Motion control method and control apparatus for robot, electronic device and storage medium

Abstract

Provided in the present disclosure are a motion control method and control apparatus for a robot, an electronic device and a storage medium. The motion control method is used for controlling a shank assembly of a robot, the shank assembly comprising a driving joint and an ankle joint, and the driving joint driving the ankle joint to move. The motion control method comprises: acquiring target orientation information of the ankle joint and target torque of the ankle joint; on the basis of the target orientation information of the ankle joint and the target torque of the ankle joint, determining expected orientation information of the driving joint and expected torque of the driving joint; acquiring current orientation information of the driving joint; on the basis of the expected torque of the driving joint, the expected orientation information of the driving joint and the current orientation information of the driving joint, determining control torque of the driving joint; and controlling the driving joint to move on the basis of the control torque. Using the method achieves the universal control of parallel ankle structures, and ensures the performance and stability of robots using parallel ankle structures.

Description

A method for controlling the motion of a robot, a control device, an electronic device, and a storage medium.

[0001] Cross-references to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 2024119630459, filed on December 27, 2024, entitled "A Motion Control Method, Control Device, Electronic Device and Storage Medium for a Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of mechanical control technology, and in particular to a motion control method, control device, electronic device and storage medium for a robot. Background Technology

[0004] In recent years, the use of parallel ankle structures in humanoid robot design has gradually become a trend. Compared with traditional serial structures, parallel ankles have better biomimetic characteristics and can improve the dynamic controllability of robots. However, at present, there is no universal control method for parallel ankle structures in robots.

[0005] Application content

[0006] This disclosure provides a motion control method, control device, electronic device, and storage medium for a robot.

[0007] This disclosure provides a motion control method for a robot. The motion control method is used to control a robot's lower leg assembly, which includes a drive joint and an ankle joint. The drive joint drives the ankle joint to move. The method includes:

[0008] Acquire target posture information and target torque of the ankle joint;

[0009] Based on the target posture information and target torque of the ankle joint, the desired posture information and desired torque of the driving joint are determined.

[0010] Obtain the current attitude information of the driven joint;

[0011] The control torque of the drive joint is determined based on the desired torque of the drive joint, the desired attitude information of the drive joint, and the current attitude information of the drive joint.

[0012] Joint movement is driven by control torque.

[0013] In one embodiment of this disclosure, the step of determining the control torque of the drive joint based on the desired torque of the drive joint, the desired attitude information of the drive joint, and the current attitude information of the drive joint includes:

[0014] Based on the desired attitude information and the current attitude information of the drive joint, the positioning torque of the drive joint is determined.

[0015] Desired torque based on the driving joint and the positioning torque of the drive joint Determine the control torque of the drive joint ω tau +ω pos =1,

[0016] Where, ω tau and ω pos These are force-controlled weights and position-controlled weights, respectively.

[0017] In one embodiment of this disclosure, the position control weight is configured to characterize the contribution of the position control torque in the drive joint; the force control weight is configured to characterize the contribution of the desired torque in the drive joint.

[0018] In one embodiment of this disclosure, the target posture information of the ankle joint includes: the target posture angle of the ankle joint and the target posture angular velocity of the ankle joint;

[0019] The current attitude information of the driven joint includes: the current attitude angle of the driven joint and the current attitude angular velocity of the driven joint;

[0020] The desired attitude information of the driven joint includes: the desired attitude angle of the driven joint and the desired attitude angular velocity of the driven joint.

[0021] In one embodiment of this disclosure, the positioning torque of the drive joint is determined based on the desired posture information and the current posture information of the drive joint. The steps include:

[0022] Based on the desired pose angle θ of the driven joint des The desired attitude angular velocity of the driving joint The current attitude angle θ of the drive joint r Current attitude angular velocity of the driving joint and the initial attitude angle θ of the drive joint 0 Determine the position control torque of the drive joint

[0023] Where, k p and k d These are the preset drive joint position control parameters.

[0024] In one embodiment of this disclosure, the lower leg assembly further includes a transmission structure. Before the step of driving the joint to drive the ankle joint movement through the transmission structure and obtaining the target posture information and target torque of the ankle joint, the method further includes:

[0025] Obtain the structural parameters of the transmission structure;

[0026] Based on the target posture information and target torque of the ankle joint, the desired posture information and desired torque of the driving joint are determined, including: based on structural parameters, the target posture information and target torque of the ankle joint, the desired posture information and desired torque of the driving joint are determined.

[0027] In one embodiment of this disclosure, the steps of determining the desired posture information of the driving joint and the desired torque of the driving joint based on structural parameters, target posture information of the ankle joint, and target torque of the ankle joint include:

[0028] Based on structural parameters, the angular conversion relationship between the target posture angle of the ankle joint and the desired posture angle of the driving joint is determined.

[0029] Based on structural parameters, the angular velocity conversion relationship between the target posture angular velocity of the ankle joint and the desired posture angular velocity of the driving joint is determined;

[0030] Based on structural parameters, the torque conversion relationship between the target torque of the ankle joint and the desired torque of the driving joint is determined;

[0031] Based on the angle transformation relationship and the target posture angle of the ankle joint, the desired posture angle of the driving joint is determined.

[0032] Based on the angular velocity conversion relationship and the target attitude angular velocity of the ankle joint, the desired attitude angular velocity of the driving joint is determined;

[0033] Based on the torque conversion relationship and the target torque of the ankle joint, the desired torque driving the joint is determined.

[0034] In one embodiment of this disclosure, the ankle joint is a parallel ankle joint, and obtaining the target posture information and target torque of the ankle joint includes: obtaining the target posture information of the ankle joint and the target torque of the series ankle joint, which is equivalent to the parallel ankle joint.

