Hydraulic muscle control method and device, electronic equipment and storage medium

Abstract

This application provides a hydraulic muscle control method, device, electronic device, and storage medium, comprising: acquiring an initial pressure signal of a hydraulic muscle; acquiring the current muscle activation level of the hydraulic muscle, and determining the activation time constant for the muscle pressurization process and the deactivation time constant for the muscle decompression process based on the muscle activation level; calculating an error signal based on the initial pressure signal and muscle activation level, and calculating feature weights characterizing the type of pressure currently required by the hydraulic muscle based on the error signal; calculating a target time constant based on the feature weights, the activation time constant, and the deactivation time constant; calculating the target muscle activation level of the hydraulic muscle at the next moment based on the target time constant, the error signal, and the muscle activation level; calculating the muscle output force of the hydraulic muscle at the next moment based on the target muscle activation level, the minimum working pressure of the hydraulic device, and the maximum safe pressure, and controlling the hydraulic muscle based on the muscle output force. This application can improve the control accuracy of hydraulic muscles.

Description

Technical Field

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

[0002] Traditional hydraulic muscle modeling methods have the following technical defects: Static modeling limitations: Existing methods mostly use static polynomial models, which cannot accurately describe the time-related characteristics of hydraulic muscles in dynamic processes; Ignoring hysteresis effects: Traditional models ignore the inherent activation / deactivation time difference of hydraulic muscles, that is, the muscle needs time to react, which leads to distortion of dynamic response and thus poor control accuracy of hydraulic muscles.

[0003] Therefore, a new hydraulic muscle control method is urgently needed to solve the above problems. Summary of the Invention

[0004] In view of this, this application provides a hydraulic muscle control method, device, electronic device, and storage medium, which can improve the control accuracy of hydraulic muscles.

[0005] A first aspect of this application provides a hydraulic muscle control method, comprising: acquiring an initial pressure signal of a hydraulic muscle; acquiring the current muscle activation level of the hydraulic muscle, and determining an activation time constant for a muscle pressurization process and a deactivation time constant for a muscle decompression process based on the muscle activation level; calculating an error signal based on the initial pressure signal and the muscle activation level, and calculating a feature weight characterizing the type of pressure currently required by the hydraulic muscle based on the error signal; calculating a target time constant based on the feature weight, the activation time constant, and the deactivation time constant; calculating a target muscle activation level of the hydraulic muscle at the next moment based on the target time constant, the error signal, and the muscle activation level; calculating the muscle output force of the hydraulic muscle at the next moment based on the target muscle activation level, the minimum working pressure and the maximum safe pressure of the hydraulic device used to provide pressure to the hydraulic muscle, and controlling the hydraulic muscle based on the muscle output force.

[0006] In one possible implementation, before calculating the error signal based on the initial pressure signal and the muscle activation level, the method further includes: normalizing the initial pressure signal; the calculation of the error signal based on the initial pressure signal and the muscle activation level includes: calculating the error signal based on the normalized initial pressure signal and the muscle activation level.

[0007] In one possible implementation, calculating the error signal based on the normalized initial pressure signal and the muscle activation level includes: calculating the error signal according to the following formula: ;in, The error signal is... The normalized initial pressure signal. The muscle activation level; the step of calculating the feature weights characterizing the current required pressure type of the hydrodynamic muscle based on the error signal includes: calculating the feature weights according to the following formula: ;in, The feature weights, This is the preset smoothing factor.

[0008] In one possible implementation, calculating the target time constant based on the feature weights, the activation time constant, and the deactivation time constant includes: calculating the target time constant according to the following formula: ;in, The target time constant is... The activation time constant is... Let be the deactivation time constant.

[0009] In one possible implementation, calculating the target muscle activation level of the hydrodynamic muscle at the next moment based on the target time constant, the error signal, and the muscle activation level includes: calculating the target muscle activation level according to the following formula: ;in, The target muscle activation level, The muscle activation level, This is the preset time interval between the current moment and the next moment.

[0010] In one possible implementation, calculating the muscle output force of the hydraulic muscle at the next moment based on the target muscle activation level, the minimum operating pressure and the maximum safe pressure of the hydraulic device used to supply pressure to the hydraulic muscle includes: calculating the muscle output force according to the following formula: ;in, For the force output by the muscle, The maximum safe pressure, This refers to the minimum working pressure.

