CN116909127A - Balance control method of biped robot and biped robot - Google Patents
Balance control method of biped robot and biped robot Download PDFInfo
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- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 46
- 210000000689 upper leg Anatomy 0.000 claims description 38
- 244000309466 calf Species 0.000 claims description 29
- 210000000629 knee joint Anatomy 0.000 claims description 19
- 210000003423 ankle Anatomy 0.000 claims description 14
- 210000003127 knee Anatomy 0.000 claims description 13
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention relates to the technical field of robot control, and discloses a balance control method of a bipedal robot and the bipedal robot. The balance control method of the biped robot comprises the following steps: when the ground is inclined, head IMU information, shank IMU information and hip IMU information of the bipedal robot are acquired, and then front-back balance adjustment and left-right balance adjustment are simultaneously carried out on the bipedal robot according to the acquired IMU information of the bipedal robot. The bipedal robot applies a balance control method of the bipedal robot. Through carrying out front-back balance control and left-right balance control simultaneously, the balance of the biped robot in the front-back direction and the left-right direction can be ensured, so that the biped robot stands and walks on various uneven floors to reach a new balance state, the positions of COM and ZMP are always positioned in a polygonal area surrounded by the contact of the foot surfaces of the biped robot and the floors, and the walking stability and the environment adaptability of the biped robot are effectively improved.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a balance control method of a bipedal robot and the bipedal robot.
Background
The biped robot is a bionic humanoid robot, can realize upright walking and related actions, has the advantages of flexible, free and stable actions and the like, and can be well adapted to the living environment of human beings. Bipedal robots are expected to help humans solve a number of problems such as dangerous operations or repetitive labor for rescue, pack-carrying, etc. The motion execution of the bipedal robot is realized by the rotation of motors distributed on each joint of the bipedal robot.
Centroid (COM) and Zero Moment Point (ZMP) are very important concepts in bipedal robot research, which play a significant role in motion planning, stabilization, etc. Of bipedal robots. At present, the motion planning method of the bipedal robot is mainly carried out by calculating the stability principle of the bipedal robot based on the concepts of COM and ZMP. In order to maintain the balance of the bipedal robot, the positions of the COMs and the ZMP are always located in a polygonal area surrounded by the contact of the foot surfaces of the bipedal robot with the ground.
However, in the actual environment, the bipedal robot easily encounters various uneven ground such as inclined planes and steps during the walking process. In order to secure stable walking, this requires the bipedal robot to perform balance control more stably to resist external disturbance force and to maintain a vertical posture on an inclined plane.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a balance control method of a biped robot and the biped robot, which realize balance control of the biped robot on standing and walking on various uneven floors such as inclined planes, steps and the like and effectively improve the walking stability and the environment adaptability of the biped robot.
In order to solve the above problems, an embodiment of the present invention provides a balance control method for a bipedal robot, including:
when the ground is inclined, acquiring IMU information of the bipedal robot, wherein the IMU information at least comprises head IMU information, shank IMU information and hip IMU information;
performing front-back balance adjustment and left-right balance adjustment on the bipedal robot according to IMU information of the bipedal robot; the front-back balance adjustment and the left-right balance adjustment are performed simultaneously;
wherein the adjusting of the fore-aft balance comprises:
s11, acquiring a measured value of the head IMU, a measured value of the shank IMU and a measured value of the hip IMU;
s12, calculating a first expected angle of an ankle joint motor according to the measured value of the head IMU and the measured value of the shank IMU, and calculating a second expected angle of a hip joint motor according to the measured value of the head IMU and the measured value of the hip IMU;
S13, adjusting the ankle joint motor according to the first expected angle and the hip joint motor according to the second expected angle so as to realize front-back balance of the bipedal robot;
the adjusting of the left-right balance comprises:
s21, acquiring thigh length information and waist width information of the bipedal robot;
s22, adjusting the hip joint motor according to the thigh length information, the waist width information and the measured value of the hip IMU so that the waist line of the biped robot is parallel to the horizontal plane to realize left and right balance of the biped robot.
Optionally, in step S12, the calculating the first desired angle of the ankle joint motor according to the measured value of the head IMU and the measured value of the shank IMU is specifically:
wherein Kp, ki, and Kd represent the proportional gain, integral gain, and differential gain, respectively, of the PID controller, eh (t) represents the deviation of the measurement value of the head IMU, E l (t) represents a deviation of the measurement of the calf IMU.
Optionally, in step S12, the calculating the second desired angle of the hip motor according to the measured value of the head IMU and the measured value of the hip IMU is specifically:
wherein Kp, ki, and Kd represent the proportional gain, integral gain, and differential gain, respectively, of the PID controller, eh (t) represents the deviation of the measurement value of the head IMU, E i (t) represents a deviation of the measurements of the hip IMU.
