Robot sole and control method and device thereof, electronic equipment and storage medium

Abstract

The invention provides a robot sole and a control method and device thereof, electronic equipment and a storage medium. The method comprises the steps that the action posture of the robot sole is obtained; according to the action posture, a control mode of the foot sole of the robot is determined, and the control mode comprises a ground contact buffering mode, a negative pressure adsorption mode and a pressure release mode; and according to the control mode, action control parameters of the foot sole of the robot are generated, and the acting force generated by the foot sole of the robot to the ground is adjusted according to the action control parameters. Based on the method, the impact force of the foot sole of the robot on the ground can be reduced, the fragile and non-impact-resistant ground such as tiles and wood floors can be protected, the ground grabbing force of the foot sole of the robot on the ground can be improved, and the stability of the robot and the balance capacity of the whole robot are improved.

Description

Technical Field

[0001] This application relates to the field of intelligent robot technology, and in particular to a robot foot and its control method, device, electronic device and storage medium. Background Technology

[0002] With the development of artificial intelligence technology, humanoid robots are gradually entering people's production and daily lives. Currently, most humanoid robots on the market are supported by metal. When they walk, the impact force generated by their feet hitting the ground is relatively large, causing the sensors on the robot body, such as cameras and radar, to shake, affecting their normal operation. They also generate noise, which affects the integration of humans and machines into the environment. Moreover, the impact force is also very damaging to the ground, easily causing problems such as cracking of tiles and wood floors. Summary of the Invention

[0003] In view of this, embodiments of this application provide a robot foot and its control method, device, electronic device and storage medium, aiming to solve the problems of how to reduce the impact of robot feet on the ground and improve ground grip in the prior art.

[0004] The first aspect of this application provides a robot foot control method, including:

[0005] Obtain the motion posture of the robot's feet;

[0006] Based on the aforementioned action posture, the control mode of the robot's foot is determined, wherein the control mode includes ground contact buffer mode, negative pressure adsorption mode, and pressure release mode.

[0007] Based on the control mode, motion control parameters for the robot's foot are generated, and the force exerted by the robot's foot on the ground is adjusted according to the motion control parameters.

[0008] In one possible implementation, obtaining the motion pose of the robot's foot includes:

[0009] Acquire pressure data detected by a pressure sensor, wherein the pressure data is a sequence of pressure values ​​arranged by time;

[0010] The pressure value sequence is analyzed for changes, and the robot's foot posture is determined based on the analysis results. If the analysis results show that the pressure value sequence increases over time, the robot's foot posture is determined to be a ground-contact cushioning posture. If the analysis results show that the pressure value sequence remains unchanged over time, the robot's foot posture is determined to be a negative pressure adsorption posture. If the analysis results show that the pressure value sequence decreases over time, the robot's foot posture is determined to be a pressure release posture.

[0011] In one possible implementation, the motion control parameters of the robot's foot are generated according to the control mode, including:

[0012] If the control mode is the ground-touching buffer mode, then the robot's state data and the robot's foot state data are acquired.

[0013] The robot's state data and the robot's foot state data are input into the first robot gait planning model for information analysis to generate motion control parameters for the robot's foot. The motion control parameters include the opening and closing parameters of the pilot electronic valve corresponding to the air chamber and the stiffness coefficient corresponding to the rubber ring.

[0014] In one possible implementation, the motion control parameters of the robot's foot are generated according to the control mode, including:

[0015] If the control mode is negative pressure adsorption mode, then the pilot electronic air valve corresponding to the air guide chamber will be fully closed to generate the motion control parameters of the robot's foot.

[0016] In one possible implementation, the motion control parameters of the robot's foot are generated according to the control mode, including:

[0017] If the control mode is pressure release mode, then the pilot electronic air valve corresponding to the air guide chamber will be fully opened to generate the motion control parameters of the robot's foot.