[0035] This disclosure also provides a motion control device for a robot, configured to control a lower leg assembly of the robot. The lower leg assembly includes a drive joint and an ankle joint, the drive joint driving the ankle joint to move. The device includes:

[0036] The first data acquisition module is configured to acquire the target posture information and target torque of the ankle joint.

[0037] The desired information determination module is configured to determine the desired posture information and desired torque of the driving joint based on the target posture information and target torque of the ankle joint.

[0038] The second data acquisition module is configured to acquire the current attitude information of the driven joint;

[0039] The control parameter determination module is configured to determine the control torque of the drive joint based on the desired torque of the drive joint, the desired attitude information of the drive joint, and the current attitude information of the drive joint.

[0040] The control module is configured to drive joint movement based on control torque.

[0041] In one embodiment of this disclosure, the control parameter determination module is further configured to determine the position control torque of the drive joint based on the desired posture information of the drive joint and the current posture information of the drive joint. Based on the desired torque of the drive joint and the positioning torque of the drive joint Determine the control torque of the drive joint ω tau +ω pos =1,

[0042] Where, ω tau and ω pos These are force-controlled weights and position-controlled weights, respectively.

[0043] This disclosure also provides an electronic device, including:

[0044] At least one processor; and

[0045] Memory that is communicatively connected to at least one processor;

[0046] The memory stores instructions that can be executed by at least one processor, which are executed by at least one processor to enable the at least one processor to perform the method of this disclosure.

[0047] This disclosure also provides a non-transitory computer-readable storage medium storing computer instructions configured to cause a computer to perform the methods of this disclosure.

[0048] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0049] The above and other objects, features, and advantages of this disclosure will become readily apparent from the following detailed description of exemplary embodiments, taken in conjunction with the accompanying drawings. Several embodiments of this disclosure are illustrated in the drawings by way of example and not limitation, in which:

[0050] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0051] Figure 1 shows a schematic diagram of a robot leg assembly provided in an embodiment of this disclosure;

[0052] Figure 2 shows another structural schematic diagram of the robot lower leg assembly provided in an embodiment of this disclosure;

[0053] Figure 3 shows a schematic diagram of an implementation flow of the motion control method for a robot provided in an embodiment of this disclosure;

[0054] Figure 4 illustrates a schematic diagram of a desired information determination process provided in an embodiment of this disclosure;

[0055] Figure 5 shows a schematic diagram of a motion control device for a robot provided in an embodiment of this disclosure;

[0056] Figure 6 shows a schematic diagram of the composition structure of an electronic device according to an embodiment of the present disclosure. Detailed Implementation

[0057] To make the objectives, features, and advantages of this disclosure more apparent and understandable, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0058] The technical solutions of the embodiments of this disclosure will now be described with reference to the accompanying drawings.

[0059] This disclosure provides a motion control method, control device, electronic device, and storage medium for a robot.

[0060] The motion control method provided in this disclosure can be used to control a robot lower leg assembly, which includes a drive joint and an ankle joint, with the drive joint driving the ankle joint to move. Figure 1 shows a schematic diagram of a robot lower leg assembly provided in some embodiments of this disclosure. As shown in Figure 1, the robot lower leg assembly 100 includes a drive joint A1, a drive joint A2, and an ankle joint O. Drive joints A1 and A2 drive the ankle joint O to move through a spatial four-bar linkage structure. The spatial four-bar linkage structure consists of a passive joint B1, a passive joint C1, a link B1C1, a passive joint B2, a passive joint C2, and a link B2C2. Passive joint C1 is fixedly connected to the ankle joint O through a link OC1, and passive joint C2 is fixedly connected to the ankle joint O through a link OC2. Passive joints C1, C2, and the ankle joint O can constitute the foot structure 120 corresponding to the robot lower leg assembly 100. As shown in Figure 1, an ankle coordinate system O-XYZ can be established on the plane OC1C2 with the center of the ankle joint O as the origin. The Z-axis is perpendicular to the plane OC1C2. The ankle joint O has rotational degrees of freedom Sx about the X-axis and Sy about the Y-axis. The driving joints A1 and A2 both have rotational degrees of freedom Sy about the Y-axis. The passive joints B1, C1, B2 and C2 each have three degrees of freedom about the X-axis, Y-axis and Z-axis.

[0061] Figure 2 shows another structural schematic diagram of the robot lower leg assembly provided in some embodiments of this disclosure. The same symbols in Figure 2 and Figure 1 represent the same meanings. The assembly positions of passive joints B1 and B2 in Figure 1 and Figure 2 are different. In Figure 1, the assembly positions of passive joints B1 and B2 enable the links of the spatial four-bar structure to form parallel opposite sides in the same plane, and the projection of the spatial four-bar structure onto plane OC1C2 is a parallelogram. In Figure 2, the assembly positions of passive joints B1 and B2 result in the links of the spatial four-bar structure having non-parallel opposite sides in the same plane, and the projection of the spatial four-bar structure onto plane OC1C2 is an anti-parallelogram. In this disclosure, by adjusting the assembly positions of passive joints B1 and B2, different spatial structures and motion characteristics of the spatial four-bar structure can be obtained, and the projection shape of the spatial four-bar structure can be changed, thereby affecting the driving effect of the drive joint on the ankle joint movement through the spatial four-bar structure.

[0062] As shown in Figures 1 and 2, multiple drive joints of the robot's lower leg assembly work together on the same ankle joint, and the multiple drive joints form a parallel structure. Therefore, the ankle structure of the robot in this disclosure is a parallel ankle structure.

[0063] Figure 3 illustrates a schematic flowchart of an implementation of the motion control method for a robot provided in this embodiment. The motion control method is used to control the robot's lower leg assembly, which includes a drive joint and an ankle joint. The drive joint drives the ankle joint to move. As shown in Figure 3, the motion control method includes:

[0064] S200 acquires the target posture information and target torque of the ankle joint.