[0011] In one possible implementation, determining the activation time constant of the muscle pressurization process and the deactivation time constant of the muscle decompression process based on the muscle activation level includes: calculating the activation time constant according to the following formula: ;in, The activation time constant is... The preset base activation time constant, The muscle activation level is given; the deactivation time constant is calculated according to the following formula: ;in, The deactivation time constant is... The preset deactivation time constant.

[0012] Secondly, embodiments of this application also provide a hydraulic muscle control device, comprising: a first acquisition module, a second acquisition module, a determination module, a first calculation module, a second calculation module, a third calculation module, and a fourth calculation module; the first acquisition module is used to acquire an initial pressure signal of the hydraulic muscle; the second acquisition module is used to acquire the current muscle activation level of the hydraulic muscle; the determination module is used to determine the activation time constant of the muscle pressurization process and the deactivation time constant of the muscle decompression process based on the muscle activation level; the first calculation module is used to calculate an error signal based on the initial pressure signal and the muscle activation level, and calculate a feature weight characterizing the type of pressure currently required by the hydraulic muscle based on the error signal; the second calculation module is used to calculate a target time constant based on the feature weight, the activation time constant, and the deactivation time constant; the third calculation module is used to calculate the target muscle activation level of the hydraulic muscle at the next moment based on the target time constant, the error signal, and the muscle activation level; the fourth calculation module is used to calculate the muscle output force of the hydraulic muscle at the next moment based on the target muscle activation level, the minimum working pressure and the maximum safe pressure of the hydraulic device used to provide pressure to the hydraulic muscle, and control the hydraulic muscle based on the muscle output force.

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

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

[0015] Compared with related technologies, the embodiments of this application have at least the following advantages: By obtaining the current muscle activation level of the hydraulic muscle, on the one hand, the activation time constant of the muscle pressurization process is determined based on the muscle activation level, thereby simulating the biological characteristic that the difficulty of hydraulic muscle contraction increases with the increase of activation level; on the other hand, the deactivation time constant of the muscle decompression process is determined based on the muscle activation level, thereby simulating the acceleration effect of the hydraulic muscle relaxation process. By calculating the error signal based on the initial pressure signal and muscle activation level, and calculating the feature weights characterizing the type of pressure currently required by the hydraulic muscle based on the error signal, the feature weights quantify whether the current hydraulic muscle is closer to the activation mode or the deactivation mode. Then, the target time constant is calculated based on the feature weights, the activation time constant, and the deactivation time constant, so that the target time constant dynamically mixes the feature time scales of two different behavioral modes (i.e., activation mode and deactivation mode). Finally, the target muscle activation degree of the hydraulic muscle at the next moment is calculated based on the target time constant, error signal, and muscle activation degree. The muscle output force of the hydraulic muscle at the next moment is calculated based on the target muscle activation degree, minimum working pressure, and maximum safe pressure. This maps the internal, normalized "muscle activation state" back to the external "effective working pressure" with actual physical units. By controlling the hydraulic muscle according to the muscle output force, the control accuracy of the hydraulic muscle is improved.

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

[0017] Figure 1 A flowchart illustrating the steps of a hydraulic muscle control method provided in an embodiment of this application; Figure 2 A dynamic time constant variation curve provided in an embodiment of this application; Figure 3 A functional block diagram of a hydraulic muscle control device provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0018] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0019] The following description sets forth many specific details to provide a full understanding of this application. The described embodiments are only some, not all, of the embodiments of this application.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0021] It should be further noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0022] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0023] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0024] For ease of understanding, some concepts related to the embodiments of this application are illustrated and explained by way of example.

[0025] Hydraulic muscle: A soft actuator that uses hydraulic or pneumatic pressure to drive flexible materials, simulating the contraction of biological muscles. Its core principle is to use fluid pressure to deform an elastic structure, generating mechanical motion. It consists of an elastic inner liner (rubber / silicone) and a braided sleeve. After fluid is injected, the internal pressure increases, and the sleeve's constraint causes axial contraction, outputting tensile force. The deformation rate can reach 20%-30%. Please refer to [reference needed]. Figure 1 , Figure 1This is a flowchart illustrating the steps of an embodiment of the hydraulic muscle control method provided in this application. Depending on different requirements, the order of steps in this flowchart can be changed, and some steps can be omitted.

[0026] It should be noted that the hydraulic muscle control method of this application embodiment can be applied to robot simulation scenarios, and its execution subject can be a hydraulic muscle control device. For example, in a robot simulation scenario, the hydraulic muscle control device can be used to control hydraulic muscles. Of course, the hydraulic muscle control method can also be applied to other scenarios that require robot simulation, and this application does not specifically limit it.