[0018] In one possible implementation, the robot foot control method further includes:

[0019] Obtain the robot's status data;

[0020] Predict the start time for the robot's foot to update to a pressure-relieving posture based on the robot's state data;

[0021] The timing for adjusting the force exerted by the robot's foot on the ground is determined based on the start time of the pressure release posture.

[0022] A second aspect of this application provides a robot foot control device, the device comprising:

[0023] The acquisition module is used to acquire the movement posture of the robot's feet;

[0024] The determining module is used to determine the control mode of the robot's foot based on the action posture, wherein the control mode includes ground contact buffer mode, negative pressure adsorption mode and pressure release mode;

[0025] The control module is used to generate motion control parameters for the robot's foot according to the control mode and adjust the force exerted by the robot's foot on the ground according to the motion control parameters.

[0026] A third aspect of this application provides a robot foot for implementing the method described in the first aspect. The robot foot includes at least one electronic air valve, at least one air guiding chamber, at least one rubber ring, and at least one pressure sensor. The pressure sensor is used to detect the force on the robot foot. The air guiding chamber is connected to the outside atmosphere through the electronic air valve. The air guiding chamber and the negative pressure chamber formed by the rubber ring are connected through a vent.

[0027] A fourth aspect of this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the electronic device, wherein the processor executes the computer program to implement the steps of the robot foot control method provided in the first aspect.

[0028] A fifth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the robot foot control method provided in the first aspect.

[0029] A sixth aspect of this application provides a computer program product that, when run on an electronic device, causes the electronic device to execute the steps of the robot foot control method provided in the first aspect.

[0030] The robot foot, its control method, device, electronic device, and storage medium provided in this application have the following beneficial effects:

[0031] By acquiring the motion posture of the robot's feet, and determining the control mode of the robot's feet based on the motion posture, the control mode includes a ground-contact cushioning mode, a negative pressure adsorption mode, and a pressure release mode. Based on the control mode, motion control parameters for the robot's feet are generated, and the force exerted by the robot's feet on the ground is adjusted according to the motion control parameters. Based on this method, the impact force of the robot's feet on the ground can be reduced, protecting fragile and impact-sensitive surfaces such as ceramic tiles and wooden floors. It can also improve the grip of the robot's feet on the ground, thereby improving the robot's stability and overall balance. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart illustrating the implementation of a robot foot control method provided in an embodiment of this application.

[0034] Figure 2 This is a flowchart illustrating one implementation of the robot foot control method provided in this application for determining the foot's motion posture.

[0035] Figure 3 This is a flowchart illustrating one implementation of the robot foot control method provided in this application for generating motion control parameters for the robot foot.

[0036] Figure 4 This is a flowchart illustrating another implementation of the robot foot control method provided in this application embodiment.

[0037] Figure 5 This is a basic structural block diagram of a robot foot control device provided in an embodiment of this application.

[0038] Figure 6 This is a schematic diagram of a robot foot provided in an embodiment of this application.

[0039] Figure 7 A schematic diagram of a bottom-embedded structure of a robot foot provided in an embodiment of this application.

[0040] Figure 8 A cross-sectional view of a robot foot provided in an embodiment of this application.

[0041] Figure 9 This is a basic structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0042] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary detail.

[0043] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0044] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0045] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0046] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0047] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. "A plurality" means "two or more."

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] Currently, existing humanoid robots have not been designed with suitable robotic feet for specific application scenarios (such as relatively smooth and flat surfaces in homes, shopping malls, and industrial sites), nor have they conducted in-depth research on how to reduce the impact of the feet on the ground and how to obtain better friction. Existing humanoid robots have large vibrations and large head shaking due to their gait, which affects the normal operation of head lidar and vision.

[0050] This application provides a robot foot and its control method, which aims to use the robot's own gravity to achieve active closed-loop control for shock absorption, thereby achieving a shock absorption effect without consuming energy.

[0051] In some embodiments of this application, please refer to Figure 1 , Figure 1 This is a flowchart illustrating the implementation of a robot foot control method provided in an embodiment of this application. Figure 1 As shown, it may specifically include steps S11 to S13.