[0065] In this disclosure, the target pose information and target torque of the ankle joint can be determined based on the task to be performed by the robot. The target pose information of the ankle joint can be the pose that the robot needs to achieve when performing the specified task, and may include the angle information that the ankle joint needs to achieve. The angle information includes, but is not limited to, at least one of pitch and roll. The target torque of the ankle joint can be the torque that the robot needs to apply when performing the specified task. The specified task may include tasks such as walking on different terrains.

[0066] In this disclosure, the motion control system for controlling the robot's movement can determine the target posture of the robot's ankle joint based on the motion planning algorithm, and determine the target torque of the ankle joint based on the terrain conditions in the walking task.

[0067] In one possible implementation, the target posture information of the ankle joint can be determined by the posture information of the foot connected to the ankle joint.

[0068] S220 determines the desired posture information and desired torque of the driving joint based on the target posture information and target torque of the ankle joint.

[0069] In this disclosure, the control system for controlling the robot's motion can determine the desired posture information of the drive joint based on the target posture information of the ankle joint of the lower leg assembly and the posture transformation relationship between the ankle joint and the drive joint of the lower leg assembly; and can determine the desired torque of the drive joint based on the target torque information of the ankle joint of the lower leg assembly and the torque transformation relationship between the ankle joint and the drive joint of the lower leg assembly. Optionally, the posture transformation relationship between the ankle joint and the drive joint of the lower leg assembly, and the torque transformation relationship between the ankle joint and the drive joint of the lower leg assembly, can be determined based on inverse kinematics.

[0070] S240, obtain the current posture information of the driven joint.

[0071] In this disclosure, the current attitude information of the driven joint can characterize the attitude state of the driven joint at the current moment.

[0072] In this disclosure, the current posture information of the driven joint can be obtained through an encoder built into the robot joint.

[0073] S260 determines the control torque of the drive joint based on the desired torque of the drive joint, the desired attitude information of the drive joint, and the current attitude information of the drive joint.

[0074] In this disclosure, a force-position hybrid control equation can be constructed using the desired torque of the driving joint, the desired attitude information of the driving joint, and the current attitude information of the driving joint. The control torque of the driving joint can then be calculated and determined using the force-position hybrid control equation.

[0075] S280 drives joint movement based on control torque.

[0076] In this disclosure, the determined control torque can be sent to the drive device, which provides the control torque for the drive joint, controls the rotation of the drive joint, and causes the drive joint to move in the manner desired by the specified task.

[0077] The method provided in this disclosure acquires the target posture information and target torque of the ankle joint when it is powered off. Based on the target posture information and target torque of the ankle joint, the desired posture information and desired torque of the drive joint are determined. The current posture information of the drive joint is then acquired. Finally, based on the desired torque, desired posture information, and current posture information of the drive joint, the control torque of the drive joint is determined. The movement of the drive joint is controlled using this control torque. This embodiment of the disclosure maps the target posture and target torque of the robot's ankle joint in the operating space to the drive joint in an analytical form, enabling posture state following in the drive joint. This allows the parallel ankle to possess the compliance of force control or achieve high precision of position control.

[0078] In some embodiments of this disclosure, the step of determining the control torque of the drive joint based on the desired torque of the drive joint, the desired posture information of the drive joint, and the current posture information of the drive joint may include steps D1-D2:

[0079] Step D1: Based on the desired attitude information and the current attitude information of the drive joint, determine the position control torque of the drive joint.

[0080] In this disclosure, the position control torque of the drive joint characterizes the torque required to achieve the desired posture of the drive joint.

[0081] Step D2, based on the desired torque of the driving joint and the positioning torque of the drive joint Determine the control torque of the drive joint ω tau +ω pos =1,

[0082] Where, ω tau and ω pos These are force-controlled weights and position-controlled weights, respectively.

[0083] In this embodiment of the disclosure, the bit control weight ω pos Configured to characterize the position control torque in the drive joint The contribution of the robot's position control in this disclosure refers to the robot using motion planning algorithms to make each joint in the lower leg assembly move according to a set target posture. For scenarios with high position accuracy requirements (e.g., a robot climbing stairs), the position control weight ω needs to be adjusted. pos The value is set relatively high to ensure that each joint of the robot's lower leg assembly reaches the preset target posture, thereby completing the specified task action.

[0084] In this disclosure, the force control weight ω tau Configured to characterize the desired torque of the drive joint The contribution of the robot. Force control in this disclosure refers to adjusting the joint forces of the robot according to changes in the external environment and instructions. It is understandable that in robot motion control, simple position control often cannot meet the task requirements where forces interact with the environment. Under position control, the robot moves according to a pre-set target posture. When encountering obstacles, this may lead to increased position tracking errors, causing the robot to "exert force" to track the preset trajectory, resulting in significant internal forces between the robot and the obstacle, potentially causing damage to parts or the robot itself. Force control of the robot can better adapt to different task requirements and environmental changes; when facing dynamic environments and changing tasks, it allows the robot to adaptively adjust its behavior and parameters, improving adaptability and flexibility.

[0085] In this disclosure, in scenarios requiring high adaptability and flexibility, a compliant force control strategy can be adopted for the robot's lower leg assembly, making the force control weight ω tau =1, Position control weight ω pos =0; In scenarios requiring high positional accuracy, a pure positional control strategy can be adopted for the robot's lower leg assembly, making the force control weight ω = 0; tau =0, position control weight ω pos =1; Furthermore, depending on the scenario requirements, force / position hybrid control can be applied to the robot's lower leg components, ensuring that the force control weight is 0 < ω. tau <1. Position control weight 0<ω pos <1, ω tau +ω pos =1.

[0086] In this embodiment, the position control torque of the drive joint is calculated based on the desired posture information and the current posture information of the drive joint. Based on the desired torque and position control torque of the drive joint, the control torque of the drive joint is determined. Force control, position control, and force / position hybrid control can be realized, making the motion control method flexible and better adaptable to the needs of the scenario.