Optionally, when front-back balance of the bipedal robot is achieved, the adjustment of the hip joint motor is performed first, and then the adjustment of the ankle joint motor and the hip joint motor is performed simultaneously.
Alternatively, when left-right balancing of the bipedal robot is achieved, the hip motor, the knee motor, and the ankle motor are simultaneously kept activated to achieve roll control.
Optionally, the sum of the angle of the knee motor and twice the angle of the hip motor is 180 degrees.
Optionally, the angle of the ankle joint motor is equal to the angle of the hip joint motor.
Optionally, the thigh length information includes a left thigh length and a right thigh length, the hip motors include a left hip motor and a right hip motor, and the hip IMU includes a left hip IMU and a right hip IMU;
in step S22, the adjusting the hip joint motor according to the thigh length information, the waist width information and the measurement value of the hip IMU so that the relationship between the waist line of the bipedal robot and the horizontal plane is specifically:
wherein L is 1 Representing the length of the left thigh, L, of a bipedal robot 2 Represents the length of the right thigh of the bipedal robot, and L 1 ＝L 2 ；H 1 Represents the vertical distance from the left hip joint motor to the ground, alpha represents the angle of the left hip joint motor, E iα (t) represents the deviation of the measurement of the left hip IMU, α' being the angle of adjustment of the left hip motor; h 2 Represents the vertical distance from the right hip joint motor to the ground, beta represents the angle of the right hip joint motor, E iβ (t) represents the deviation of the measurement of the right hip IMU, β' being the angle of adjustment of the right hip motor; (w) x1 -w x2 ) Represents the waist width, H represents the vertical distance from the midpoint of the connecting line of the left hip joint motor and the right hip joint motor to the ground, (P) y1 -P y2 ) The vertical distance from the midpoint of the connecting line of the left hip joint motor and the right hip joint motor to the ground is represented, θ represents the inclination angle of the ground, and Kp, ki, and Kd represent the proportional gain, integral gain, and differential gain of the PID controller, respectively.
Optionally, the left thigh length of the bipedal robot is equal to the left calf length and the right thigh length of the bipedal robot is equal to the right calf length.
In order to solve the above problems, the embodiment of the present invention further provides a bipedal robot, which applies the balance control method of the bipedal robot described above; the bipedal robot comprises at least a head IMU, two shank IMUs, two hip motors, two knee motors and two ankle motors.
The technical scheme provided by the embodiment of the invention can comprise the following beneficial effects:
in the embodiment of the invention, when the ground is inclined, head IMU information, shank IMU information and hip IMU information of the bipedal robot are acquired, and then front-back balance adjustment and left-right balance adjustment are simultaneously carried out on the bipedal robot according to the acquired IMU information of the bipedal robot; the method comprises the steps of adjusting front-back balance, namely acquiring a measured value of a head IMU, a measured value of a shank IMU and a measured value of a hip IMU, calculating a first expected angle of an ankle joint motor according to the measured value of the head IMU and the measured value of the shank IMU, calculating a second expected angle of the hip joint motor according to the measured value of the head IMU and the measured value of the hip IMU, and finally adjusting the ankle joint motor according to the first expected angle and the hip joint motor according to the second expected angle to realize front-back balance of the bipedal robot; the adjusting of the left-right balance comprises the steps of acquiring thigh length information and waist width information of the bipedal robot, and then adjusting a hip joint motor according to the thigh length information, the waist width information and the measured value of the hip IMU so that the waist line of the bipedal robot is parallel to the horizontal plane to realize the left-right balance of the bipedal robot. According to the embodiment of the invention, the hip joint motor, the knee joint motor, the ankle joint motor, the head IMU, the shank IMU and the hip IMU are utilized to simultaneously perform front-back balance control and left-right balance control, so that the bipedal robot stands and walks on various uneven floors such as inclined planes and steps to achieve a new balance state, in the balance state, the angle of the shank is consistent with the inclination angle of the floor before the change, the sole adapts to the change of the floor through the change of joints and is attached to the floor, and therefore, the positions of COM and ZMP are always located in a polygonal area surrounded by the contact of the insteps of the bipedal robot and the floor, and the walking stability and the environment adaptability of the bipedal robot are effectively improved.
