Waist joint module control method, control system and humanoid robot

Abstract

The application relates to the technical field of robots, and discloses a waist joint module control method, a control system and a humanoid robot. The waist joint module control method comprises the following steps: constructing a geometric constraint model of a waist joint module, obtaining a target attitude angle of the waist joint module, simultaneously solving a spherical constraint equation of a space connecting rod mechanism and a plane constraint equation of a motor output end, and determining required output angles of two waist motors when the target attitude angle is reached through analytical calculation. The waist joint module control method disclosed by the application can directly solve the waist motor output angles from the target attitude angle, and does not need repeated approximation measurement in the middle, thereby significantly reducing the calculation amount, simplifying the calculation difficulty, realizing rapid calculation, improving the real-time performance, and accurately reflecting the kinematic relationship according to the geometric constraint model of the waist joint module, improving the consistency between the command angle and the actual attitude, and realizing accurate waist attitude adjustment.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to a waist joint module control method, control system, and humanoid robot. Background Technology

[0002] The waist structure of a humanoid robot, as a crucial link connecting the torso and lower limbs, directly affects the robot's posture adjustment capabilities, dynamic stability, and overall coordination control. To achieve human-like flexible movement, the waist typically needs to possess multiple degrees of freedom, including pitch, roll (lateral sway), and rotation (yaw). Existing technologies have developed various multi-degree-of-freedom waist structures, such as those employing a hybrid series-parallel configuration. Pitch and lateral movements are achieved through parallel mechanisms, while rotational movements are achieved through a series yaw joint.

[0003] However, existing waist structures generally focus on using the torso as a mounting platform for various drive components, emphasizing the structure's load-bearing capacity and stiffness, while paying insufficient attention to structural adaptability during multi-degree-of-freedom motion and the ease of solving degree-of-freedom problems. Specifically, although existing waist structures can achieve the expected three-degree-of-freedom motion, the kinematic relationship between the drive motor angles and the target waist attitude angles is complex, typically requiring numerical iterative methods to solve the inverse kinematics. This approach has the following drawbacks: First, the numerical iteration involves a large amount of computation and poor real-time performance, making it difficult to meet the control response requirements in highly dynamic motion scenarios. Second, the motion coupling effect between multiple degrees of freedom further exacerbates the difficulty of decomposition, requiring additional decoupling compensation strategies for the control system and increasing its complexity. Third, the lack of a direct analytical mapping relationship from the target posture to the drive motor angle is not conducive to achieving accurate and efficient posture control, thus limiting the humanoid robot's ability to achieve human-like posture adjustment and dynamic stability. Summary of the Invention

[0004] The purpose of this application is to provide a waist joint module control method, control system, and humanoid robot to solve the problems of poor real-time performance, poor accuracy, increased complexity of control system, and limitation of humanoid robot's human-like posture adjustment ability and dynamic stability by existing numerical iterative methods.

[0005] To achieve the above objectives, the first aspect of this application provides a waist joint module control method for controlling the waist joint module of a humanoid robot. The waist joint module has pitch and roll degrees of freedom and includes two waist motors arranged side by side. The output ends of the two waist motors are driven in parallel through a set of spatial linkage mechanisms to realize pitch and roll motion. The control method for the lumbar joint module includes: Construct a geometric constraint model based on the waist joint module; Obtain the target attitude angle of the waist joint module, the target attitude angle including pitch attitude angle and roll attitude angle; Based on the geometric constraint model, the spherical constraint equation of the spatial linkage mechanism and the planar constraint equation of the output end of the waist motor are combined, and the required output angle of the two waist motors when the target attitude angle is achieved is determined by analytical calculation.