[0087] In this disclosure, the target posture information of the ankle joint may include: the target posture angle of the ankle joint and the target posture angular velocity of the ankle joint; the current posture information of the driving joint includes: the current posture angle of the driving joint and the current posture angular velocity of the driving joint; the desired posture information of the driving joint includes: the desired posture angle of the driving joint and the desired posture angular velocity of the driving joint.

[0088] In this disclosure, the target pose angle of the ankle joint refers to the pose angle that the ankle joint needs to achieve when the robot completes the specified task, and the target pose angular velocity of the ankle joint refers to the pose angular velocity that the ankle joint needs to achieve when the robot completes the specified task. The target pose angle and target pose angular velocity of the ankle joint can be obtained in advance by performing motion planning on the lower leg component using any motion planning algorithm in the prior art, and the embodiments of this disclosure do not specifically limit them.

[0089] The current attitude angle of the drive joint can be obtained through the encoder set in the drive joint.

[0090] The desired posture angle and desired posture angular velocity of the driven joint can be determined based on the target posture angle and target posture angular velocity of the ankle joint, as well as the posture transition relationship between the ankle joint and the driven joint of the lower leg assembly.

[0091] In this embodiment, motion control of the lower leg assembly is achieved by controlling the attitude angle and attitude angular velocity of the drive motor, which has high control accuracy and efficiency.

[0092] In this disclosure, the position control torque of the drive joint is determined based on the desired posture information and the current posture information of the drive joint. The steps may include step E1:

[0093] Step E1, based on the desired pose angle θ of the driven joint des The desired attitude angular velocity of the driving joint The current attitude angle θ of the drive joint r Current attitude angular velocity of the driving joint and the initial attitude angle θ of the drive joint 0 Determine the position control torque of the drive joint

[0094] Where, k p and k d These are the preset drive joint position control parameters.

[0095] In this embodiment of the disclosure, the initial attitude angle θ of the driving joint is... 0 Characterizes the joint angle of the driven joint in the zero-position state. Typically, the initial attitude angle θ of the driven joint... 0 The current attitude angle θ of the drive joint corresponds to the zero point of the encoder of the drive joint. r That is, the encoder reading.

[0096] In this embodiment of the disclosure, the desired posture angle θ of the driving joint is constructed. des The desired attitude angular velocity of the driving joint The current attitude angle θ of the drive joint r Current attitude angular velocity of the driving joint and the initial attitude angle θ of the drive joint 0 With position control torque The mapping relationship between them determines the position control torque θ for the drive joint. 0 This allows for position control of the robot's lower leg assembly using position control torque, ensuring both control accuracy and efficiency.

[0097] In this embodiment of the disclosure, the lower leg assembly further includes a transmission structure. Before the step of driving the joint to drive the ankle joint to move through the transmission structure and obtaining the target posture information and target torque of the ankle joint, step F1 may also be included:

[0098] Step F1: Obtain the structural parameters of the transmission structure.

[0099] In this disclosure, the transmission structure may include a spatial four-bar linkage, which includes passive joints and connecting rods. The driving joint is connected to the passive joint via the connecting rods in the spatial four-bar linkage, and the passive joint is fixedly connected to the ankle joint via the connecting rods. Figure 1 shows a parallelogram-shaped spatial four-bar linkage, including passive joint B1, passive joint C1, connecting rod B1C1, passive joint B2, passive joint C2, and connecting rod B2C2. Passive joint C1 is fixedly connected to the ankle joint O via connecting rod OC1, and passive joint C2 is fixedly connected to the ankle joint O via connecting rod OC2. Passive joint C1, passive joint C2, and ankle joint O can constitute the foot structure corresponding to the robot's lower leg assembly. Figure 2 shows an anti-parallelogram-shaped spatial four-bar linkage; the same symbols in Figure 2 and Figure 1 represent the same meaning.

[0100] In this embodiment, the structural parameters of the transmission structure may include parameters such as the position of the drive joint, the length of the connecting rod, the type of joint, and the degrees of freedom of the joint. In an optional embodiment, the structural parameters of the transmission structure may include: the position coordinates of the drive joint Ai in the ankle coordinate system O-XYZ when in the zero position. The position coordinates of the passive joint Ci in the ankle coordinate system O-XYZ at the zero position. Link connecting drive joint Ai and passive joint Bi Length l bar,i The link connecting passive joint Bi and passive joint Ci Length l rod,i and the initial attitude angle of the driving joint Ai The value of i is i = 1, 2. The structural parameter difference between the parallelogram-shaped spatial four-link parallel ankle and the anti-parallelogram spatial four-link parallel ankle is only reflected in... The differences are as follows.

[0101] Determining the desired posture information and desired torque of the driving joint based on the target posture information and target torque of the ankle joint can include: determining the desired posture information and desired torque of the driving joint based on structural parameters, the target posture information and target torque of the ankle joint.

[0102] In this embodiment of the disclosure, the desired posture and desired torque of the driving joint when performing a specified task can be calculated using an inverse kinematics algorithm based on structural parameters, target posture information of the ankle joint, and target torque of the ankle joint.

[0103] The motion transmission mechanism between the driving joint and the ankle joint can be determined by analyzing the structural parameters of the transmission structure. For example, taking Figures 1 and 2 as examples, the driving joint of the parallel ankle structure can drive the passive joint through the linkage of the spatial four-bar linkage. The passive joint Ci and the ankle joint O are connected by a fixed linkage and form the foot structure. While the driving joint drives the passive joint through the linkage of the spatial four-bar linkage, the ankle joint is also driven to move. That is, the driving joint can drive the ankle joint through the linkage of the spatial four-bar linkage. A kinematic chain can be formed between the driving joint, the linkage of the spatial four-bar linkage, and the passive joint. This kinematic chain is the motion transmission mechanism between the driving joint and the ankle joint. Based on the kinematic chain, the vector equation of the kinematic chain can be constructed: r C,i =r A,i +r bar,i +r rod,iBy analyzing the target torque of the ankle joint and the motion transmission mechanism between the driving joint and the ankle joint, the desired torque required for the driving joint can be calculated. Furthermore, based on the target posture information of the ankle joint, combined with inverse kinematics algorithms, the target posture information of the ankle joint can be converted into the desired posture information of the driving joint.

