does not consider the compliant contact characteristics of the foot bottom and the ground, the result of the motion planning has a periodic ground contact force mutation. At the beginning of a support phase, the foot bottom ground contact force suddenly changes from 0 to the size of the gravity, and at the end of the support phase, the foot bottom ground contact force suddenly changes from the size of the gravity to 0. With the support and take-off motion of the leg, there is a periodic mutation. This periodic ground contact force mutation will cause a continuous impact on the electric control and mechanical system of the humanoid robot, and in severe cases, it will cause a mechanical-electrical system coupling resonance of the robot, reduce the coordination and stability of the motion of the humanoid robot, and reduce the service life of the humanoid robot.

[0004] In addition, although the planning method based on the SLIP model inspired by the leg-foot biological motion mechanics can realize compliant motion planning, this method still has the following shortcomings: it is difficult to intuitively control the ground contact time artificially; the efficiency of nonlinear planning calculation is low, which cannot guarantee the efficiency and reliability of motion planning; the approximate analytical result reduces the accuracy of compliant motion planning, and with the increase of the complexity of the approximate analytical result of three-dimensional compliant motion, the efficiency of motion planning is reduced. SUMMARY

[0005] Therefore, the present application aims to provide a control method and device for compliant gait motion planning of a humanoid robot, by obtaining preset initial state data and expected state data of each leg component in the double leg components of a target humanoid robot in a support phase period, determining an amplitude coefficient corresponding to a gait motion period and foot bottom landing position data corresponding to the support phase period, to perform stable and efficient target tracking without error control for the amplitude coefficient of the foot bottom contact force, and based on the amplitude coefficient, determine the foot bottom contact force value corresponding to each time in the gait motion period of the leg component, to realize compliant interaction between the foot bottom and the ground by using the foot bottom contact force time explicit bionic trajectory, avoid periodic force mutation generated in the motion planning, and further realize stable and compliant gait motion planning of the humanoid robot, reduce the landing impact noise and electromechanical system coupling resonance of the humanoid robot, and improve the coordination, stability and efficiency of the compliant motion planning of the humanoid robot, and further improve the service life of the humanoid robot.

[0006] The embodiment of the present application provides a control method for compliant gait motion planning of a humanoid robot, and the control method comprises the following steps:

[0007] In the gait motion period of the target humanoid robot, for each leg component in the double leg components of the target humanoid robot, obtain preset initial state data and expected state data of the leg component in the support phase period in the gait motion period;

[0008] Based on the initial state data and the expected state data, respectively determine the amplitude coefficient corresponding to the gait motion period of the leg component, and the foot bottom landing position data corresponding to the support phase period of the leg component;

[0009] Based on the amplitude coefficient, determine the foot bottom contact force value corresponding to each time in the gait motion period of the leg component, and based on the foot bottom landing position data and the foot bottom contact force value, control the target humanoid robot to perform compliant gait motion in the gait motion period.

[0010] Further, 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;

[0011] The initial position data comprises initial three-dimensional space coordinates corresponding to the foot bottom centroid position of the leg component, and 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 bottom centroid position of the leg component; the expected position data comprises expected three-dimensional space coordinates corresponding to the foot bottom centroid 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 bottom centroid position of the leg component.

[0012] Further, the vertical desired speed value is preset by the following steps:

[0013] A first preset duration corresponding to the swing phase in the gait cycle is obtained, and a gravity acceleration value corresponding to the position of the target humanoid robot is obtained;

[0014] Based on the first duration and the gravity acceleration value, the vertical desired speed value is determined.

[0015] Further, based on the initial state data and the desired state data, the amplitude coefficient of the leg part corresponding to the gait cycle and the foot landing position data of the leg part corresponding to the support phase are determined, including:

[0016] A second preset duration corresponding to the support phase is obtained;

[0017] Based on the initial position data, the initial speed data, the desired position data, the desired speed data and the second duration, the amplitude coefficient of the leg part corresponding to the gait cycle is determined; wherein the amplitude coefficient includes a transverse amplitude coefficient, a first longitudinal amplitude coefficient, a second longitudinal amplitude coefficient, a first vertical amplitude coefficient and a second vertical amplitude coefficient;

[0018] Based on the initial position data, the initial speed data, the desired speed data and the second duration, the foot landing position data of the leg part corresponding to the support phase is determined.

[0019] Further, based on the initial position data, the initial speed data, the desired position data, the desired speed data and the second duration, the amplitude coefficient of the leg part corresponding to the gait cycle is determined, including:

[0020] A gravity acceleration value corresponding to the position of the target humanoid robot is obtained, and a mass value corresponding to the target humanoid robot is obtained;

[0021] Based on the initial three-dimensional space coordinate, the desired three-dimensional space coordinate, the transverse initial speed value, the longitudinal initial speed value, the vertical initial speed value, the transverse desired speed value, the longitudinal desired speed value, the vertical desired speed value, the second duration, the gravity acceleration value and the mass value, the transverse 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 part corresponding to the gait cycle are determined.