[0006] In some embodiments, the waist joint module further includes a rotary platform and a movable platform. The movable platform is hinged to the rotary platform via a cross shaft assembly. Two waist motors are provided on the movable platform. The cross shaft assembly has an orthogonally arranged pitch axis and roll axis. The spatial linkage mechanism includes an eccentric hinge plate and a movable link. The eccentric hinge plate is driven and connected to the corresponding waist motor. The two ends of the movable link are respectively hinged to the eccentric hinge plate and the rotary platform via ball joints. The construction of the geometric constraint model based on the lumbar joint module includes: A base coordinate system is established, which is fixed on the rotary platform. The origin of the base coordinate system is set at the center of the cross axis assembly and does not change with the attitude. A moving platform coordinate system is established, which is fixed on the moving platform. The origin of the moving platform coordinate system is also set at the center of the cross axis assembly and changes with the attitude. Establish a world coordinate system to describe absolute spatial position; In the base coordinate system, the moving platform coordinate system, and the world coordinate system, the following geometric parameters are determined: Determine the position vector of the rotation center of the pitch axis relative to the world coordinate system. ; Determine the position vectors of the rotation axis centers of the two waist motors in the coordinate system of the moving platform. , and the unit direction vector of the two waist motors' rotation axes. , ; Determine the ball joint position vector from the output ends of the two waist motors to the corresponding movable link and the eccentric hinge plate. , ; Determine the lengths of the two movable links. , ; The center distance between the two eccentric hinged discs is determined to be , ; Determine the positions of the hinge points connecting the rotary platform to the two movable links in the base coordinate system. , .

[0007] In some embodiments, the step of simultaneously establishing the spherical constraint equations of the spatial linkage mechanism and the planar constraint equations of the output end of the waist motor based on the geometric constraint model, and determining the required output angles of the two waist motors to achieve the target attitude angle through analytical calculation, includes: Using the hinge point between the movable link and the rotary platform as the center of the sphere and the length of the movable link as the radius, the spherical constraint equation of the spatial linkage mechanism is constructed.

[0008] In some embodiments, constructing the spherical constraint equations of the spatial linkage mechanism with the hinge point between the movable link and the rotary platform as the center of the sphere and the length of the movable link as the radius includes: The pitch attitude angle is determined to be The roll attitude angle is Then the rotation matrix of the active platform relative to the rotating platform is: : (1); in, , ; The position vectors of the hinge points between the two movable links and the rotary platform are respectively , : (2); (3); Since the length of the movable link is fixed, and based on the above formulas (1) to (3), the spherical constraint equation is constructed as follows: Formula (4): (4); in: For the hinge point position between the movable link and the eccentric hinge plate, the above formula (4) represents: Located in Center of the sphere, radius is On the surface of the sphere, The value can be 1 or 2.

[0009] In some embodiments, the step of simultaneously establishing the spherical constraint equations of the spatial linkage mechanism and the planar constraint equations of the output end of the waist motor based on the geometric constraint model, and determining the required output angles of the two waist motors to achieve the target attitude angle through analytical calculation, further includes: Using the projection point of the rotation axis of the output end of the waist motor in the axial direction as the center, and the distance from the hinge point of the movable connecting rod and the eccentric hinge plate to the center of the circle as the radius, construct the planar constraint equation of the output end of the waist motor. The hinge point between the movable link and the eccentric hinge plate is located on the spherical surface of the spatial link mechanism.

[0010] In some embodiments, the step of constructing the planar constraint equation for the output end of the waist motor, with the projection point of the rotation axis of the output end of the waist motor in the axial direction as the center and the distance from the hinge point of the movable connecting rod and the eccentric hinge plate to the center of the circle as the radius, includes: The equation of the trajectory circle at the output end of the waist motor is defined as follows: (5); Therefore, based on the above formula (5), the planar constraint equation is constructed as follows: formula (6): (6); Formula (6) above indicates that the point lies in a plane perpendicular to the axis of rotation of the waist motor. The value can be 1 or 2.