[0104] Determining the desired posture information and desired torque of the driven joints is a crucial step in achieving precise motion control of a robot. In this embodiment, by parameterizing the transmission structure, the structural parameters of the transmission structure are used to systematically determine the target posture information of the ankle joint and its relationship with the desired posture information of the driven joint, as well as the relationship between the target torque of the ankle joint and the desired torque of the driven joint. Using these relationships, the desired posture information and desired torque of the driven joints can be accurately determined, thereby achieving precise motion control of the robot employing the corresponding transmission structure.

[0105] In one possible implementation, Figure 4 illustrates a schematic diagram of a desired information determination process provided by an embodiment of this disclosure. As shown in Figure 4, the steps for determining the desired posture information of the driving joint and the desired torque of the driving joint based on structural parameters, target posture information of the ankle joint, and target torque of the ankle joint include:

[0106] S301, based on structural parameters, determines the angular conversion relationship between the target posture angle of the ankle joint and the desired posture angle of the driving joint.

[0107] In this disclosure, a kinematic model can be established based on structural parameters and inverse kinematics algorithm. The kinematic model is used to describe the mapping relationship between the target posture angle of the ankle joint and the desired posture angle of the driving joint. This mapping relationship can be used as the angle transformation relationship between the target posture angle of the ankle joint and the desired posture angle of the driving joint.

[0108] In one embodiment, the attitude of the foot structure can be represented by the RPY angle, where RPY is the azimuth angle, R represents the roll angle about the X-axis, P represents the pitch angle about the Y-axis, and Y represents the yaw angle about the Z-axis. Specifically, the attitude of the foot structure can be represented by the vector corresponding to the link between the passive joints, as shown in Figure 1 or Figure 2, where the link between passive joint Bi and passive joint Ci... The corresponding vector is r rod,i :

[0109] Where, q roll and q pitch r represents the roll angle and pitch angle of the foot structure posture, respectively. C,i The vector r represents the passive joint Ci in the ankle coordinate system O-XYZ. B,iThe vector r represents the passive joint Bi in the ankle coordinate system O-XYZ. A,i s represents the vector of the driving joint Ai in the ankle coordinate system O-XYZ. x s represents the degree of freedom about the X-axis. x =[1 0 0] T , l bar,i This refers to the link connecting the driving joint Ai and the passive joint Bi. Length, This indicates the position coordinates of the passive joint Ci in the ankle coordinate system O-XYZ when the parallel ankle structure is in the zero position. θ represents the position coordinates of the driving joint Ai in the ankle coordinate system O-XYZ when the parallel ankle structure is in the zero position. i This represents the angle corresponding to the reading of the joint encoder driving the joint in the current state, in unit roll angle matrix. Unit pitch angle matrix

[0110] make

[0111] Will Substituting into equation 1 above, we get: r rod,i =[a i +l bar,i cos(θ i )b i c i -l bar,i sin(θ i )] T (Equation 2)

[0112] link The length is fixed as l rod,i Using a linkage Squaring both sides of equation 2, given the fixed length characteristic, we get:

[0113] Using the auxiliary angle formula of trigonometric functions, and considering the range of motion of the lower leg component, a i It can be less than 0. Further transformation of equation 3 yields:

[0114] Equation 4 can be expressed in functional form: θ = f ik (q)

[0115] in,

[0116] function f ikThe mapping relationship between the target posture angle q of the ankle joint and the desired posture angle θ of the driving joint is represented, that is, the angle conversion relationship between the target posture angle of the ankle joint and the desired posture angle of the driving joint.

[0117] S303, based on structural parameters, determines the angular velocity conversion relationship between the target posture angular velocity of the ankle joint and the desired posture angular velocity of the driving joint.

[0118] In this disclosure, a kinematic model can be established based on structural parameters and inverse kinematics algorithm. Using the kinematic model and Jacobian matrix, the angular velocity conversion relationship between the target posture angular velocity of the ankle joint and the desired posture angular velocity of the driving joint can be determined.

[0119] In one possible implementation, as shown in Figure 1 or Figure 2, the driving joint of the parallel ankle structure can drive the passive joint to move through the linkage of the spatial four-bar linkage. A kinematic chain can be formed between the driving joint, the linkage of the spatial four-bar linkage, and the passive joint. Based on the kinematic chain, a vector equation for the kinematic chain can be constructed: r C,i =r A,i +r bar,i +r rod,i (Equation 1)

[0120] Rearranging Equation 1 based on the Jacobian matrix, we get:

[0121] Where, r C,i The vector r represents the passive joint Ci in the ankle coordinate system O-XYZ. A,i The vector r represents the driving joint Ai in the ankle coordinate system O-XYZ. bar,i This represents the link between the driving joint Ai and the passive joint Bi. The corresponding vector, r ros,i This represents the link between passive joint Bi and passive joint Ci. The corresponding vector, Indicates the spatial velocity of the foot structure. v represents linear velocity, ω represents angular velocity, and J x and J θ For Jacobian matrices, s y s represents the degree of freedom about the Y-axis. y =[0 1 0] T J x Each column represents the contribution of each driving joint to the angular velocity of the ankle joint.