[0027] The specific process of this embodiment is as follows: Figure 1 As shown, it includes the following steps: S101, acquire the initial pressure signal of the hydrodynamic muscle.

[0028] In some embodiments, the initial pressure signal is a signal input by the user through simulation software.

[0029] S102, obtain the current muscle activation level of the fluid-driven muscle.

[0030] In some embodiments, the value of muscle activation ranges between (0, 1).

[0031] S103, determine the activation time constant of the muscle pressurization process and the deactivation time constant of the muscle decompression process based on muscle activation level.

[0032] In some embodiments, determining the activation time constant of the muscle compression process and the deactivation time constant of the muscle decompression process based on muscle activation includes: calculating the activation time constant according to the following formula: ;in, For activation time constant, The preset base activation time constant, This represents muscle activation; understandably, the above formula simulates the biological characteristic that the difficulty of muscle contraction increases with increasing activation. When muscle activation increases from 0 to 1, the activation time constant increases from 0.5... t increases linearly to 2.0 .

[0033] The deactivation time constant is calculated using the following formula: ;in, For deactivation time constant, The above formula uses a preset deactivation time constant. It can be understood that this formula simulates the accelerated effect of the muscle relaxation process. Muscles relax more easily and quickly in a highly activated state.

[0034] Please refer to Figure 2 The curve showing the change of the dynamic time constant is provided in the embodiments of this application. Figure 2 The horizontal axis represents muscle activation, and the vertical axis represents the time constant.

[0035] S104 calculates the error signal based on the initial pressure signal and muscle activation, and calculates the feature weights characterizing the type of pressure currently required for the hydrodynamic muscle based on the error signal.

[0036] In some embodiments, before calculating the error signal based on the initial pressure signal and muscle activation, the method further includes: normalizing the initial pressure signal; calculating the error signal based on the initial pressure signal and muscle activation includes: calculating the error signal based on the normalized initial pressure signal and muscle activation.

[0037] Specifically, the initial pressure signal is normalized according to the following formula: ;in, This is the normalized initial pressure signal. This is the initial pressure signal. The above method allows for the standardization and safety limiting of the input initial pressure signal.

[0038] The error signal is calculated based on the normalized initial pressure signal and muscle activation, including the following formula: ; in, For error signals, This is the normalized initial pressure signal. Muscle activation level; Calculate the feature weights representing the type of pressure currently required by the hydraulic muscle based on the error signal, including: calculating the feature weights according to the following formula: ;in, For feature weights, This is the preset smoothing factor.

[0039] Specifically, the formula for calculating feature weights is a sigmoid function, which acts as a "smart switch" or "hybrid weight calculator".

[0040] The error signal represents the current degree and direction of the system's "imbalance". A value greater than 0 indicates that the hydraulic muscle needs additional pressure. A value less than 0 indicates that the hydraulic muscle needs decompression.

[0041] Smoothing factor Control the transition sensitivity of this "smart switch". When the value is large, the Sigmoid curve is flat, even when... When the symbols are clear, It also doesn't immediately change to 0 or 1, achieving a very smooth and slow mode transition. When the value is small, the Sigmoid curve is steep, and the blend will switch quickly as the sign of δ changes, which is close to the behavior of a traditional switch.

[0042] Feature weights It is a continuous value between 0 and 1. When It is a very large positive number (strongly needs activation). Close to 0, therefore ≈ 1; when It is a very large negative number (strongly needs to be activated). It is a very large number, therefore ≈ 0; when Approaching 0 (the target is close to the current situation). ≈ 0.5.

[0043] S105, calculate the target time constant based on the feature weights, activation time constant, and deactivation time constant.

[0044] In some embodiments, calculating the target time constant based on feature weights, activation time constants, and deactivation time constants includes: calculating the target time constant according to the following formula: ;in, The target time constant is For activation time constant, This is the deactivation time constant.

[0045] This is a linear interpolation formula used to calculate the final effective, mixed target time constant.

[0046] When the system explicitly requires activation (blend ≈ 1): τ ≈ × 1 + × 0 ≈ The system primarily exhibits the characteristic of rapid "activation". When the system explicitly needs to be deactivated (blend ≈ 0): τ ≈ × 0 + × 1 ≈ The system mainly exhibits a slow "deactivation" characteristic.

[0047] When the system is in the transition region (blend ≈ 0.5): τ ≈ 0.5 × + 0.5 × This method eliminates the time constant jump during mode switching, ensures derivative continuity, and improves numerical stability by adaptively transitioning based on the rate of change of the control signal.