[0011] In some embodiments, the step of simultaneously establishing the spherical constraint equations of the spatial linkage mechanism and the planar constraint equations of the output end of the waist motor based on the geometric constraint model, and determining the required output angles of the two waist motors to achieve the target attitude angle through analytical calculation, further includes: By simultaneously solving the spherical constraint equations of the spatial linkage mechanism and the planar constraint equations of the output end of the waist motor to obtain the trajectory circle equation, two intersection points in space are determined, namely... , ; Select the corresponding solution based on the assembly conditions of the waist joint module.

[0012] In some implementations, determining the required output angles of the two waist motors to achieve the target attitude angle through analytical calculation includes: Choose any vector ,satisfy Non-parallel The planar basis vectors of the active platform are constructed as follows: (7); (8); in, The formula for calculating the output angle of the waist motor is: (9); Formula (10) is obtained by transforming the above formulas (7), (8) and (9): (10); And calculate the current waist motor output angle according to formula (10). , The value can be 1 or 2.

[0013] To achieve the above objectives, a second aspect of this application provides a control system for a humanoid robot, comprising: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the lumbar joint module control method provided in the first aspect above.

[0014] To achieve the above objectives, a third aspect of this application provides a humanoid robot, including a waist joint module and a control system according to the second aspect above, the control system being configured to control the waist joint module to perform corresponding actions.

[0015] Compared with existing technologies, the waist joint module control method, control system, and humanoid robot provided in this application have at least the following beneficial effects: The lumbar joint module control method provided in this application establishes a direct analytical mapping relationship from the target attitude angle to the output angles of the two lumbar motors by constructing a geometric constraint model of the lumbar joint module and simultaneously establishing the spherical constraint equations of the spatial linkage mechanism and the planar constraint equations of the motor output ends. Compared with traditional methods that rely on numerical iteration to solve inverse kinematics, this application can directly solve for the output angles of the lumbar motors from the target attitude angle, without repeated approximation calculations, significantly reducing the amount of computation, simplifying the calculation difficulty, achieving fast solution, and improving real-time performance. In addition, based on the constructed geometric constraint model of the lumbar joint module, the kinematic relationship can be accurately reflected, improving the consistency between the command angle and the actual attitude, and achieving precise lumbar attitude adjustment. Thus, based on high control accuracy and real-time performance, it can meet the requirements for real-time control in high-dynamic motion scenarios, thereby providing reliable underlying support for the whole-body coordinated control of humanoid robots.

[0016] Furthermore, this application also incorporates the coupling relationship into the solution of the simultaneous equations through a geometric constraint model. The target angles of the two waist motors can be determined simultaneously in a single analytical calculation without the need for additional compensation strategies, thereby simplifying the design and debugging of the control system.

[0017] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings: Figure 1 A three-dimensional schematic diagram of a partial structure of a humanoid robot provided in an embodiment of this application; Figure 2 A three-dimensional structural diagram of a waist joint module provided in an embodiment of this application; Figure 3 A flowchart of a lumbar joint module control method provided in this application embodiment; Figure 4 for Figure 2 The diagram shows the waist joint module in a rolling rotation state. Figure 5 for Figure 2 The diagram shows the waist joint module in a pitching and rotating state.

[0019] Explanation of reference numerals in the attached figures 100. Waist motor; 200. Spatial linkage mechanism; 210. Eccentric hinge plate; 220. Movable link; 300. Slewing platform; 400, activity platform; 500. Cross axis assembly; 510. Pitch axis; 520. Roll axis; 600. Rotary motor. Detailed Implementation

[0020] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0021] The present application will now be described in detail with reference to the accompanying drawings and exemplary embodiments.

[0022] Example: On the one hand, please refer to Figures 1 to 5 This application provides a control method for a waist joint module, used for controlling the waist joint module of a humanoid robot. The waist joint module has rotation, pitch, and roll degrees of freedom. Figure 1 and Figure 2 As shown in the figure, the letter O1 indicates the roll axis, the letter O2 indicates the pitch axis, and the letter O3 indicates the slewing axis. In this embodiment, the slewing control of the waist joint module is relatively simple, so the following explanation uses pitch and roll control as examples.