In addition, the balance control method of the biped robot can ensure the balance of the biped robot in the front-back direction and the left-right direction, and the hip joint is adopted in the front-back direction to assist in regulating the body balance, so that the defect that the ankle joint is damaged too much by only using the ankle joint to keep the body balance is avoided, the ankle joint of the biped robot is protected more favorably, and meanwhile, the balance strategy of a human being in the scene is more similar.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic structural diagram of a bipedal robot according to an embodiment of the present invention;
FIG. 2 is a functional schematic of a PID controller provided by an embodiment of the invention;
fig. 3 is a schematic flow chart of a balance control method of a biped robot according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of the adjustment of the front-to-back balance provided by the embodiment of the invention;
FIG. 5 is an exemplary diagram of an adjustment of fore-aft balance provided by an embodiment of the present invention;
FIG. 6 is an exemplary diagram II of the adjustment of fore-aft balance provided by an embodiment of the present invention;
FIG. 7 is an exemplary diagram III of the adjustment of fore-aft balance provided by an embodiment of the present invention;
FIG. 8 is an exemplary diagram fourth of the adjustment of fore-aft balance provided by an embodiment of the present invention;
FIG. 9 is a schematic flow chart of the left-right balance adjustment provided by the embodiment of the invention;
FIG. 10 is an exemplary diagram of the adjustment of side-to-side balance provided by an embodiment of the present invention;
fig. 11 is a schematic structural diagram of an electronic device for implementing a balance control method of a bipedal robot according to an embodiment of the present invention.
The attached drawings are used for identifying and describing:
1. a bipedal robot; 2. an electronic device;
11. a hip joint motor; 12. a knee joint motor; 13. an ankle joint motor; 14. a header IMU; 15. a hip IMU; 16. a calf IMU; 17. foot IMU; 20. a processor; 21. a memory; 22. a communication bus; 23. a communication interface;
111. a left hip joint motor; 112. a right hip joint motor; 121. a left knee joint motor; 122. a right knee joint motor; 131. a left ankle joint motor; 132. a right ankle joint motor; 151. left hip IMU; 152. a right hip IMU; 161. left calf IMU; 162. right calf IMU; 171. left foot IMU; 172. right foot IMU.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It should be noted that the terms "first," "second," and "third," etc. in the description and claims of the present invention are used for distinguishing between different objects and not for describing a particular sequential order. The terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention discloses a biped robot 1, as shown in fig. 1, and fig. 1 is a schematic structural diagram of the biped robot provided by the embodiment of the invention. The bipedal robot 1 mainly comprises a CPU, a main board, a loudspeaker, a microphone, infrared rays, a camera, a laser radar, a sensor, a motor, a gyroscope and the like. The position control servo motor is used as an actuator, and the speed reduction and transmission are performed through the worm gear.
Specifically, the motors of the bipedal robot 1 include at least a hip motor 11, a knee motor 12, and an ankle motor 13. The motor control scheme uses a FOC vector control algorithm, and adopts a PID controller (Proportion Integration Differentiation, proportional-integral-derivative controller) to carry out three-loop PID control on a current loop, a speed loop and a position loop.
The hip joint motors 11 are used for adjusting the hip joints, and two hip joint motors 11 are respectively a left hip joint motor 111 and a right hip joint motor 112, and are correspondingly arranged on the left hip joint and the right hip joint of the bipedal robot 1. The hip motor 11 has three degrees of freedom, i.e., back and forth swing around the Y axis, left and right swing around the X axis, and rotation around the Z axis, respectively. The actuating mechanism swinging back and forth around the Y axis and swinging left and right around the X axis is an outer rotor motor and worm gear structure, the reduction ratio of the worm gear is 60:1 when swinging back and forth, and the reduction ratio of the worm gear is 100:1 when swinging left and right. The actuating mechanism rotating around the Z axis is an outer rotor motor and a harmonic speed reducer, and the speed reduction ratio of the harmonic speed reducer is 50:1.
The knee joint motors 12 are used for adjusting knee joints, and two knee joint motors 12 are respectively a left knee joint motor 121 and a right knee joint motor 122, and are correspondingly arranged on the left knee joint and the right knee joint of the bipedal robot 1. The knee motor 12 has one degree of freedom to swing back and forth about the Y axis. The actuating mechanism is an outer rotor motor and a turbine worm structure, and the reduction ratio of the turbine worm is 60:1.
The ankle joint motors 13 are used for adjusting the ankle joints, and the number of the ankle joint motors 13 is two, namely a left ankle joint motor 131 and a right ankle joint motor 132, which are correspondingly arranged on the left ankle joint and the right ankle joint of the bipedal robot 1. The ankle motor 13 has two degrees of freedom, i.e., back and forth swing around the Y axis and left and right swing around the X axis, respectively. The actuating mechanism is an outer rotor motor and a worm gear structure, the reduction ratio of the worm gear is 74:1 when the actuating mechanism swings forwards and backwards, and the reduction ratio of the worm gear is 60:1 when the actuating mechanism swings leftwards and rightwards.
Referring to fig. 2, fig. 2 is a functional schematic diagram of a PID controller according to an embodiment of the present invention. As shown in fig. 2, in the embodiment of the present invention, the PID controller is composed of a proportional unit (P), an integral unit (I) and a differential unit (D), and is configured by setting three parameters of a proportional gain Kp, an integral gain Ki and a differential gain Kd. PID controllers are mainly suitable for systems that are substantially linear and whose dynamic characteristics do not change over time. The PID controller compares the collected data to a reference value and then uses the difference to calculate a new input value that is intended to allow the system data to reach or remain at the reference value. The PID controller can adjust the input value according to the historical data and the occurrence rate of the difference, so that the system is more accurate and more stable.