[0022] Further, the foot bottom landing position data includes a two-dimensional landing coordinate corresponding to the foot bottom landing position of the leg component in the support phase period; and the determination of the foot bottom landing position data of the leg component in the support phase period based on the initial position data, the initial speed data, the expected speed data and the second duration includes:

[0023] determination of a relative landing lateral coordinate corresponding to the foot bottom landing position relative to the initial three-dimensional space coordinate based on the initial lateral speed value, the expected lateral speed value, the second duration and a preset lateral speed error control coefficient;

[0024] determination of a relative landing longitudinal coordinate corresponding to the foot bottom landing position relative to the initial three-dimensional space coordinate based on the initial longitudinal speed value, the expected longitudinal speed value, the second duration, the lateral speed error control coefficient and a flag parameter corresponding to the leg component;

[0025] determination of the two-dimensional landing coordinate based on the relative landing lateral coordinate, the relative landing longitudinal coordinate and the initial three-dimensional space coordinate.

[0026] Further, the foot bottom touch force value includes a lateral foot bottom touch force value, a longitudinal foot bottom touch force value and a vertical foot bottom touch force value; and the determination of the foot bottom touch force value corresponding to each time point of the leg component in the gait motion period based on the amplitude coefficient includes:

[0027] a preset value is determined as the lateral foot bottom touch force value, the longitudinal foot bottom touch force value and the vertical foot bottom touch force value corresponding to each time point of the leg component in the swing phase period of the gait motion period;

[0028] for the support phase period of the gait motion period, a lateral amplitude coefficient in the amplitude coefficient and a preset deformation coefficient are used to determine the lateral foot bottom touch force value corresponding to each time point of the leg component in the support phase period;

[0029] a first longitudinal amplitude coefficient and a second longitudinal amplitude coefficient in the amplitude coefficient are used to determine the longitudinal foot bottom touch force value corresponding to each time point of the leg component in the support phase period;

[0030] a first vertical amplitude coefficient and a second vertical amplitude coefficient in the amplitude coefficient are used to determine the vertical foot bottom touch force value corresponding to each time point of the leg component in the support phase period.

[0031] The embodiment of the application further provides a control device for compliant gait motion planning of a humanoid robot, and the control device comprises:

[0032] a data acquisition module, configured to acquire, in a gait motion cycle of a target humanoid robot, preset initial state data and expected state data of each of leg components of the target humanoid robot in a support phase cycle of the gait motion cycle;

[0033] a data calculation module, configured to determine, based on the initial state data and the expected state data, an amplitude coefficient of the leg component in the gait motion cycle and foot landing position data of the leg component in the support phase cycle, respectively;

[0034] a motion control module, configured to determine, based on the amplitude coefficient, a foot contact force value corresponding to each time in the gait motion cycle of the leg component, respectively, and control the target humanoid robot to perform a compliant gait motion in the gait motion cycle based on the foot landing position data and the foot contact force value.

[0035] Further, the initial state data includes initial position data and initial velocity data, and the expected state data includes expected position data and expected velocity data.

[0036] The initial position data includes initial three-dimensional space coordinates corresponding to a foot center of mass position of the leg component, and the initial velocity data includes 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, respectively. The expected position data includes expected three-dimensional space coordinates corresponding to the foot center of mass position of the leg component, and the expected velocity data includes 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, respectively.

[0037] Further, when the data acquisition module is used to preset the vertical expected velocity value, the data acquisition module is configured to:

[0038] acquire a preset first 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, respectively;

[0039] determine the vertical expected velocity value based on the first duration and the gravity acceleration value.

[0040] Further, when the data calculation module is used to determine, based on the initial state data and the expected 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 data calculation module is configured to:

[0041] acquire a preset second duration corresponding to the support phase cycle.

[0042] determine, based on the initial position data, the initial velocity data, the expected position data, the expected velocity data, and the second duration, an amplitude coefficient corresponding to the gait motion cycle of the leg component; 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;

[0043] determine, based on the initial position data, the initial velocity data, the expected velocity data, and the second duration, a foot landing position data corresponding to the stance phase cycle of the leg component.

[0044] Further, when the data calculation module is used to determine, based on the initial position data, the initial velocity data, the expected position data, the expected velocity data, and the second duration, an amplitude coefficient corresponding to the gait motion cycle of the leg component, the data calculation module is used to:

[0045] respectively acquire a gravity acceleration value corresponding to a position where the target humanoid robot is located, and a mass value corresponding to the target humanoid robot;

[0046] determine, based on the initial three-dimensional space coordinate, the expected three-dimensional space coordinate, the lateral initial velocity value, the longitudinal initial velocity value, the vertical initial velocity value, the lateral expected velocity value, the longitudinal expected velocity value, the vertical expected velocity value, the second duration, the gravity 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 corresponding to the gait motion cycle of the leg component, respectively.

[0047] Further, the foot landing position data comprises a two-dimensional landing coordinate of the foot landing position of the leg component corresponding to the stance phase cycle; when the data calculation module is used to determine, based on the initial position data, the initial velocity data, the expected velocity data, and the second duration, a foot landing position data corresponding to the stance phase cycle of the leg component, the data calculation module is used to:

[0048] determine, based on the lateral initial velocity value, the lateral expected velocity value, the second duration, and a preset lateral velocity error control coefficient, a relative landing lateral coordinate corresponding to the initial three-dimensional space coordinate of the foot landing position;

[0049] determine, based on the initial three-dimensional space coordinate, the longitudinal initial speed value, the longitudinal expected speed value, the second duration, the lateral speed error control coefficient, and the flag parameter corresponding to the leg part, a relative landing longitudinal coordinate corresponding to the foot bottom landing position relative to the initial three-dimensional space coordinate;

[0050] determine, based on the initial three-dimensional space coordinate, the relative landing longitudinal coordinate, and the relative landing lateral coordinate, the two-dimensional landing coordinate.