[0023] The waist joint module includes two waist motors 100 arranged side by side. The output ends of the two waist motors 100 are driven in parallel through a set of spatial linkage mechanisms 200 to achieve pitch and roll motion.

[0024] Please see Figure 2 and Figure 3 The lumbar joint module control method provided in this embodiment includes the following steps: S100: Construct a geometric constraint model based on the lumbar joint module.

[0025] S200: Obtain the target attitude angle of the waist joint module, which includes the pitch attitude angle and the roll attitude angle. In this embodiment, the target attitude angle also includes the rotation attitude angle. The control of the rotation attitude angle is controlled by the rotation motor 600 and is not related to the waist motor 100. This embodiment only describes the output angle of the waist motor 100.

[0026] S300: Based on the geometric constraint model, the spherical constraint equation of the combined spatial linkage mechanism 200 and the planar constraint equation of the output end of the waist motor 100 are combined, and the required output angle of the two waist motors 100 when the target attitude angle is achieved is determined by analytical calculation.

[0027] Thus, the waist joint module control method provided in this embodiment establishes a direct analytical mapping relationship from the target attitude angle to the output angles of the two waist motors 100 by constructing a geometric constraint model of the waist joint module and simultaneously establishing the spherical constraint equations of the spatial linkage mechanism 200 and the planar constraint equations of the motor output end. Compared with the traditional method that relies on numerical iteration to solve the inverse kinematics, this embodiment can directly solve the output angles of the waist motors 100 from the target attitude angle without repeated approximation calculations, significantly reducing the amount of computation, simplifying the calculation difficulty, achieving fast solution, and improving real-time performance.

[0028] Furthermore, based on the geometric constraint model of the lumbar joint module, the kinematic relationships can be accurately reflected, improving the consistency between the commanded angle and the actual posture, and achieving precise lumbar posture adjustment. This high control precision and real-time performance can meet the requirements for real-time control in highly dynamic motion scenarios, thus providing reliable underlying support for the coordinated control of the entire humanoid robot.

[0029] Furthermore, this embodiment also uses a geometric constraint model to link the coupling relationship to the solution of simultaneous equations. The target angle of the two waist motors can be determined simultaneously in one analytical calculation without the need for additional compensation strategies, thereby simplifying the design and debugging of the control system.

[0030] To more clearly describe the technical solution of this application, the lumbar joint module control method provided in this embodiment is described in detail below: Please see Figure 2 , Figure 3 , Figure 4 and Figure 5 The waist joint module also includes a rotary platform 300 and a movable platform 400. The rotary platform 300 is used to connect the rotary motor 600. The movable platform 400 is hinged to the rotary platform 300 via a cross shaft assembly 500. Two waist motors 100 are arranged side by side on the movable platform 400, with the output ends of the two waist motors 100 on the same side and their output rotation axes parallel to each other. The cross shaft assembly 500 has an orthogonally arranged pitch axis 510 and roll axis 520. The spatial linkage mechanism 200 includes an eccentric hinge plate 210 and a movable link 220. The eccentric hinge plate 210 is driven and connected to the corresponding waist motor 100. The two ends of the movable link 220 are respectively hinged to the eccentric hinge plate 210 and the rotary platform 300 via ball joints.

[0031] In order to achieve precise control of the waist motor 100, step S100 requires the establishment of three coordinate systems: the base coordinate system, the moving platform coordinate system, and the world coordinate system. Therefore, the geometric constraint model based on the waist joint module is constructed as follows: A base coordinate system is established and fixed on the rotary platform 300. The origin of the base coordinate system is set at the center of the cross shaft assembly 500 and does not change with the attitude. Thus, this base coordinate system does not change with the attitude and is used to describe the position of the fixed hinge point on the static platform.