[0052] S11: Obtain the motion posture of the robot's foot.

[0053] During movement, the foot's posture includes the process from the foot touching the ground to lifting off the ground. In this embodiment, the foot's posture can be divided into three stages: ground contact cushioning, negative pressure absorption, and pressure release. Pressure sensors are installed on the foot. From the moment the pressure sensor receives a pressure signal, the foot's posture during the period when the pressure value gradually increases is considered ground contact cushioning; the foot's posture during the period when the pressure value remains within a certain threshold is considered negative pressure absorption; and the foot's posture during the period when the pressure value gradually decreases is considered pressure release. In this embodiment, the foot's posture can be determined by acquiring the pressure signal received by the pressure sensor on the foot.

[0054] S12: Based on the action posture, determine the control mode of the robot's foot, wherein the control mode includes ground contact buffer mode, negative pressure adsorption mode and pressure release mode.

[0055] Based on the classification of foot motion postures, three control modes for the robot's feet can be configured. These modes correspond to three different behaviors: ground-contact cushioning posture and ground-contact cushioning mode; negative pressure adsorption posture and negative pressure adsorption mode; and pressure release posture and pressure release mode. In this embodiment, after obtaining the robot's foot motion posture, the control mode for the robot's feet can be determined based on this posture and the correspondence between the configured motion postures and control modes.

[0056] S13: Based on the control mode, generate motion control parameters for the robot's foot and adjust the force exerted by the robot's foot on the ground according to the motion control parameters.

[0057] In this embodiment, the force exerted by the robot's foot on the ground includes, but is not limited to, cushioning pressure and negative pressure suction. The robot's foot contains at least one air-guiding chamber and at least one rubber ring with adjustable stiffness. The air-guiding chamber is connected to a pilot-operated electronic air valve and is controlled by the valve to connect to the outside atmosphere. In the ground-contact cushioning mode, the cushioning pressure of the foot is controlled by adjusting the opening degree of the pilot-operated electronic air valve and controlling the stiffness coefficient of the rubber ring, thereby achieving the purpose of foot contact cushioning control. Therefore, in the ground-contact cushioning mode, the motion control parameters of the robot's foot include the opening degree parameter of the pilot-operated electronic air valve and the stiffness coefficient parameter of the rubber ring. In the negative pressure suction mode, the foot is suctioned to the ground by atmospheric pressure through the closed pilot-operated electronic air valve, thus providing greater grip. Therefore, in the negative pressure suction mode, the motion control parameters of the robot's foot include the opening degree parameter of the pilot-operated electronic air valve, and this opening degree parameter is that the pilot-operated electronic air valve is fully closed. The pressure release mode specifically eliminates the influence of atmospheric pressure on the foot by controlling the opening of the pilot-operated electronic air valve, thereby reducing the negative pressure suction force acting on the foot and allowing it to easily leave the ground, avoiding negative impacts on the humanoid robot's walking ability. In pressure release mode, the robot's foot motion control parameters include the opening / closing parameter of the pilot-operated electronic air valve, which is set to fully open.

[0058] As can be seen from the above, the robot foot control method provided in this application obtains the robot foot's motion posture; determines the robot foot's control mode based on the motion posture, wherein the control mode includes a ground-contact buffer mode, a negative pressure adsorption mode, and a pressure release mode; generates motion control parameters for the robot foot based on the control mode, and adjusts the force exerted by the robot foot on the ground according to the motion control parameters. Based on this method, the impact force of the robot foot on the ground can be reduced, protecting fragile and impact-sensitive surfaces such as ceramic tiles and wooden floors, while also improving the robot foot's grip on the ground, thereby improving the robot's stability and overall balance.

[0059] In some embodiments of this application, please refer to Figure 2 , Figure 2 This is a flowchart illustrating one implementation of the robot foot control method provided in this application for determining the foot's motion posture. Figure 2 As shown, it may specifically include steps S21 to S22.