[0051] Further, the foot bottom ground contact force value includes a lateral foot bottom ground contact force value, a longitudinal foot bottom ground contact force value, and a vertical foot bottom ground contact force value; when the motion control module is used to determine, based on the amplitude coefficient, the foot bottom ground contact force value corresponding to each time point of the leg part in the gait motion cycle, the motion control module is used to:

[0052] For the swing phase period in the gait motion cycle, a preset value is determined as the lateral foot bottom ground contact force value, the longitudinal foot bottom ground contact force value, and the vertical foot bottom ground contact force value corresponding to each time point of the leg part in the swing phase period respectively;

[0053] For the support phase period in the gait motion cycle, based on the lateral amplitude coefficient in the amplitude coefficient and a preset deformation coefficient, the lateral foot bottom ground contact force value corresponding to each time point of the leg part in the support phase period is determined;

[0054] Based on the first longitudinal amplitude coefficient and the second longitudinal amplitude coefficient in the amplitude coefficient, the longitudinal foot bottom ground contact force value corresponding to each time point of the leg part in the support phase period is determined;

[0055] Based on the first vertical amplitude coefficient and the second vertical amplitude coefficient in the amplitude coefficient, the vertical foot bottom ground contact force value corresponding to each time point of the leg part in the support phase period is determined.

[0056] Embodiments of the present application also provide an electronic device, comprising 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 and the memory communicate through the bus, and the machine readable instructions are executed by the processor to perform the steps of the control method for planning compliant gait motion of a humanoid robot as described above.

[0057] Embodiments of the present application also provide a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to perform the steps of the control method for planning compliant gait motion of a humanoid robot as described above.

[0058] The control method and device for compliant gait motion planning of a humanoid robot provided in the embodiments of the present application, 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, obtaining preset initial state data and expected state data of the leg component in a support phase cycle corresponding to the gait motion cycle; based on the initial state data and the expected state data, respectively determining an amplitude coefficient of the leg component in the gait motion cycle and foot bottom landing position data of the leg component in the support phase cycle; based on the amplitude coefficient, determining a foot bottom touch-down force value corresponding to each time in the gait motion cycle of the leg component, and based on the foot bottom landing position data and the foot bottom touch-down force value, controlling the target humanoid robot to perform compliant gait motion in the gait motion cycle.

[0059] Compared with the method of generating a motion trajectory of a humanoid robot by using a kinematic planning method and the planning method based on the SLIP model inspired by the biomechanics of leg-foot organisms in the prior art, by obtaining preset initial state data and expected state data of each leg component in the double leg components of the target humanoid robot in a support phase cycle, determining the amplitude coefficient corresponding to the gait motion cycle and the foot bottom landing position data corresponding to the support phase cycle, performing stable and efficient target tracking without error control with respect to the amplitude coefficient of the foot bottom touch-down force, and determining the foot bottom touch-down force value corresponding to each time in the gait motion cycle of the leg component based on the amplitude coefficient, the foot bottom and the ground are interacted compliantly by using the foot bottom touch-down force time explicit biomimetic trajectory, periodic force mutation generated in the motion planning is avoided, and then stable and compliant gait motion planning of the humanoid robot is realized, the landing impact noise and the electromechanical system coupling resonance of the humanoid robot are reduced, and the coordination, stability and efficiency of the compliant motion planning of the humanoid robot are improved, and then the service life of the humanoid robot is improved.

[0060] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0061] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0062] Figure 1A flow chart of a control method for compliant gait motion planning of a humanoid robot according to an embodiment of the present application;

[0063] Figure 2 A snapshot schematic diagram of centroid compliant motion planning of a humanoid robot according to an embodiment of the present application;

[0064] Figure 3 A schematic diagram of the change of centroid motion speed of a humanoid robot according to an embodiment of the present application;

[0065] Figure 4 A schematic diagram of the change of vertical height of centroid of a humanoid robot according to an embodiment of the present application;

[0066] Figure 5 A schematic diagram of the change of plantar ground contact force in the horizontal direction according to an embodiment of the present application;

[0067] Figure 6 A structural schematic diagram of a control device for compliant gait motion planning of a humanoid robot according to an embodiment of the present application;

[0068] Figure 7 A structural schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0069] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application and are not all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, every other embodiment obtained by a person skilled in the art without creative work falls within the scope of the present application.

[0070] It is found through research that a humanoid robot has strong stable motion ability and is in an important stage from the laboratory to practical application. Improving the motion ability of compliant interaction of a humanoid robot with the ground is an important basis for further improving the whole-body coordinated motion ability of a humanoid robot and has important significance for promoting practical application of a humanoid robot.

[0071] Currently, the motion planning of humanoid robots generally adopts a kinematic planning method to generate the motion trajectory of the humanoid robot, which does not have the compliant motion characteristics. Specifically, the current feedback position and velocity are collected by a sensor, and a kinematic interpolation method is used to generate a reference velocity trajectory in combination with the set target velocity, and the target position is obtained by numerical integration to complete the kinematic planning. In addition, the planning result of the classic linear inverted pendulum (LIP) model will cause periodic ground contact force mutation.