[0032] A moving platform coordinate system is established, which is fixed on the movable platform 400. The origin of the moving platform coordinate system is also set at the center of the cross axis assembly 500 and changes with the attitude. It can be understood that at the initial moment, the moving platform coordinate system coincides with the base coordinate system. When the waist joint module performs pitch or roll motion, the moving platform coordinate system rotates together with the movable platform 400. This moving platform coordinate system is used to describe the geometric quantities fixed to the movable platform 400, such as the axial direction of the waist motor 100 and the initial vector of the eccentric hinge plate 210.

[0033] Establish a world coordinate system to describe absolute spatial position; the origin of the world coordinate system can be located at the center of the cross axis assembly 500 or set off from the center of the cross axis assembly 500.

[0034] In this embodiment, the following geometric parameters are determined in the base coordinate system, the moving platform coordinate system, and the world coordinate system: Determine the position vector of the rotation center of the pitch axis 510 relative to the world coordinate system. (It should be noted that the position vector is defined when the origin of the world coordinate system coincides with the center of the cross axis assembly 500.) The value is zero; retaining this parameter in this embodiment allows the constructed geometric constraint model to have universality. Determine the position vectors of the rotation axis centers of the two waist motors 100 in the coordinate system of the moving platform. , And the unit direction vector of the rotation shafts of the two waist motors 100 , (Unit direction vector) , (This can also be represented in the moving platform coordinate system); Determine the ball joint position vectors from the output ends of the two waist motors 100 to the corresponding movable link 220 and the eccentric hinge plate 210. , (Represented in the moving platform coordinate system); Determine the lengths of the two movable links 220. , (The distance between the centers of the ball joints at both ends of the movable link 220, and this distance is a fixed value); The center distance between the two eccentric hinged plates 210 is determined as follows: , (with the ball joint position vector) , (corresponding to the modulus); Determine the positions of the hinge points connecting the rotary platform 300 to the two movable connecting rods 220 in the base coordinate system. , .

[0035] Understandably, the parameters given above collectively and comprehensively describe the mechanism's topology, joint axis direction, transmission dimensions, and connection relationships, forming the basis for subsequently establishing constraint equations. Specifically, the axial direction of the waist motor 100 and the initial vector of the eccentric hinge plate 210 define the circular trajectory constraint of the output end of the waist motor 100, while the length of the movable link 220 and the fixed hinge point define the spherical constraint. The combination of these two parameters enables an analytical mapping from the target attitude angle to the motor output angle.

[0036] When obtaining the target attitude angle, this application reads the desired pitch attitude angle from the upper-level planner (such as a gait planner or a centroid trajectory planner) in the humanoid robot's whole-body coordination control system. ) and roll attitude angle ( These two angles are the desired waist postures calculated in real time by the upper layer based on the overall movement requirements of the humanoid robot. By directly deriving the target posture angles from the upper-layer planner, the method in this embodiment can be seamlessly integrated into the hierarchical control architecture, achieving end-to-end real-time mapping from task planning to joint actuation, thereby ensuring that the humanoid robot can complete human-like posture movements such as bending over and turning sideways.

[0037] Furthermore, in step S200 above: based on the geometric constraint model, the spherical constraint equation of the combined spatial linkage mechanism 200 and the planar constraint equation of the output end of the waist motor 100 are combined, and the required output angle of the two waist motors 100 to achieve the target attitude angle is determined through analytical calculation, including: With the hinge point between the movable link 220 and the rotary platform 300 as the center of the sphere and the length of the movable link 220 as the radius, the spherical constraint equation of the spatial linkage mechanism 200 is constructed.