[0122] As shown in Figure 1 or Figure 2, the passive joint Ci and the ankle joint O are connected by a fixed link and form the foot structure. The RPY angle can represent the attitude of the foot structure. In this disclosure, the rotation sequence of the RPY angle can be defined as first performing Roll (roll rotation), then Pitch (pitch rotation), and finally Yaw (yaw rotation). Based on this rotation sequence, the conversion relationship between the RPY angular velocity of the foot structure and the angular velocity ω of the driving joint can be obtained as follows:

[0123] according to Based on the above transformation relationships, we can obtain:

[0124] in,

[0125] based on as well as achievable

[0126] Will Representing this as a function, we get the function: J θ,q =f Jac (q).

[0127] In this disclosure, the change in the target attitude angle q can alter the angular velocity conversion relationship between the target attitude angular velocity of the ankle joint and the desired attitude angular velocity of the driving joint. The target attitude angle q is transformed by the function f. Jac The processed mapping value can be used as a conversion parameter between the target angular velocity of the ankle joint and the desired angular velocity of the driving joint, function f. Jac The angular velocity conversion parameters characterize the target angular velocity of the ankle joint and the desired angular velocity of the driving joint. The angular velocity conversion relationship between the target angular velocity of the ankle joint and the desired angular velocity of the driving joint is as follows: Where q represents the target posture angle of the ankle joint. This represents the target angular velocity of the ankle joint. This represents the desired angular velocity of the driving joint.

[0128] S305, based on structural parameters, determines the torque conversion relationship between the target torque of the ankle joint and the desired torque of the driving joint.

[0129] In this disclosure, dynamic models of each joint and link of the robot's lower leg assembly can be constructed by combining structural parameters, and the torque conversion relationship between the target torque of the ankle joint and the expected torque of the driving joint can be determined through the dynamic model.

[0130] In some embodiments of this disclosure, the ankle joint is a parallel ankle joint, and obtaining the target posture information and target torque of the ankle joint may include: the target posture information of the ankle joint, and the target torque of the series ankle joint equivalent to the parallel ankle joint.

[0131] As shown in Figures 1 and 2, in this disclosure, the drive joints of the robot's lower leg assembly act together on the same ankle joint, forming a parallel structure. That is, the robot's ankle structure in this disclosure is a parallel ankle structure. Since the force distribution in each branch of the parallel ankle structure is often different, while in the series ankle structure the force is transmitted sequentially, by transforming the parallel ankle structure into an equivalent series structure, the force distribution and transmission in the overall structure of the robot assembly can be calculated more clearly. Therefore, the target torque of the equivalent series ankle joint of the parallel ankle joint can be obtained through structural parameters, and the conversion relationship between the target torque of the equivalent series ankle joint and the desired torque of the drive joint can be determined, serving as the torque conversion relationship between the target torque of the ankle joint and the desired torque of the drive joint.

[0132] In this disclosure, the target torque of the parallel ankle joint can be easily determined by using the target torque of the parallel ankle joint as equivalent to that of the series ankle joint.

[0133] In an optional implementation, τ can be set. q The joint torque τ represents the series ankle structure of the robot. θ This represents the joint torque of the robot's parallel ankle structure. Taking the degrees of freedom of the robot's foot structure as a reference, the robot's ankle structure functions the same whether it is configured as a parallel or series ankle structure; both can achieve pitch and roll rotation. That is, the power of the parallel and series ankle structures is the same. Based on this, we can conclude: in, Characterizing the power of the tandem ankle structure, Characterizes the power of the parallel ankle structure.

[0134] based on achievable

[0135] based on as well as We can obtain:

[0136] Will Representing this as a function, we can obtain: τ θ =f tau (q,τ q ).

[0137] function f tau The target torque τ characterizing the ankle joint q With the desired torque τ of the drive joint θ The torque conversion relationship between them.

[0138] In this disclosure, the execution order of steps 301, S303 and S305 is not important.

[0139] S307 determines the desired posture angle of the driving joint based on the angle transformation relationship and the target posture angle of the ankle joint.

[0140] In this disclosure, the function f ik This can characterize the angular transformation relationship between the target posture angle of the ankle joint and the desired posture angle of the driving joint. For example, if the target posture angle of the ankle joint is q... des It can be done through the function f ik Calculate the desired attitude angle θ of the driving joint. des For θ des =f ik (q des ).

[0141] Using function f ik The target posture angle of the ankle joint can be converted into the desired posture angle of the drive joint. The desired posture angle of the drive joint is then used to apply a driving force to the drive joint, which in turn drives the ankle joint to achieve the target posture angle when performing a specified task.

[0142] S309, based on the angular velocity conversion relationship and the target attitude angular velocity of the ankle joint, determines the desired attitude angular velocity of the driving joint.

[0143] In this disclosure, the function f Jac The angular velocity conversion parameter can characterize the target angular velocity of the ankle joint and the desired angular velocity of the driving joint. The angular velocity conversion relationship between the target angular velocity of the ankle joint and the desired angular velocity of the driving joint can be expressed as: For example, if the target posture angle of the ankle joint is q des The target angular velocity of the ankle joint is It can be done through the function f Jac Calculate the desired attitude angular velocity of the driving joint.

[0144] Using function f Jac The target angular velocity of the ankle joint can be converted into the desired angular velocity of the driving joint. The desired angular velocity of the driving joint is then used to apply a driving force to the driving joint, thereby driving the ankle joint to achieve the target angular velocity when performing a specified task.

[0145] S311 determines the desired torque for driving the joint based on the torque conversion relationship and the target torque of the ankle joint.

[0146] In this disclosure, the function f tau The target torque τ that can characterize the ankle joint q With the desired torque τ of the drive joint θ The torque conversion relationship between them. For example, if the target posture angle of the ankle joint is q... des The target torque of the ankle joint is Through function f tau The desired torque driving the joint can be calculated. for

[0147] Using function f tau The target torque of the ankle joint can be converted into the desired torque of the driving joint. The desired torque of the driving joint is then used to apply a driving force to the driving joint, thereby driving the ankle joint to achieve the desired torque when performing a specified task.