[0072] Since the above method ignores the dynamics characteristics of the humanoid robot and does not consider the compliant contact characteristics of the foot bottom and the ground, the motion planning result has periodic ground contact force mutation. At the beginning of the support phase, the foot bottom ground contact force suddenly changes from 0 to the size of the gravity, and at the end of the support phase, it suddenly changes from the size of the gravity to 0. With the support and empty motion of the leg, there is a periodic mutation. This periodic ground contact force mutation will cause continuous impact on the electrical control and mechanical system of the humanoid robot, and in severe cases, it will cause electromechanical system coupling resonance of the robot, reduce the coordination and stability of the humanoid robot motion, and reduce the service life of the humanoid robot.

[0073] Further, the existing compliant motion planning based on the leg-foot biological inspired model has great limitations. The leg-foot running and walking motion has the characteristics of compliant motion, i.e., the foot bottom contact force starts from 0 and continuously changes in a single support period, and finally changes to 0 at the end of the support phase without force mutation phenomenon. In the vertical direction, it presents a single peak shape, and in the horizontal direction, it presents a shape similar to a sine function. Then, a spring-loaded inverted pendulum (SLIP) is used to model the compliant motion characteristics, i.e., the SLIP has an implicit foot bottom ground contact force biomimetic trajectory, so that the foot-ground interaction force is not directly related to time, but has a time explicit relationship with the motion state, thereby indirectly relating the motion trajectory to time.

[0074] Among them, the SLIP model planning method based on leg-foot biological motion mechanics inspiration can realize compliant motion planning, but this method still has the following shortcomings: it is difficult to intuitively control the ground contact time artificially; the efficiency of nonlinear planning calculation is low, which cannot guarantee the efficiency and reliability of motion planning; the approximate analytical result reduces the accuracy of compliant motion planning, and with the increase of the complexity of the approximate analytical result of three-dimensional compliant motion, the efficiency of motion planning is reduced.

[0075] Based on this, the embodiment of the present application provides a control method for compliant gait motion planning of a humanoid robot, by obtaining preset initial state data and expected state data of each leg component in the double leg components of the target humanoid robot in the support phase period, determining the amplitude coefficient corresponding to the gait motion period and the foot bottom landing position data corresponding to the support phase period, to perform stable and efficient target tracking without error control for the amplitude coefficient of the foot bottom contact force, and based on the amplitude coefficient, determine the foot bottom contact force value corresponding to each time in the gait motion period of the leg component, to realize the compliant interaction of the foot bottom and the ground by using the foot bottom contact force time explicit bionic trajectory, avoid the periodic force mutation generated in the motion planning, and further realize the stable and compliant gait motion planning of the humanoid robot, reduce the landing impact noise and electromechanical system coupling resonance of the humanoid robot, and improve the coordination, stability and efficiency of the compliant motion planning of the humanoid robot, and further improve the service life of the humanoid robot.

[0076] Please refer to Figure 1 , Figure 1 The flowchart of the control method for compliant gait motion planning of a humanoid robot provided by the embodiment of the present application is shown in FIG. 1. Figure 1 As shown in FIG. 1, the control method for compliant gait motion planning of a humanoid robot provided by the embodiment of the present application can be generally applied to the gait planning and control of biped robots in service and flexible industrial scenarios, and the control method comprises the following steps.

[0077] S101, in the gait motion period of a target humanoid robot, for each leg component in the double leg components of the target humanoid robot, obtain the preset initial state data and expected state data of the leg component in the support phase period in the gait motion period.

[0078] It should be noted that the humanoid robot refers to a biped robot that imitates the appearance and movement mode of a human being, and the humanoid robot is a biped walking structure, which includes double leg components, each leg component includes a hip-knee-ankle joint, and the target is to realize the mobility, operability and interaction ability of a human being; the target humanoid robot described in the embodiment of the present application is a humanoid robot that is expected to perform compliant gait motion planning by the method described in the embodiment of the present application.

[0079] In the embodiment of the present application, the gait motion period of the target humanoid robot refers to the complete motion process experienced by the humanoid robot from the time when one foot touches the ground to the time when the foot touches the ground again, which is the basic time unit for analyzing and controlling the biped motion.

[0080] Here, for a single leg member, a single gait cycle includes a stance phase and a swing phase; the stance phase refers to a stage in which the foot member is in contact with the ground and bears the weight of the body, during which the humanoid robot transmits force and torque through the stance leg member to maintain balance and push the body forward; the swing phase refers to a stage in which the swing leg member leaves the ground and swings forward to prepare for the next landing.

[0081] For example, in a single gait cycle, the right leg member of the humanoid robot undergoes 1 stance phase and 1 swing phase, and the left leg member of the humanoid robot undergoes a reverse phase (i.e., when the right leg is in stance, the left leg is in swing) at the same time; double support occurs twice: at the beginning and in the middle of the cycle (i.e., at the instant of leg exchange.

[0082] In the embodiments of the present 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.

[0083] Here, the desired state data includes a position that the leg member is expected to reach at the end of the stance phase in the gait cycle and a velocity at which the leg member is expected to reach the position.

[0084] The initial position data includes an initial three-dimensional spatial coordinate corresponding to the foot center of mass position of the leg member, for example, The initial velocity data includes a lateral initial velocity value (for example, ), a longitudinal initial velocity value (for example, ), and a vertical initial velocity value (for example, ).

[0085] The desired position data includes a desired three-dimensional spatial coordinate corresponding to the foot center of mass position of the leg member, for example, The desired velocity data includes a lateral desired velocity value (for example, ), a longitudinal desired velocity value (for example, ), and a vertical desired velocity value (for example, ).

[0086] In an implementable manner of the present application, in specific implementation, the step of pre-setting the vertical desired velocity value in step S101 can include:

[0087] S1011, respectively acquiring a first preset duration corresponding to the swing phase in the gait cycle and a gravity acceleration value corresponding to the position of the target humanoid robot.