[0038] Specifically, taking the hinge point between the movable link 220 and the rotary platform 300 as the center of the sphere and the length of the movable link 220 as the radius, the spherical constraint equations of the spatial linkage mechanism 200 are constructed, including: Determine the pitch angle as The roll attitude angle is Then the rotation matrix of the active platform 400 relative to the rotating platform 300 is: : (1); in, , ; The position vectors of the hinge points between the two movable links 220 and the rotary platform 300 are respectively , : (2); (3); Since the length of the movable link 220 is fixed, and based on the above formulas (1) to (3), the spherical constraint equation is constructed as follows: Formula (4): (4); in: For the hinge point position between the movable link 220 and the eccentric hinge plate 210, the above formula (4) represents: Located in Center of the sphere, radius is The equation is called the spherical constraint equation because it lies on a sphere. This constraint reflects the rigid connection characteristic of the moving link 220 with a constant length, and is one of the core constraints for solving the motor output angle. (The above...) The value can be 1 or 2, corresponding to the two movable links 220 respectively.

[0039] Furthermore, in step S200 above: based on the geometric constraint model, the spherical constraint equation of the combined spatial linkage mechanism 200 and the planar constraint equation of the output end of the waist motor 100 are established, and the required output angle of the two waist motors 100 to achieve the target attitude angle is determined through analytical calculation. This also includes: With the projection point of the rotation axis of the output end of the waist motor 100 in the axial direction as the center, and the distance from the hinge point of the movable link 220 and the eccentric hinge plate 210 to the center as the radius, the planar constraint equation of the output end of the waist motor 100 is constructed. The hinge point between the movable link 220 and the eccentric hinge plate 210 is located on the spherical surface of the spatial linkage mechanism 200.

[0040] Specifically, taking the projection point of the rotation axis of the output end of the waist motor 100 in the axial direction as the center, and the distance from the hinge point of the movable connecting rod 220 and the eccentric hinge plate 210 to the center of the circle as the radius, the planar constraint equation of the output end of the waist motor 100 is constructed, including: The equation for the trajectory circle at the output end of the waist motor 100 is defined as follows: (5); Therefore, based on the above formula (5), the planar constraint equation is constructed as follows: formula (6): (6); Formula (6) above indicates that the point lies in a plane perpendicular to the axis of rotation of the waist motor 100. The value can be 1 or 2.

[0041] In step S200 above: based on the geometric constraint model, the spherical constraint equation of the combined spatial linkage mechanism 200 and the planar constraint equation of the output end of the waist motor 100 are established, and the required output angle of the two waist motors 100 to achieve the target attitude angle is determined through analytical calculation. This also includes: By combining the spherical constraint equation of the spatial linkage 200 with the planar constraint equation of the output end of the waist motor 100, the two intersection points in space are determined, namely... , ; The appropriate solution is selected based on the assembly conditions of the lumbar joint module. Specifically, the correct solution is chosen as the target output angle of the lumbar motor 100 based on the actual assembly conditions of the lumbar joint module (e.g., the zero-position range of the lumbar motor 100, the initial orientation of the movable link 220, and the continuity of motion). For example, a solution with minimal angle change from the previous moment and within the mechanical limit range is typically selected. Direct calculation using formulas, rather than numerical iteration, results in higher efficiency per calculation and a significantly lower computational load compared to traditional methods, thus meeting the real-time control requirements of high-dynamic motion scenarios.

[0042] Specifically, the required output angles of the two waist motors 100 are determined through analytical calculations to achieve the target attitude angle, including: Choose any vector ,satisfy Non-parallel The planar basis vectors of the active platform 400 are constructed as follows: (7); (8); in, The formula for calculating the output angle of the waist motor is: (9); Formula (10) is obtained by transforming the above formulas (7), (8) and (9): (10); And calculate the current waist motor output angle according to formula (10). , The value can be 1 or 2.

[0043] On the other hand, this embodiment also provides a control system for a humanoid robot, applied to a humanoid robot. The control system for the humanoid robot includes a memory and a processor. The memory is configured to store instructions; the processor is configured to retrieve instructions from the memory and, when executing the instructions, to implement the waist joint module control method provided in the first aspect above.