[0060] S21: Acquire pressure data detected by the pressure sensor, wherein the pressure data is a sequence of pressure values ​​arranged in time.

[0061] S22: Perform data change analysis on the pressure value sequence, and determine the robot's foot movement posture based on the analysis results; wherein, if the analysis result shows that the pressure value sequence increases with time, the robot's foot movement posture is determined to be a ground-touching and buffering posture; if the analysis result shows that the pressure value sequence remains unchanged with time, the robot's foot movement posture is determined to be a negative pressure adsorption posture; if the analysis result shows that the pressure value sequence decreases with time, the robot's foot movement posture is determined to be a pressure release posture.

[0062] In this embodiment, at least one pressure sensor is also provided on the bottom of the robot's foot. During movement, when the robot's foot contacts the ground, the pressure sensor generates a pressure signal due to the robot's own gravity. The robot's controller establishes a communication connection with the pressure sensor, allowing the controller to acquire the pressure data detected by the sensor. In this embodiment, the controller can be set to determine the response time for acquiring the robot's foot's movement posture. By acquiring the pressure data within this response time, data change analysis is performed; that is, the pressure data is represented as a time-series of pressure values, containing pressure values ​​corresponding to multiple different time points. The robot's foot's movement posture is then determined based on the analysis results obtained from the data change analysis. Specifically, when the pressure value sequence increases over time, meaning the pressure value in the sequence gradually increases over time, the robot's foot posture can be determined to be a ground-contact buffering posture. When the pressure value sequence remains constant over time, meaning the pressure value in the sequence remains essentially unchanged over time, the robot's foot posture can be determined to be a negative pressure adsorption posture. This constantness means the value fluctuates within a certain threshold range. When the pressure value sequence decreases over time, meaning the pressure value in the sequence gradually decreases over time, the robot's foot posture can be determined to be a pressure release posture.

[0063] In some embodiments of this application, please refer to Figure 3 , Figure 3 This is a flowchart illustrating one implementation of the robot foot control method provided in this application, which generates motion control parameters for the robot foot. Figure 3 As shown, it may specifically include steps S31 to S32.

[0064] S31: If the control mode is the ground-touching buffer mode, then acquire the robot's state data and the robot's foot state data.

[0065] S32: Input the state data of the robot and the state data of the robot's feet into the first robot gait planning model for information analysis, and generate motion control parameters for the robot's feet. The motion control parameters include the opening and closing parameters of the pilot electronic valve corresponding to the air chamber and the stiffness coefficient corresponding to the rubber ring.

[0066] Robot gait planning is a core algorithm for controlling robot movement, possessing core functions such as gait generation, stability control, and terrain adaptation. It determines how a robot coordinates leg movements to achieve stable and efficient movement. Simply put, robot gait planning is like the robot's "motor brain," planning the contact and swing states of each leg to enable the robot to walk, run, and adapt to complex terrain. When generating gait through robot gait planning, coordinated leg movement sequences can be generated based on task requirements (such as walking or running). When performing stability control through robot gait planning, gait parameters (such as stride length and stride frequency) can be adjusted to maintain robot balance. When performing terrain adaptation control through robot gait planning, gait can be dynamically adjusted based on ground conditions (such as slope and obstacles) to ensure the robot can adapt to various complex terrains.

[0067] In this embodiment, the robot's state data may include, but is not limited to, acceleration data, leg joint feedback force and pressure data, and foot contact sound data. The robot's foot state data includes, but is not limited to, pressure data from the foot's bottom pressure sensor and foot angle data. The first robot gait planning model can be trained to a convergent state using a convolutional neural network model. This convolutional neural network model is trained to generate, based on the robot's state data and the robot's foot state data, the opening and closing parameters of the pilot-operated electronic valves corresponding to different positions in the air chambers of the robot's foot, and the stiffness coefficients of the rubber rings corresponding to different positions on the bottom of the foot, as motion control parameters for the robot's foot. Therefore, in the ground contact buffer mode, the first robot gait planning model can be used to generate the robot's foot motion control parameters, thereby adjusting the force exerted by the robot's foot on the ground according to the generated motion control parameters.