[0088] In the embodiment of the present application, the vertical expected speed value corresponding to the foot center of mass position of the leg part is determined by a calculation method based on the given flight time and the vertical support phase end state expected speed.

[0089] Based on the assumption that the vertical direction take-off and landing displacement of the flight phase is equal and the speed is opposite, the final speed of the foot center of mass of the humanoid robot in the vertical direction can be deduced, that is, the vertical expected speed value corresponding to the foot center of mass position of the leg part.

[0090] S1012, based on the first duration and the gravity acceleration value, the vertical expected speed value is determined.

[0091] In the embodiment of the present application, the vertical expected speed value is determined by the following formula.

[0092] .

[0093] Wherein, The vertical expected speed value corresponding to the foot center of mass position of the leg part is represented by V; The first duration corresponding to the preset flight phase period in the gait motion cycle is represented by T; The gravity acceleration value corresponding to the position of the target humanoid robot is represented by g.

[0094] For example, assuming that the first duration is set to 0.05s and the gravity acceleration value is 9.8m / s 2 , the vertical expected speed value can be determined as 0.245 m / s.

[0095] S102, based on the initial state data and the expected state data, the amplitude coefficient of the leg part corresponding to the gait motion cycle and the foot landing position data of the leg part corresponding to the support phase period are determined respectively.

[0096] Here, 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.

[0097] In the embodiment of the present application, by a beatless target tracking control method based on foot contact force amplitude coefficient, based on the initial state data of the support phase period and the expected state data of 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.

[0098] Here, the foot landing position data includes two-dimensional landing coordinates of the foot landing position of the leg part corresponding to the support phase period.

[0099] In the embodiment of the present application, the determination of the foot bottom landing position data corresponding to the support phase period of the leg part is based on the symmetry principle.

[0100] In an implementable manner of the present application, in specific implementation, step S102 can include:

[0101] S1021, acquiring a preset second duration corresponding to the support phase period.

[0102] S1022, determining the amplitude coefficient of the leg part corresponding to the gait motion period based on the initial position data, the initial speed data, the expected position data, the expected speed data, and the second duration.

[0103] In an implementable manner of the present application, in specific implementation, step S1022 can include:

[0104] S10221, respectively acquiring a gravity acceleration value corresponding to the position where the target humanoid robot is located, and a mass value corresponding to the target humanoid robot.

[0105] S10222, respectively determining 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 part corresponding to the gait motion period based on the initial three-dimensional space coordinates, the expected three-dimensional space coordinates, the lateral initial speed value, the longitudinal initial speed value, the vertical initial speed value, the lateral expected speed value, the longitudinal expected speed value, the vertical expected speed value, the second duration, the gravity acceleration value, and the mass value.

[0106] In the embodiment of the present application, the determination of the lateral amplitude coefficient of the leg part corresponding to the gait motion period is based on the expected lateral coordinate in the expected three-dimensional space coordinates, the lateral expected speed value, the lateral initial speed value, the initial lateral coordinate in the initial three-dimensional space coordinates, the second duration, the mass value, and a preset deformation coefficient through the following compliant motion control algebraic equation formula.

[0107] .

[0108] wherein, represents the lateral amplitude coefficient; represents the initial lateral coordinate in the initial three-dimensional space coordinates; represents the expected lateral coordinate in the expected three-dimensional space coordinates; represents the second duration; represents the mass value; represents the preset deformation coefficient; represents the lateral expected speed value; represents a value of the initial transverse velocity.

[0109] Further, based on the expected vertical coordinate in the expected three-dimensional space coordinate, the initial vertical coordinate in the initial three-dimensional space coordinate, the expected vertical velocity value, the initial vertical velocity value, the second duration, the mass value and the gravity acceleration value, the first vertical amplitude coefficient and the second vertical amplitude coefficient corresponding to the gait motion cycle of the leg part are determined by the following compliant motion control algebraic equation formula.

[0110] .

[0111] wherein, represents the first vertical amplitude coefficient; represents the second vertical amplitude coefficient; represents the expected vertical coordinate in the expected three-dimensional space coordinate; represents the initial vertical coordinate in the initial three-dimensional space coordinate; represents the expected vertical velocity value; represents the initial vertical velocity value; represents the second duration; represents the mass value; represents the gravity acceleration value.

[0112] Further, based on the expected vertical coordinate in the expected three-dimensional space coordinate, the initial vertical coordinate in the initial three-dimensional space coordinate, the expected vertical velocity value, the initial vertical velocity value, the second duration, the mass value and the gravity acceleration value, the first vertical amplitude coefficient and the second vertical amplitude coefficient corresponding to the gait motion cycle of the leg part are determined by the following compliant motion control algebraic equation formula.

[0113] 。

[0114] wherein, represents the first vertical amplitude coefficient; represents the second vertical amplitude coefficient; represents the expected vertical coordinate in the expected three-dimensional space coordinate; represents the initial vertical coordinate in the initial three-dimensional space coordinate; represents the expected vertical velocity value; represents the initial vertical velocity value; represents the second duration; represents the mass value; represents the gravity acceleration value.

[0115] S1023, based on the initial position data, the initial velocity data, the expected velocity data and the second duration, determining foot bottom landing position data corresponding to the support phase cycle of the leg part.