[0048] S106, calculate the target muscle activation level of the hydrodynamic muscle at the next moment based on the target time constant, error signal, and muscle activation level.

[0049] In some embodiments, before calculating the target muscle activation level of the hydrodynamic muscle at the next moment based on the target time constant, error signal, and muscle activation level, a very small lower limit (10) is set for the target time constant τ. -8 That is, τ = max(τ, 10). -8 This method ensures the stability of numerical calculations and acts as a "safety valve" for the model.

[0050] d(act) / dt = δ / τ; This is a first-order linear differential equation describing the rate of change of the activated state 'act' with time 't'. It describes the "inertia" or "hysteresis" characteristic of the activated state of the hydraulic muscle. This is the core dynamic equation of the model. d(act) / dt: the rate of change of activation, which can be understood as the speed of muscle "contraction" or "relaxation".

[0051] Specifically, the physical picture of the entire formula is: Rate of state change = Driving force / Inertia. When the gap between the "goal" and the "current state" is large (δ is large), the system will change rapidly to narrow the gap. However, the system's "inertia" (τ) will inhibit this change. The larger τ is, the greater the inertia, the slower the state change, and the more obvious the hysteresis effect. τ is dynamic (calculated based on the direction of δ and the current act), which accurately simulates the complex hysteresis characteristics of hydraulic muscles: "slow pressure increase, slow pressure decrease, and speed related to the current state."

[0052] In some embodiments, calculating the target muscle activation level of the hydrodynamic muscle at the next moment based on the target time constant, error signal, and muscle activation level includes: Target muscle activation is calculated using the following formula: ;in, For target muscle activation, For muscle activation, This sets the time interval between the current and next moments. This is the discrete form of the differential equation above using Euler forward difference, used in computer simulation. In digital simulation, it represents the actual algorithm for progressively updating muscle state with tiny time steps.

[0053] S107, based on the target muscle activation level, the minimum working pressure and the maximum safe pressure of the hydraulic device used to supply pressure to the hydraulic muscle, calculates the muscle output force of the hydraulic muscle at the next moment, and controls the hydraulic muscle according to the muscle output force.

[0054] In some embodiments, calculating the muscle output force of the hydraulic muscle at the next moment, based on the target muscle activation level, the minimum operating pressure of the hydraulic device used to supply pressure to the hydraulic muscle, and the maximum safe pressure, includes: calculating the muscle output force according to the following formula: ;in, To generate force for muscles, To maximize safety pressure, To minimize work pressure.

[0055] Compared with related technologies, the embodiments of this application have at least the following advantages: By obtaining the current muscle activation level of the hydraulic muscle, on the one hand, the activation time constant of the muscle pressurization process is determined based on the muscle activation level, thereby simulating the biological characteristic that the difficulty of hydraulic muscle contraction increases with the increase of activation level; on the other hand, the deactivation time constant of the muscle decompression process is determined based on the muscle activation level, thereby simulating the acceleration effect of the hydraulic muscle relaxation process. By calculating the error signal based on the initial pressure signal and muscle activation level, and calculating the feature weights characterizing the type of pressure currently required by the hydraulic muscle based on the error signal, the feature weights quantify whether the current hydraulic muscle is closer to the activation mode or the deactivation mode. Then, the target time constant is calculated based on the feature weights, the activation time constant, and the deactivation time constant, so that the target time constant dynamically mixes the feature time scales of two different behavioral modes (i.e., activation mode and deactivation mode). Finally, the target muscle activation degree of the hydraulic muscle at the next moment is calculated based on the target time constant, error signal, and muscle activation degree. The muscle output force of the hydraulic muscle at the next moment is calculated based on the target muscle activation degree, minimum working pressure, and maximum safe pressure. This maps the internal, normalized "muscle activation state" back to the external "effective working pressure" with actual physical units. By controlling the hydraulic muscle according to the muscle output force, the control accuracy of the hydraulic muscle is improved.

[0056] Based on the same idea as the hydraulic muscle control method in the above embodiments, this application also provides a hydraulic muscle control device that can be used to execute the above-described hydraulic muscle control method. For ease of explanation, the structural schematic diagram of the hydraulic muscle control device embodiment only shows the parts related to the embodiments of this application. Those skilled in the art will understand that the illustrated structure does not constitute a limitation on the device, and it may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0057] like Figure 3 As shown, the hydraulic muscle control device 30 includes a first acquisition module 301, a second acquisition module 302, a determination module 303, a first calculation module 304, a second calculation module 305, a third calculation module 306, and a fourth calculation module 307. In some embodiments, the above modules can be programmable software instructions stored in memory and executable by a processor. It is understood that in other embodiments, the above modules can also be program instructions or firmware embedded in the processor.