[0068] The convolutional neural network model used in the first robot gait planning model can be a CNN convolutional neural network model or a VGG convolutional neural network model, etc. Specifically, the first robot gait planning model is trained to a convergent state through a large amount of sample data, so that the first robot gait planning model has the ability to generate corresponding robot foot motion control parameters based on the robot's state data and the robot's foot state data.

[0069] In some embodiments of this application, after the robot's foot fully contacts the ground after cushioning, if the robot does not lift its foot, the robot's foot needs to be in a negative pressure suction posture to increase the robot's grip (i.e., negative pressure suction force) without adding extra weight to the robot's foot, thereby improving the robot's stability and balance. In this embodiment, after the robot's foot fully contacts the ground, the robot's controller can trigger the negative pressure suction mode, closing all the pilot-operated electronic air valves corresponding to all air chambers on the bottom of the foot, allowing the foot to rely on atmospheric pressure to adhere to the ground, thus enabling the robot to obtain greater grip. This embodiment obtains grip through negative pressure suction. In scenarios with smooth and flat surfaces such as homes and shopping malls, even in the event of a power outage, it can maintain suction capacity for a period of time, preventing the robot from falling and injuring people due to sudden power failure. Therefore, in negative pressure suction mode, the robot's foot's motion control parameters can be generated by fully closing the pilot-operated electronic air valves corresponding to the air chambers, thereby adjusting the force exerted by the robot's foot on the ground according to the generated motion control parameters.

[0070] In some embodiments of this application, when the robot needs to walk, the influence of atmospheric pressure on the foot is first eliminated, thereby reducing the negative pressure suction force acting on the foot, so that the foot can easily leave the ground. In this embodiment, when the robot needs to walk, the robot's controller can trigger a pressure release mode, fully opening all the pilot-operated electronic air valves corresponding to all the air-guiding chambers on the bottom of the foot, so that the robot is completely unaffected by the negative pressure suction force when lifting its foot, avoiding negative consumption when the robot lifts its foot to walk. Therefore, in the pressure release mode, the full opening of the pilot-operated electronic air valves corresponding to the air-guiding chambers can generate motion control parameters for the robot's foot, so as to adjust the force exerted by the robot's foot on the ground according to the generated motion control parameters.

[0071] In some embodiments of this application, please refer to Figure 4 , Figure 4 This is a flowchart illustrating another implementation of the robot foot control method provided in this application. Figure 4 As shown, it may specifically include steps S41 to S43.

[0072] S41: Acquire robot status data;

[0073] S42: Predict the start time for the robot's foot to update to a pressure-relieving posture based on the robot's state data;

[0074] S43: Determine the time for adjusting the force exerted by the robot's foot on the ground based on the start time of the pressure release posture.

[0075] In this embodiment, the timing of pressure release during robot movement can be predicted through robot gait planning. Based on this timing, the pressure release mode is triggered in advance. According to the robot gait planning, all pilot-operated electronic valves corresponding to the air chambers on the bottom of the foot are fully opened, ensuring the robot is completely unaffected by negative pressure suction when lifting its foot, thus avoiding negative energy consumption during walking. Specifically, the robot's state data may include, but is not limited to, acceleration data. Acceleration data is used to estimate the duration of the entire process from foot contact with the ground to lifting off the ground, as well as the durations of the three stages: ground contact buffering, negative pressure suction, and pressure release. This determines the start time for the robot's foot to update to a pressure release posture, and then, based on the start time of the pressure release posture, the time for adjusting the force exerted by the robot's foot on the ground is determined. The time for adjusting the force exerted by the robot's foot on the ground is configured to occur before the start time of the robot's foot updating to a pressure release posture.