[0116] In an implementation of the present application, in actual implementation, step S1023 can include:

[0117] S10231, determining a relative landing horizontal coordinate corresponding to the foot bottom landing position relative to the initial three-dimensional space coordinate based on the lateral initial speed value, the lateral expected speed value, the second duration and a preset lateral speed error control coefficient.

[0118] In the embodiment of the present application, the relative landing horizontal coordinate is determined by the following formula.

[0119] .

[0120] wherein, represents the relative landing horizontal coordinate corresponding to the foot bottom landing position relative to the initial three-dimensional space coordinate; represents the lateral initial speed value; represents the lateral expected speed value; represents the second duration; represents the preset lateral speed error control coefficient.

[0121] S10232, determining a relative landing vertical coordinate corresponding to the foot bottom landing position relative to the initial three-dimensional space coordinate based on the longitudinal initial speed value, the longitudinal expected speed value, the second duration, the lateral speed error control coefficient and a flag parameter corresponding to the leg part.

[0122] In the embodiment of the present application, the relative landing vertical coordinate is determined by the following formula.

[0123] .

[0124] wherein, represents the relative landing vertical coordinate corresponding to the foot bottom landing position relative to the initial three-dimensional space coordinate; represents the longitudinal initial speed value; represents the longitudinal expected speed value; represents the second duration; represents the lateral speed error control coefficient; represents the flag parameter corresponding to the leg part.

[0125] Herein, represents the flag information of the left and right leg parts, wherein, represents that the current support phase cycle is left leg support, i.e., the leg part is the left leg; represents that the current support phase cycle is right leg support, i.e., the leg part is the right leg.

[0126] wherein, The flag parameters corresponding to this leg component are preset constants. Used to ensure the lateral dynamic balance of humanoid robots during gait.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] .

[0131] 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.

[0132] In this embodiment of the application, the landing ordinate in the two-dimensional landing coordinate system is determined by the following formula.

[0133] 。

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] In the embodiment of the present application, the joint torque is adjusted according to the foot-ground contact force value by impedance control, and the center of mass trajectory or gait parameters are adjusted according to the foot landing position data, so that the target humanoid robot performs compliant gait motion in the gait motion cycle.

[0139] Here, the foot-ground contact force value corresponding to each time point of the leg part in the gait motion cycle has the reference trajectory form generated by the SLIP motion, and by adjusting the amplitude coefficient and the deformation coefficient, the decoupling motion control of the target humanoid robot in the lateral, longitudinal and vertical directions can be realized, so as to realize the accurate tracking of the expected state of the support phase period in the lateral, longitudinal and vertical directions.

[0140] In an implementable manner of the present application, in specific implementation, step S103 can include:

[0141] S1031, for the swing phase period in the gait motion cycle, a preset value is determined as the lateral foot-ground contact force value, the longitudinal foot-ground contact force value and the vertical foot-ground contact force value corresponding to each time point of the leg part in the swing phase period, respectively.

[0142] In the embodiment of the present application, the preset value is generally set to 0.

[0143] Here, the force of each leg part is not always zero in a single support phase period, and is always zero in a single swing phase period, that is, the humanoid robot has the general form feature of leg-foot biological compliant motion.

[0144] S1032, for the support phase period in the gait motion cycle, the lateral amplitude coefficient in the amplitude coefficient and the preset deformation coefficient are used to determine the lateral foot-ground contact force value corresponding to each time point of the leg part in the support phase period.

[0145] In the embodiment of the present application, the lateral foot-ground contact force value corresponding to each time point of the leg part in the support phase period is determined by the following formula.

[0146] .

[0147] Wherein, indicates the normalized coefficient corresponding to each time point in the support phase period (0 at the beginning of the support phase period and 1 at the end of the support phase period); indicates the lateral amplitude coefficient; indicates the preset deformation coefficient; indicates the lateral foot-ground contact force value corresponding to each time point of the leg part in the support phase period.

[0148] S1033, determine the longitudinal foot-ground contact force value corresponding to each time in the support phase period of the leg part respectively based on the first longitudinal amplitude coefficient and the second longitudinal amplitude coefficient in the amplitude coefficient.

[0149] In the embodiment of the present application, the longitudinal foot-ground contact force value corresponding to each time in the support phase period of the leg part is determined by the following formula.

[0150] .

[0151] wherein, denotes the normalized coefficient corresponding to each time in the support phase period (0 at the beginning of the support phase period and 1 at the end of the support phase period); denotes the first longitudinal amplitude coefficient; denotes the second longitudinal amplitude coefficient; denotes the longitudinal foot-ground contact force value corresponding to each time in the support phase period of the leg part.

[0152] S1034, determine the vertical foot-ground contact force value corresponding to each time in the support phase period of the leg part respectively based on the first vertical amplitude coefficient and the second vertical amplitude coefficient in the amplitude coefficient.

[0153] .

[0154] wherein, denotes the normalized coefficient corresponding to each time in the support phase period (0 at the beginning of the support phase period and 1 at the end of the support phase period); denotes the first vertical amplitude coefficient; denotes the second vertical amplitude coefficient; denotes the vertical foot-ground contact force value corresponding to each time in the support phase period of the leg part.

[0155] For example, Figure 2 , Figure 2 is a snapshot diagram of the centroid compliant motion planning of a humanoid robot provided by the embodiment of the present application. As shown in Figure 2 , the method described in the embodiment of the present application can realize stable and compliant gait motion planning of a humanoid robot.