[0044] During the actual control cycle, the processor performs the following steps: acquiring the waist pitch and yaw attitude angles. , ; Calculate the rotation matrix R; Calculate the position vector of the hinge point between the movable link 220 and the movable platform 400. , Establish constraints between the spherical trajectory of the movable link 220 and the planar trajectory of the motor output end; solve for the intersection point of the spherical and circular trajectories; calculate the output angle of the waist motor 100. .

[0045] On the other hand, please refer to Figures 1 to 5 This embodiment also provides a humanoid robot. The humanoid robot includes a waist joint module and a control system according to the second aspect described above, the control system being configured to control the waist joint module to perform corresponding actions.

[0046] This embodiment achieves efficient and precise control of the waist joint module by constructing a geometric constraint model, solving the spherical and planar constraint equations simultaneously, and analytically solving the motor angles, providing reliable technical support for the coordinated movement of the humanoid robot's whole body.

[0047] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0048] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0049] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a processFigure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0050] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0051] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0052] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0053] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0054] It should also be noted that 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 process, method, article, or apparatus. Unless otherwise specified, 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.

[0055] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling a waist joint module, used for controlling the waist joint module of a humanoid robot, characterized in that, The waist joint module has pitch and roll freedom and includes two waist motors (100) arranged side by side. The output ends of the two waist motors (100) are driven in parallel through a set of spatial linkages (200) to realize pitch and roll motion. The control method for the lumbar joint module includes: Construct a geometric constraint model based on the waist joint module; Obtain the target attitude angle of the waist joint module, the target attitude angle including pitch attitude angle and roll attitude angle; Based on the geometric constraint model, the spherical constraint equation of the spatial linkage mechanism (200) and the planar constraint equation of the output end of the waist motor (100) are combined, and the required output angle of the two waist motors (100) when the target attitude angle is achieved is determined by analytical calculation.

2. The waist joint module control method according to claim 1, characterized in that, The waist joint module also includes a rotary platform (300) and a movable platform (400). The movable platform (400) is hinged to the rotary platform (300) via a cross shaft assembly (500). Two waist motors (100) are provided on the movable platform (400). The cross shaft assembly (500) has an orthogonally arranged pitch axis (510) and roll axis (520). The spatial linkage mechanism (200) includes an eccentric hinge plate (210) and a movable link (220). The eccentric hinge plate (210) is driven and connected to the corresponding waist motor (100). The two ends of the movable link (220) are respectively hinged to the eccentric hinge plate (210) and the rotary platform (300) via ball joints. The construction of the geometric constraint model based on the lumbar joint module includes: A base coordinate system is established, which is fixed on the rotary platform (300). The origin of the base coordinate system is set at the center of the cross shaft assembly (500) and does not change with the attitude. A moving platform coordinate system is established, which is fixed on the moving platform (400). The origin of the moving platform coordinate system is also set at the center of the cross axis assembly (500) and changes with the attitude. Establish a world coordinate system to describe absolute spatial position; In the base coordinate system, the moving platform coordinate system, and the world coordinate system, the following geometric parameters are determined: Determine the position vector of the rotation center of the pitch axis (510) relative to the world coordinate system. ; Determine the position vectors of the rotation axis centers of the two waist motors (100) in the coordinate system of the moving platform. , and the unit direction vector of the rotation axes of the two waist motors (100). , ; Determine the ball joint position vectors from the output ends of the two waist motors (100) to the corresponding movable link (220) and the eccentric hinge plate (210). , ; Determine the lengths of the two movable links (220). , ; The center distance between the two eccentric hinged discs (210) is determined as follows: , ; Determine the positions of the hinge points connecting the rotary platform (300) to the two movable connecting rods (220) in the base coordinate system. , .

3. The lumbar joint module control method according to claim 2, characterized in that, The step of combining the spherical constraint equations of the spatial linkage mechanism (200) with the planar constraint equations of the output end of the waist motor (100) based on the geometric constraint model, and determining the required output angles of the two waist motors (100) to achieve the target attitude angle through analytical calculation, includes: With the hinge point between the movable link (220) and the rotary platform (300) as the center of the sphere and the length of the movable link (220) as the radius, the spherical constraint equation of the spatial linkage mechanism (200) is constructed.