[0058] The first acquisition module 301 is used to acquire the initial pressure signal of the hydraulic muscle; The second acquisition module 302 is used to acquire the current muscle activation level of the hydraulic muscle. The determination module 303 is used to determine the activation time constant of the muscle pressurization process and the deactivation time constant of the muscle decompression process based on the muscle activation level. The first calculation module 304 is used to calculate an error signal based on the initial pressure signal and the muscle activation level, and to calculate feature weights representing the type of pressure currently required by the hydrodynamic muscle based on the error signal. The second calculation module 305 is used to calculate the target time constant based on the feature weights, the activation time constant, and the deactivation time constant. The third calculation module 306 is used to calculate the target muscle activation degree of the hydrodynamic muscle at the next moment based on the target time constant, the error signal and the muscle activation degree. The fourth calculation module 307 is used to calculate the muscle output force of the hydraulic muscle at the next moment based on the target muscle activation level, the minimum working pressure and the maximum safe pressure of the hydraulic device used to provide pressure to the hydraulic muscle, and to control the hydraulic muscle based on the muscle output force.

[0059] The hydraulic muscle control device 30 provided in the above embodiments can realize the technical solutions described in the above hydraulic muscle control method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above hydraulic muscle control method embodiments, and will not be repeated here.

[0060] Please refer to Figure 4 , Figure 4 This is a schematic diagram of an embodiment of the electronic device of this application. In this embodiment of the invention, the electronic device 400 includes a processor 401, a memory 402, and a display 403. Figure 4 Only some components of the electronic device 400 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0061] In some embodiments, processor 401 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 402 or process data, such as the hydraulic muscle control method of the present invention.

[0062] In some embodiments, processor 401 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 401 may be local or remote. In some embodiments, processor 401 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, inter-cloud, multi-cloud, or any combination thereof.

[0063] In some embodiments, memory 402 may be an internal storage unit of electronic device 400, such as a hard disk or memory of electronic device 400. In other embodiments, memory 402 may also be an external storage device of electronic device 400, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 400.

[0064] Furthermore, the memory 402 may include both internal storage units of the electronic device 400 and external storage devices. The memory 402 is used to store application software and various types of data installed on the electronic device 400.

[0065] In some embodiments, display 403 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 403 is used to display information from electronic device 400 and to display visual user applications. Components 401-403 of electronic device 400 communicate with each other via a system bus.

[0066] In one embodiment, when the processor 401 executes the hydraulic muscle control program in the memory 402, the following steps can be performed: Acquire the initial pressure signal of the hydrodynamic muscle; The current muscle activation level of the hydraulic muscle is obtained, and the activation time constant of the muscle pressurization process and the deactivation time constant of the muscle decompression process are determined based on the muscle activation level. An error signal is calculated based on the initial pressure signal and the muscle activation level, and feature weights characterizing the type of pressure currently required by the hydrodynamic muscle are calculated based on the error signal. The target time constant is calculated based on the feature weights, the activation time constant, and the deactivation time constant. The target muscle activation level of the hydrodynamic muscle at the next moment is calculated based on the target time constant, the error signal, and the muscle activation level. Based on the target muscle activation level, the minimum operating pressure and maximum safe pressure of the hydraulic device used to supply pressure to the hydraulic muscle, the muscle output force of the hydraulic muscle at the next moment is calculated, and the hydraulic muscle is controlled according to the muscle output force.

[0067] It should be understood that when the processor 401 executes the hydraulic muscle control program in the memory 402, in addition to the functions mentioned above, it can also perform other functions, as can be found in the description of the corresponding method embodiments above.

[0068] Furthermore, this embodiment of the invention does not specifically limit the type of electronic device 400 mentioned. Electronic device 400 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the invention, electronic device 400 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0069] Accordingly, this application also provides a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions of the hydraulic muscle control methods provided in the above-described method embodiments.