[0148] In this embodiment of the present disclosure, by parameterizing the spatial four-bar structure of the robot's lower leg assembly, the structural parameters of the spatial four-bar structure are used to construct the angle conversion relationship between the target posture angle of the ankle joint and the desired posture angle of the driving joint, the angular velocity conversion relationship between the target posture angular velocity of the ankle joint and the desired posture angular velocity of the driving joint, and the torque conversion relationship between the target torque of the ankle joint and the desired torque of the driving joint. Using the angle conversion relationship, angular velocity conversion relationship, and torque conversion relationship, the precise desired posture angle, desired posture angular velocity, and desired torque of the driving joint are determined, thereby determining the control torque of the driving joint.

[0149] Based on the robot motion control method provided in the above embodiments of this disclosure, some embodiments of this disclosure also provide a robot motion control device. The motion control device is configured to control a robot lower leg assembly, which includes a drive joint and an ankle joint. The drive joint drives the ankle joint to move. Its structural schematic diagram is shown in Figure 5, and specifically includes:

[0150] The first data acquisition module 401 is configured to acquire the target posture information of the ankle joint and the target torque of the ankle joint.

[0151] The desired information determination module 402 is configured to determine the desired posture information and desired torque of the driving joint based on the target posture information and target torque of the ankle joint.

[0152] The second data acquisition module 403 is configured to acquire the current attitude information of the driven joint;

[0153] The control parameter determination module 404 is configured to determine the control torque of the drive joint based on the desired torque of the drive joint, the desired attitude information of the drive joint, and the current attitude information of the drive joint.

[0154] The control module 405 is configured to drive joint movement based on control torque.

[0155] The apparatus provided in this disclosure acquires the target posture information and target torque of the ankle joint when it is powered off. Based on the target posture information and target torque of the ankle joint, the desired posture information and desired torque of the drive joint are determined. The current posture information of the drive joint is then acquired. Based on the desired torque, desired posture information, and current posture information of the drive joint, the control torque of the drive joint is determined. The movement of the drive joint is controlled using the control torque. This embodiment of the disclosure maps the target posture and target torque of the robot's ankle joint in the operating space to the drive joint in an analytical form, enabling posture state following in the drive joint. This allows the parallel ankle to possess the compliance of force control or achieve high precision of position control.

[0156] In some alternative implementations, the control parameter determination module 404 is configured to determine the position control torque of the drive joint based on the desired posture information and the current posture information of the drive joint. Desired torque based on the driving joint and the positioning torque of the drive joint Determine the control torque of the drive joint

[0157] ω tau +ω pos =1,

[0158] Where, ω tau and ω pos These are force-controlled weights and position-controlled weights, respectively.

[0159] In some alternative implementations, the target posture information of the ankle joint includes: the target posture angle of the ankle joint and the target posture angular velocity of the ankle joint;

[0160] The current attitude information of the driven joint includes: the current attitude angle of the driven joint and the current attitude angular velocity of the driven joint;

[0161] The desired attitude information of the driven joint includes: the desired attitude angle of the driven joint and the desired attitude angular velocity of the driven joint.

[0162] In some alternative implementations, the control parameter determination module 404 is specifically configured to determine the desired attitude angle θ of the driven joint. des The desired attitude angular velocity of the driving joint The current attitude angle θ of the drive joint r Current attitude angular velocity of the driving joint and the initial attitude angle θ of the drive joint 0 Determine the position control torque of the drive joint

[0163] Where, k p and k d These are the preset drive joint position control parameters.

[0164] In some optional embodiments, the lower leg assembly also includes a transmission structure, through which the drive joint drives the ankle joint to move, and the first data acquisition module 401 is further configured to acquire the structural parameters of the transmission structure.

[0165] The expected information determination module 402 is specifically configured to determine the expected posture information and the expected torque of the driving joint based on structural parameters, the target posture information of the ankle joint, and the target torque of the ankle joint.

[0166] In one possible implementation, the desired information determination module 402 is specifically configured to: determine, based on structural parameters, the angle conversion relationship between the target posture angle of the ankle joint and the desired posture angle of the driving joint; determine, based on structural parameters, the angular velocity conversion relationship between the target posture angular velocity of the ankle joint and the desired posture angular velocity of the driving joint; determine, based on structural parameters, the torque conversion relationship between the target torque of the ankle joint and the desired torque of the driving joint; determine, based on the angle conversion relationship and the target posture angle of the ankle joint, the desired posture angle of the driving joint; determine, based on the angular velocity conversion relationship and the target posture angular velocity of the ankle joint, the desired posture angular velocity of the driving joint; and determine, based on the torque conversion relationship and the target torque of the ankle joint, the desired torque of the driving joint.

[0167] In some optional implementations, the ankle joint is a parallel ankle joint, and the first data acquisition module 401 is specifically configured to acquire the target posture information of the ankle joint and the target torque of the series ankle joint, which is equivalent to the parallel ankle joint.

[0168] According to embodiments of this disclosure, this disclosure also provides an electronic device and a readable storage medium.

[0169] Figure 6 illustrates a schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0170] As shown in Figure 6, device 500 includes a computing unit 501, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 502 or a computer program loaded from storage unit 508 into random access memory (RAM) 503. RAM 503 can also store various programs and data required for the operation of device 500. The computing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0171] Multiple components in device 500 are connected to I / O interface 505, including: input unit 506, such as keyboard, mouse, etc.; output unit 507, such as various types of monitors, speakers, etc.; storage unit 508, such as disk, optical disk, etc.; and communication unit 509, such as network card, modem, wireless transceiver, etc. Communication unit 509 allows device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0172] The computing unit 501 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above, such as robot motion control methods. For example, in some embodiments, the robot motion control method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on device 500 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by the computing unit 501, one or more steps of the robot motion control method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform robot motion control methods by any other suitable means (e.g., by means of firmware).