4. The waist joint module control method according to claim 3, characterized in that, The spherical constraint equations for the spatial linkage mechanism (200), constructed with the hinge point between the movable link (220) and the rotary platform (300) as the center of the sphere and the length of the movable link (220) as the radius, include: The pitch attitude angle is determined to be The roll attitude angle is The rotation matrix of the active platform (400) relative to the rotating platform (300) is then: : （1）； in, , ; The position vectors of the hinge points of the two movable links (220) and the rotary platform (300) are respectively , : （2）； （3）； Since the length of the movable link (220) is fixed, and based on the above formulas (1) to (3), the spherical constraint equation is constructed as follows: Formula (4): （4）； in: For the hinge point position between the movable link (220) and the eccentric hinge plate (210), the above formula (4) represents: Located in Center of the sphere, radius is On the surface of the sphere, The value can be 1 or 2.

5. The waist joint module control method according to claim 2, characterized in that, The step of combining the spherical constraint equations of the spatial linkage mechanism (200) with the planar constraint equations of the output end of the waist motor (100) according to the geometric constraint model, and determining the required output angles of the two waist motors (100) to achieve the target attitude angle through analytical calculation, further includes: Using the projection point of the rotation axis of the output end of the waist motor (100) in the axial direction as the center, and the distance from the hinge point of the movable connecting rod (220) and the eccentric hinge plate (210) to the center of the circle as the radius, construct the planar constraint equation of the output end of the waist motor (100). The hinge point between the movable link (220) and the eccentric hinge plate (210) is located on the spherical surface of the spatial link mechanism (200).

6. The lumbar joint module control method according to claim 5, characterized in that, The planar constraint equation for the output end of the waist motor (100) is constructed by taking the projection point of the rotation axis of the output end of the waist motor (100) in the axial direction as the center and the distance from the hinge point of the movable connecting rod (220) and the eccentric hinge plate (210) to the center of the circle as the radius, including: The equation of the trajectory circle at the output end of the waist motor (100) is defined as follows: （5）； Therefore, based on the above formula (5), the planar constraint equation is constructed as follows: formula (6): （6）； Formula (6) above indicates that the point lies in a plane perpendicular to the axis of rotation of the waist motor (100). The value can be 1 or 2.

7. The method for controlling a lumbar joint module according to any one of claims 3-6, characterized in that, The step of combining the spherical constraint equations of the spatial linkage mechanism (200) with the planar constraint equations of the output end of the waist motor (100) according to the geometric constraint model, and determining the required output angles of the two waist motors (100) to achieve the target attitude angle through analytical calculation, further includes: By combining the spherical constraint equation of the spatial linkage mechanism (200) with the planar constraint equation of the output end of the waist motor (100) to form the trajectory circle equation, two intersection points in space are determined, namely... , ; Select the corresponding solution based on the assembly conditions of the waist joint module.

8. The waist joint module control method according to claim 7, characterized in that, The step of determining the required output angle of the two waist motors (100) to achieve the target attitude angle through analytical calculation includes: Choose any vector ,satisfy Non-parallel The planar basis vectors of the active platform (400) are constructed as follows: （7）； （8）； in, The formula for calculating the output angle of the waist motor (100) is as follows: （9）； Formula (10) is obtained by transforming the above formulas (7), (8) and (9): （10）； And calculate the current waist motor output angle according to formula (10). , The value can be 1 or 2.

9. A control system for a humanoid robot, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the lumbar joint module control method according to any one of claims 1-8.

10. A humanoid robot, characterized in that, It includes a lumbar joint module and a control system according to claim 9, wherein the control system is configured to control the lumbar joint module to perform corresponding actions.

Images