[0076] In one specific embodiment, a second robot gait planning model can be pre-trained. This model predicts the timing for adjusting the force exerted by the robot's feet on the ground. Based on this timing, a pressure release mode is triggered, fully opening the pilot-operated electronic valves corresponding to the air chambers to generate motion control parameters for the robot's feet. This allows the robot to adjust the force exerted by its feet on the ground according to these generated motion control parameters. It should be noted that the training method for the second robot gait planning model is similar to that of the first model, and will not be elaborated further here.

[0077] It is understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0078] In some embodiments of this application, please refer to Figure 5 , Figure 5 This is a basic structural block diagram of a robot foot control device provided in an embodiment of this application. In this embodiment, the device includes units used to perform the steps in the above-described method embodiments. Please refer to the relevant descriptions in the above-described method embodiments for details. For ease of explanation, only the parts relevant to this embodiment are shown. Figure 5As shown, the robot foot control device includes: an acquisition module 51, a determination module 52, and a control module 53. The acquisition module 51 acquires the robot foot's movement posture; the determination module 52 determines the control mode of the robot foot based on the movement posture, wherein the control mode includes a ground-contact buffer mode, a negative pressure adsorption mode, and a pressure release mode; the control module 53 generates motion control parameters for the robot foot based on the control mode and adjusts the force exerted by the robot foot on the ground according to the motion control parameters.

[0079] It should be understood that the above-mentioned robot foot control device corresponds one-to-one with the above-mentioned robot foot control method, and will not be described again here.

[0080] In some embodiments of this application, please refer to Figure 6 , Figure 7 as well as Figure 8 , Figure 6 This is a schematic diagram of a robot foot provided in an embodiment of this application. Figure 7 A schematic diagram of a bottom-embedded structure of a robot foot provided in an embodiment of this application; Figure 8 A cross-sectional view of a robot foot provided in an embodiment of this application. Figure 6 , Figure 7 as well as Figure 8 As shown, the bottom of the robot's foot can be equipped with at least one electronic air valve 61, at least one air-guiding chamber 81, at least one rubber ring 71, and at least one pressure sensor 72. The internal area enclosed by the rubber ring 71 forms a negative pressure chamber 73, and a vent 82 is provided at the bottom of the negative pressure chamber 73. Multiple pressure sensors 72 can also be arranged at the bottom of the rubber ring 73. The vent 82 communicates with the air-guiding chamber 81, and the air-guiding chamber 81 communicates with the electronic air valve 61. The air-guiding chamber 81 is controlled by the electronic air valve 61 to connect with the outside atmosphere. Specifically, the electronic air valve 61 can be configured as a pilot-operated electronic air valve.

[0081] In some embodiments of this application, please refer to Figure 9 , Figure 9 This is a basic structural block diagram of an electronic device provided in an embodiment of this application. Figure 9 As shown, the electronic device 9 of this embodiment includes: a processor 91, a memory 92, and a computer program 93 stored in the memory 92 and executable on the processor 91, such as a program for a robot foot control method. When the processor 91 executes the computer program 93, it implements the steps in the various embodiments of the robot foot control methods described above. Alternatively, when the processor 91 executes the computer program 93, it implements the functions of each module in the embodiments corresponding to the robot foot control device described above. Please refer to the relevant descriptions in the embodiments for details, which will not be repeated here.

[0082] For example, the computer program 93 can be divided into one or more modules (units) for performing the various steps in the above method embodiments. The one or more modules are stored in the memory 92 and executed by the processor 91 to complete this application. The one or more modules can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 93 in the electronic device 9.

[0083] The electronic device may include, but is not limited to, a processor 91 and a memory 92. Those skilled in the art will understand that... Figure 9 This is merely an example of electronic device 9 and does not constitute a limitation on electronic device 9. It may include more or fewer components than shown, or combine certain components, or different components. For example, the electronic device may also include input / output devices, network access devices, buses, etc.