[0156] For example, Figure 3 , Figure 3 is a variation diagram of the centroid motion speed of a humanoid robot provided by the embodiment of the present application. As shown in Figure 3As shown in FIG. 6, through motion control of a single support phase cycle, the actual motion speed (dotted line) of the center of mass at the end of the support phase cycle in the horizontal direction tracks the target speed (dot-dash line) to perform repeated periodic motion in subsequent multiple support phase cycles.

[0157] For example, refer to FIG. 6, Figure 4 , Figure 4 A schematic diagram of the change of the vertical height of the center of mass of a humanoid robot provided by an embodiment of the present application is shown in FIG. 6. Figure 4 As shown in FIG. 6, through motion control of a single support phase cycle, the actual motion position (dotted line) of the center of mass at the end of the support phase cycle in the vertical direction tracks the target position (dot-dash line) to perform repeated periodic motion in subsequent multiple support phase cycles.

[0158] For example, refer to FIG. 6, Figure 5 , Figure 5 A schematic diagram of the change of the ground contact force of the foot in the horizontal direction provided by an embodiment of the present application is shown in FIG. 6. Figure 5 As shown in FIG. 6, in the first support phase cycle, the ground contact force of the foot changes rapidly to ensure switching from the initial state to the desired end state. The periodic motion maintains the same rule of the ground contact force of the foot in the leg-foot biological motion, that is, the vertical ground contact force (Fz) behaves as a unimodal function, and the horizontal ground contact force (Fx) behaves as a function similar to a sine function.

[0159] The control method for compliant gait motion planning of a humanoid robot provided by an embodiment of the present application includes the following steps: acquiring preset initial state data and desired state data of each leg component in the double-leg components of a target humanoid robot in a support phase cycle, determining an amplitude coefficient corresponding to the gait motion cycle and foot landing position data corresponding to the support phase cycle, performing stable and efficient target tracking without error control on the amplitude coefficient of the ground contact force of the foot, and determining the ground contact force value of the leg component at each time point in the gait motion cycle based on the amplitude coefficient, to realize compliant interaction between the foot and the ground by using the ground contact force time explicit bionic trajectory, avoid periodic force mutation generated in the motion planning, and thus realize stable and compliant gait motion planning of the humanoid robot, reduce the landing impact noise and electromechanical system coupling resonance of the humanoid robot, and improve the coordination, stability and efficiency of the compliant motion planning of the humanoid robot, thereby improving the service life of the humanoid robot.

[0160] For example, refer to FIG. 6, Figure 6 , Figure 6 A structural schematic diagram of a control device for compliant gait motion planning of a humanoid robot provided by an embodiment of the present application is shown in FIG. 6. Figure 6 As shown in FIG. 6, the control device 600 includes:

[0161] The data acquisition module 610 is configured to acquire, for each of the leg components of the target humanoid robot, initial state data and expected state data corresponding to a support phase period in a gait motion cycle of the target humanoid robot.

[0162] The data calculation module 620 is configured to determine, 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 period of the leg component.

[0163] The motion control module 630 is configured to determine, based on the amplitude coefficient, a foot ground contact force value corresponding to each time point in the gait motion cycle of the leg component, and control the target humanoid robot to perform a compliant gait motion in the gait motion cycle based on the foot landing position data and the foot ground contact force value.

[0164] Further, the initial state data includes initial position data and initial velocity data, and the expected state data includes expected position data and expected velocity data.

[0165] The initial position data includes initial three-dimensional space coordinates corresponding to a foot center of mass position of the leg component, and the initial velocity data includes 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 includes expected three-dimensional space coordinates corresponding to the foot center of mass position of the leg component, and the expected velocity data includes 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.

[0166] Further, when the data acquisition module 610 is configured to preset the vertical expected velocity value, the data acquisition module 610 is configured to:

[0167] acquire a preset first duration corresponding to a flight phase period in the gait motion cycle and a gravity acceleration value corresponding to a position of the target humanoid robot, respectively;

[0168] determine the vertical expected velocity value based on the first duration and the gravity acceleration value.

[0169] Further, when the data calculation module 620 is configured to determine, 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 period of the leg component, the data calculation module 620 is configured to:

[0170] the second duration is preset;

[0171] determine, based on the initial position data, the initial speed data, the expected position data, the expected speed data, and the second duration, an amplitude coefficient of the leg part corresponding to the gait motion cycle; 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;

[0172] determine, based on the initial position data, the initial speed data, the expected speed data, and the second duration, a foot landing position data of the leg part corresponding to the support phase cycle.

[0173] Further, when determining the amplitude coefficient of the leg part corresponding to the gait motion cycle based on the initial position data, the initial speed data, the expected position data, the expected speed data, and the second duration, the data calculation module 620 is configured to:

[0174] respectively acquire a gravity acceleration value corresponding to the position of the target humanoid robot, and a mass value corresponding to the target humanoid robot;

[0175] determine, based on the initial three-dimensional space coordinate, the expected three-dimensional space coordinate, the lateral initial speed value, the longitudinal initial speed value, the vertical initial speed value, the lateral expected speed value, the longitudinal expected speed value, the vertical expected speed value, the second duration, the gravity 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 part corresponding to the gait motion cycle, respectively.