[0173] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transferring data and instructions to the storage system, the at least one input device, and the at least one output device.

[0174] Program code configured to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0175] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0176] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device configured to display information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be configured to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0177] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0178] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0179] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0180] Furthermore, the terms "first" and "second" are configured for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0181] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims. Industrial applicability

[0182] This disclosure provides a motion control method, control device, electronic device, and storage medium for a robot, enabling universal control of parallel ankle structures and ensuring the performance and stability of robots employing parallel ankle structures.

Claims

1. A motion control method of a robot for controlling a lower leg assembly of the robot, the lower leg assembly including a driving joint and an ankle joint, the driving joint driving the ankle joint to move, characterized by, The method includes: Obtain the target posture information of the ankle joint and the target torque of the ankle joint; Based on the target posture information and target torque of the ankle joint, the desired posture information and desired torque of the drive joint are determined. Obtain the current attitude information of the drive joint; The control torque of the drive joint is determined based on the desired torque of the drive joint, the desired posture information of the drive joint, and the current posture information of the drive joint. The drive joint movement is controlled based on the control torque.

2. The motion control method according to claim 1, characterized by, The step of determining the control torque of the drive joint based on the desired torque of the drive joint, the desired posture information of the drive joint, and the current posture information of the drive joint includes: determine a position-controlled torque of the drive joint based on the desired pose information of the drive joint and the current pose information of the drive joint based on a desired torque of the drive joint and a position-controlled torque of the drive joint determining a control torque of the drive joint oh tau +oh pos =1, where ω tau and ω pos are force and position control weights, respectively.

3. The motion control method according to claim 2, wherein, The position control weight is configured to characterize the contribution of the position control torque in the drive joint; the force control weight is configured to characterize the contribution of the desired torque in the drive joint.

4. The motion control method according to any one of claims 2-3, characterized in that, The target posture information of the ankle joint includes: the target posture angle of the ankle joint and the target posture angular velocity of the ankle joint; The current attitude information of the drive joint includes: the current attitude angle of the drive joint and the current attitude angular velocity of the drive joint; The desired attitude information of the drive joint includes: the desired attitude angle of the drive joint and the desired attitude angular velocity of the drive joint.

5. The motion control method according to claim 4, characterized in that, The position control torque of the drive joint is determined based on the desired posture information and the current posture information of the drive joint. The steps include: Based on the desired attitude angle θ of the driven joint des The desired attitude angular velocity of the drive joint The current attitude angle θ of the drive joint r The current attitude angular velocity of the drive joint and the initial attitude angle θ of the drive joint 0 Determine the position control torque of the drive joint wherein k p and k d are preset driving joint position control parameters.

6. The motion control method according to any one of claims 4-5, characterized in that, The lower leg assembly further includes a transmission structure, through which the drive joint drives the ankle joint to move. Before the step of acquiring the target posture information and target torque of the ankle joint, the method further includes: Obtain the structural parameters of the transmission structure; The step of determining the desired posture information and desired torque of the drive joint based on the target posture information and target torque of the ankle joint includes: determining the desired posture information and desired torque of the drive joint based on the structural parameters, the target posture information and target torque of the ankle joint.

7. The motion control method according to claim 6, characterized in that, The step of determining the desired posture information of the drive joint and the desired torque of the drive joint based on the structural parameters, the target posture information of the ankle joint, and the target torque of the ankle joint includes: Based on the structural parameters, the angular conversion relationship between the target posture angle of the ankle joint and the desired posture angle of the driving joint is determined; Based on the structural parameters, the angular velocity conversion relationship between the target posture angular velocity of the ankle joint and the desired posture angular velocity of the driving joint is determined; Based on the structural parameters, the torque conversion relationship between the target torque of the ankle joint and the desired torque of the driving joint is determined; Based on the angle transformation relationship and the target posture angle of the ankle joint, the desired posture angle of the driving joint is determined; Based on the angular velocity conversion relationship and the target posture angular velocity of the ankle joint, the desired posture angular velocity of the drive joint is determined; Based on the torque conversion relationship and the target torque of the ankle joint, the desired torque of the driving joint is determined.

8. The motion control method according to any one of claims 1-7, characterized in that: The ankle joint is a parallel ankle joint, and obtaining the target posture information and target torque of the ankle joint includes: obtaining the target posture information of the ankle joint and the target torque of the series ankle joint equivalent to the parallel ankle joint.

9. A motion control device for a robot, the motion control device being configured to control a lower leg assembly of the robot, the lower leg assembly including a drive joint and an ankle joint, the drive joint driving the ankle joint to move, characterized in that, The device includes: The first data acquisition module is configured to acquire the target posture information of the ankle joint and the target torque of the ankle joint. The desired information determination module is configured to determine the desired posture information of the drive joint and the desired torque of the drive joint based on the target posture information of the ankle joint and the target torque of the ankle joint. The second data acquisition module is configured to acquire the current posture information of the drive joint; The control parameter determination module is configured to determine the control torque of the drive joint based on the desired torque of the drive joint, the desired posture information of the drive joint, and the current posture information of the drive joint. The control module is configured to control the movement of the drive joint based on the control torque.

10. The motion control device according to claim 9, characterized in that, The control parameter determination module is further configured to determine the position control torque of the drive joint based on the desired posture information and the current posture information of the drive joint. Based on the desired torque of the drive joint and the positioning torque of the drive joint Determine the control torque of the drive joint ω tau +ω pos =1, where ω tau and ω pos are force and position control weights, respectively.

11. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method as described in any one of claims 1-8.

12. A storage medium comprising computer-executable instructions configured, when executed by a computer processor, to perform the method as described in any one of claims 1-8.

Images