[0070] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0071] The hydraulic muscle control method, device, electronic device, and computer-readable storage medium provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A hydraulic muscle control method, characterized in that, include: Acquire the initial pressure signal of the hydrodynamic muscle; The current muscle activation level of the hydraulic muscle is obtained, and the activation time constant of the muscle pressurization process and the deactivation time constant of the muscle decompression process are determined based on the muscle activation level. An error signal is calculated based on the initial pressure signal and the muscle activation level, and feature weights characterizing the type of pressure currently required by the hydrodynamic muscle are calculated based on the error signal. The target time constant is calculated based on the feature weights, the activation time constant, and the deactivation time constant. The target muscle activation level of the hydrodynamic muscle at the next moment is calculated based on the target time constant, the error signal, and the muscle activation level. Based on the target muscle activation level, the minimum operating pressure and maximum safe pressure of the hydraulic device used to supply pressure to the hydraulic muscle, the muscle output force of the hydraulic muscle at the next moment is calculated, and the hydraulic muscle is controlled according to the muscle output force.

2. The hydraulic muscle control method according to claim 1, characterized in that, Before calculating the error signal based on the initial pressure signal and the muscle activation level, the method further includes: The initial pressure signal is normalized. The calculation of the error signal based on the initial pressure signal and the muscle activation level includes: The error signal is calculated based on the normalized initial pressure signal and the muscle activation level.

3. The hydraulic muscle control method according to claim 2, characterized in that, The step of calculating the error signal based on the normalized initial pressure signal and the muscle activation includes: The error signal is calculated using the following formula: ； in, The error signal is... The normalized initial pressure signal. The degree of muscle activation; The calculation of feature weights characterizing the type of pressure currently required by the hydraulic muscle based on the error signal includes: The feature weights are calculated using the following formula: ;in, The feature weights, This is the preset smoothing factor.

4. The hydraulic muscle control method according to claim 3, characterized in that, The step of calculating the target time constant based on the feature weights, the activation time constant, and the deactivation time constant includes: The target time constant is calculated using the following formula: ;in, The target time constant is... The activation time constant is... Let be the deactivation time constant.

5. The hydraulic muscle control method according to claim 4, characterized in that, The step of calculating the target muscle activation level of the hydrodynamic muscle at the next moment based on the target time constant, the error signal, and the muscle activation level includes: The target muscle activation level is calculated using the following formula: ;in, The target muscle activation level, The muscle activation level, This is the preset time interval between the current moment and the next moment.

6. The hydraulic muscle control method according to claim 5, characterized in that, The calculation of the muscle output force of the hydraulic muscle at the next moment, based on the target muscle activation level, the minimum operating pressure and the maximum safe pressure of the hydraulic device used to supply pressure to the hydraulic muscle, includes: The muscle output force is calculated using the following formula: ;in, For the force output by the muscle, The maximum safe pressure, This refers to the minimum working pressure.

7. The hydraulic muscle control method according to any one of claims 1 to 6, characterized in that, The step of determining the activation time constant for the muscle pressurization process and the deactivation time constant for the muscle decompression process based on the muscle activation level includes: calculating the activation time constant according to the following formula: ;in, The activation time constant is... The preset base activation time constant, The degree of muscle activation; The deactivation time constant is calculated using the following formula: ;in, The deactivation time constant is... The preset deactivation time constant.

8. A hydraulic muscle control device, characterized in that, include: The system comprises a first acquisition module, a second acquisition module, a determination module, a first calculation module, a second calculation module, a third calculation module, and a fourth calculation module; The first acquisition module is used to acquire the initial pressure signal of the hydraulic muscle; The second acquisition module is used to acquire the current muscle activation level of the hydraulic muscle; The determining module is used to determine the activation time constant of the muscle pressurization process and the deactivation time constant of the muscle decompression process based on the muscle activation level. The first calculation module is used to calculate an error signal based on the initial pressure signal and the muscle activation level, and to calculate feature weights representing the type of pressure currently required by the hydrodynamic muscle based on the error signal; The second calculation module is used to calculate the target time constant based on the feature weights, the activation time constant, and the deactivation time constant; The third calculation module is used to calculate the target muscle activation degree of the hydrodynamic muscle at the next moment based on the target time constant, the error signal, and the muscle activation degree. The fourth calculation module is used to calculate the muscle output force of the hydraulic muscle at the next moment based on the target muscle activation level, the minimum working pressure and the maximum safe pressure of the hydraulic device used to provide pressure to the hydraulic muscle, and to control the hydraulic muscle based on the muscle output force.

9. An electronic device, the electronic device comprising a processor and a memory, characterized in that, The memory is used to store instructions, and the processor is used to call the instructions in the memory to cause the electronic device to execute the hydraulic muscle control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed on an electronic device, cause the electronic device to perform the hydraulic muscle control method as described in any one of claims 1 to 7.

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