[0084] The processor 91 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0085] The memory 92 can be an internal storage unit of the electronic device 9, such as a hard disk or memory. The memory 92 can also be an external storage device of the electronic device 9, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 92 can include both internal and external storage units of the electronic device 9. The memory 92 is used to store the computer program and other programs and data required by the electronic device. The memory 92 can also be used to temporarily store data that has been output or will be output.

[0086] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0087] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps in the various method embodiments described above. In this embodiment, the computer-readable storage medium can be either non-volatile or volatile.

[0088] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to implement the steps described in the various method embodiments.

[0089] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments 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. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0090] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0091] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0092] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications 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 included within the protection scope of this application.

Claims

1. A method for controlling the foot of a robot, characterized in that, include: Obtain the motion posture of the robot's feet; Based on the aforementioned action posture, the control mode of the robot's foot is determined, wherein the control mode includes ground contact buffer mode, negative pressure adsorption mode, and pressure release mode. Based on the control mode, motion control parameters for the robot's foot are generated, and the force exerted by the robot's foot on the ground is adjusted according to the motion control parameters.

2. The robot foot control method according to claim 1, characterized in that, Obtain the motion posture of the robot's feet, including: Acquire pressure data detected by a pressure sensor, wherein the pressure data is a sequence of pressure values ​​arranged by time; The pressure value sequence is analyzed for changes, and the robot's foot posture is determined based on the analysis results. If the analysis results show that the pressure value sequence increases over time, the robot's foot posture is determined to be a ground-contact cushioning posture. If the analysis results show that the pressure value sequence remains unchanged over time, the robot's foot posture is determined to be a negative pressure adsorption posture. If the analysis results show that the pressure value sequence decreases over time, the robot's foot posture is determined to be a pressure release posture.

3. The robot foot control method according to claim 1, characterized in that, Based on the control mode, motion control parameters for the robot's foot are generated, including: If the control mode is the ground-touching buffer mode, then the robot's state data and the robot's foot state data are acquired. The robot's state data and the robot's foot state data are input into the first robot gait planning model for information analysis to generate motion control parameters for the robot's foot. The motion control parameters include the opening and closing parameters of the pilot electronic valve corresponding to the air chamber and the stiffness coefficient corresponding to the rubber ring.

4. The robot foot control method according to claim 1, characterized in that, Based on the control mode, motion control parameters for the robot's foot are generated, including: If the control mode is negative pressure adsorption mode, then the pilot electronic air valve corresponding to the air guide chamber will be fully closed to generate the motion control parameters of the robot's foot.

5. The robot foot control method according to claim 1, characterized in that, Based on the control mode, motion control parameters for the robot's foot are generated, including: If the control mode is pressure release mode, then the pilot electronic air valve corresponding to the air guide chamber will be fully opened to generate the motion control parameters of the robot's foot.

6. The robot foot control method according to claim 5, characterized in that, Also includes: Obtain the robot's status data; Predict the start time for the robot's foot to update to a pressure-relieving posture based on the robot's state data; The timing for adjusting the force exerted by the robot's foot on the ground is determined based on the start time of the pressure release posture.

7. A robot foot control device, characterized in that, The device includes: The acquisition module is used to acquire the movement posture of the robot's feet; The determining module is used to determine the control mode of the robot's foot based on the action posture, wherein the control mode includes ground contact buffer mode, negative pressure adsorption mode and pressure release mode; The control module is used to generate motion control parameters for the robot's foot according to the control mode and adjust the force exerted by the robot's foot on the ground according to the motion control parameters.

8. A robotic foot, characterized in that, The robot foot is used to implement the method as described in claims 1 to 6. The robot foot includes: at least one electronic air valve, at least one air guiding chamber, at least one rubber ring, and at least one pressure sensor. The pressure sensor is used to detect the force on the robot foot. The air guiding chamber is connected to the outside atmosphere through the electronic air valve. The air guiding chamber and the negative pressure chamber formed by the rubber ring are connected through a vent.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1-6.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1-6.

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