[0176] Further, the foot landing position data includes a two-dimensional landing coordinate of the foot landing position of the leg part corresponding to the support phase cycle; when determining the foot landing position data of the leg part corresponding to the support phase cycle based on the initial position data, the initial speed data, the expected speed data, and the second duration, the data calculation module 620 is configured to:

[0177] determine, based on the lateral initial speed value, the lateral expected speed value, the second duration, and a preset lateral speed error control coefficient, a relative landing lateral coordinate of the foot landing position relative to the initial three-dimensional space coordinate;

[0178] determine, based on the initial three-dimensional space coordinate, the longitudinal initial speed value, the longitudinal expected speed value, the second duration, the lateral speed error control coefficient, and the flag parameter corresponding to the leg part, a relative landing longitudinal coordinate corresponding to the foot bottom landing position relative to the initial three-dimensional space coordinate;

[0179] determine, based on the initial three-dimensional space coordinate, the relative landing longitudinal coordinate, and the relative landing lateral coordinate, the two-dimensional landing coordinate.

[0180] Further, the foot bottom contact force value includes a lateral foot bottom contact force value, a longitudinal foot bottom contact force value, and a vertical foot bottom contact force value; when the motion control module 630 is used to determine, based on the amplitude coefficient, the foot bottom contact force value corresponding to each time point of the leg part in the gait motion cycle, the motion control module 630 is used to:

[0181] For the flight phase period in the gait motion cycle, a preset value is determined as the lateral foot bottom contact force value, the longitudinal foot bottom contact force value, and the vertical foot bottom contact force value corresponding to each time point of the leg part in the flight phase period, respectively;

[0182] For the support phase period in the gait motion cycle, based on the lateral amplitude coefficient in the amplitude coefficient and a preset deformation coefficient, the lateral foot bottom contact force value corresponding to each time point of the leg part in the support phase period is determined;

[0183] Based on the first longitudinal amplitude coefficient and the second longitudinal amplitude coefficient in the amplitude coefficient, the longitudinal foot bottom contact force value corresponding to each time point of the leg part in the support phase period is determined;

[0184] Based on the first vertical amplitude coefficient and the second vertical amplitude coefficient in the amplitude coefficient, the vertical foot bottom contact force value corresponding to each time point of the leg part in the support phase period is determined.

[0185] The control device for compliant gait motion planning of the humanoid robot provided in the embodiment of the present application determines the amplitude coefficient corresponding to the gait motion period and the foot bottom landing position data corresponding to the support phase period by obtaining the preset initial state data and the expected state data of each leg part in the double leg part of the target humanoid robot in the support phase period, so as to perform stable and efficient target tracking without error control for the amplitude coefficient of the foot bottom contact force, and determine the foot bottom contact force value corresponding to each time in the gait motion period of the leg part based on the amplitude coefficient, so as to realize the compliant interaction between the foot bottom and the ground by using the foot bottom contact force time explicit bionic trajectory, avoid the periodic force mutation generated in the motion planning, and further realize the stable and compliant gait motion planning of the humanoid robot, reduce the landing impact noise and electromechanical system coupling resonance of the humanoid robot, and improve the coordination, stability and efficiency of the compliant motion planning of the humanoid robot, and further improve the service life of the humanoid robot.

[0186] Please refer to Figure 7 , Figure 7 The embodiment of the present application provides a structural schematic diagram of an electronic device. As shown in Figure 7 , the electronic device 700 includes a processor 710, a memory 720 and a bus 730.

[0187] The memory 720 stores machine readable instructions executable by the processor 710, when the electronic device 700 is running, the processor 710 and the memory 720 communicate through the bus 730, and the machine readable instructions are executed by the processor 710, can execute the steps of the control method for compliant gait motion planning of the humanoid robot in the method embodiment as described above Figure 1 , and the specific implementation can be referred to the method embodiment, which will not be repeated here.

[0188] The embodiment of the present application further provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is run by the processor, can execute the steps of the control method for compliant gait motion planning of the humanoid robot in the method embodiment as described above Figure 1 , and the specific implementation can be referred to the method embodiment, which will not be repeated here.

[0189] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

[0190] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. The described device embodiments are merely schematic, for example, the division of the units is only a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0191] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0192] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically as a separate unit, or two or more units can be integrated in one unit.

[0193] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application or the part of the technical solutions that make essential contributions to the prior art can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0194] Finally, it should be noted that the above-described embodiments are merely specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, but not to limit the same. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that any skilled person in the art can still modify or easily think of changes to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some of the technical features, within the technical scope disclosed by the present application. The modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for compliant gait motion planning of a humanoid robot, characterized in that, The control method includes: In the gait motion cycle of the target humanoid robot, for each leg component of the target humanoid robot's two leg components, 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; wherein, the initial state data includes initial position data and initial velocity data, and the expected state data includes expected position data and expected velocity data; 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. The step of determining 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 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; 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.

2. The method according to claim 1, characterized in that, 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.

3. The method according to claim 2, characterized in that, 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.

4. The method according to claim 2, characterized in that, The step of 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.

5. The method according to claim 2, characterized in that, 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.

6. The method according to claim 1, characterized in that, 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.

7. A control device for planning compliant gait motion in a humanoid robot, characterized in that, The control device includes: The data acquisition module is used to acquire, during the gait 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 two leg components of the target humanoid robot; wherein, the initial state data includes initial position data and initial velocity data, and the expected state data includes expected position data and expected velocity data; 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 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 corresponding to the gait motion cycle, and the foot landing position data of the leg component corresponding to the support phase cycle, respectively. 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; 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.

8. An electronic device, characterized in that, 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 humanoid robot compliant gait motion planning as described in any one of claims 1 to 6.

9. 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 6.

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