With continued reference to fig. 1, specifically, the bipedal robot 1 includes at least four gyroscopes, a head IMU 14, a hip IMU 15, a shank IMU 16, and a foot IMU 17, respectively.
Two of the hip IMUs 15 are left and right hip IMUs 151 and 152, respectively. The left hip IMU 151 is used to detect the angle of the left hip joint and the right hip IMU 152 is used to detect the angle of the right hip joint. The calf IMU 16 includes a left calf IMU 161 and a right calf IMU 162, the left calf IMU 161 for detecting the angle of the left calf and converting to the angle of the left knee joint, and the right calf IMU 162 for detecting the angle of the right calf and converting to the angle of the right knee joint. The foot IMU 17 includes a left foot IMU 171 and a right foot IMU 172, the left foot IMU 171 being configured to detect the angle of the left sole and convert to the angle of the left ankle, the right foot IMU 172 being configured to detect the angle of the right sole and convert to the angle of the right ankle.
The embodiment of the application also discloses a balance control method of the biped robot, which is suitable for the biped robot 1. In the embodiment of the present application, the execution body of the balance control method of the biped robot includes, but is not limited to, at least one of a server, a terminal, and the like, which can be configured to execute the method provided by the embodiment of the present application. In other words, the balance control method of the bipedal robot may be performed by software or hardware installed at the terminal device or the server device. The service end includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, and the like. The server may be an independent server, or may be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (ContentDelivery Network, CDN), and basic cloud computing services such as big data and artificial intelligence platforms.
As shown in fig. 3, fig. 3 is a flow chart of a balance control method of a biped robot according to an embodiment of the present invention. The balance control method of the biped robot comprises the following steps:
s1, when the ground is inclined, acquiring IMU information of the bipedal robot, wherein the IMU information at least comprises head IMU information, shank IMU information and hip IMU information;
s2, carrying out front-back balance adjustment and left-right balance adjustment on the bipedal robot according to IMU information of the bipedal robot.
In the embodiment of the invention, front-back balance and left-right balance are performed simultaneously.
In the embodiment of the present invention, the head IMU information is the inclination angle of the head measured by the head IMU 14. The calf IMU information is the angle of the knee joint measured by the calf IMU 16. The hip IMU information is the angle of the hip joint measured by the hip IMU 15.
Specifically, as shown in fig. 4, fig. 4 is a schematic flow chart of the adjustment of the front-back balance according to the embodiment of the present invention. The adjusting of the front-back balance comprises:
s11, acquiring a measured value of a head IMU, a measured value of a shank IMU and a measured value of a hip IMU;
s12, calculating a first expected angle of the ankle joint motor according to the measured value of the head IMU and the measured value of the shank IMU, and calculating a second expected angle of the hip joint motor according to the measured value of the head IMU and the measured value of the hip IMU;
And S13, adjusting the ankle joint motor according to the first expected angle and the hip joint motor according to the second expected angle so as to realize front-back balance of the bipedal robot.
In the embodiment of the present invention, when the fore-and-aft balance adjustment is performed, the two hip motors 11 are adjusted synchronously and kept identical, and the two ankle motors 13 are adjusted synchronously and kept identical.
In the embodiment of the present invention, in step S12, the relation for calculating the first desired angle of the ankle joint motor according to the measurement value of the head IMU and the measurement value of the shank IMU is specifically shown in formula (1):
wherein Kp, ki, and Kd represent the proportional gain, integral gain, and differential gain, respectively, of the PID controller, eh (t) represents the deviation of the measured value of the head IMU 14, E l (t) represents the deviation of the measurement values of the calf IMU 16. The deviation of the measured value of the head IMU 14 is a correspondence between the measured value measured by the head IMU 14 and the actual value, and the deviation of the measured value of the shank IMU 16 is a correspondence between the measured value measured by the shank IMU 16 and the actual value.
In the embodiment of the present invention, the ankle motor 13 is adjusted to ensure that the sole is adapted to the change in the ground angle and the calf maintains the angle before the ground change. Wherein the ground inclination angle error will reach a stable error due to a certain amount of inclination angle change. Thus, the above relationship multiplies the proportional gain by the deviation of the measurement of the calf IMU 16, and the derivative and integral gains are used with the deviation of the measurement of the head IMU 14.
In the embodiment of the present invention, in step S12, the relation for calculating the second desired angle of the hip joint motor according to the measurement value of the head IMU and the measurement value of the hip IMU is specifically shown in formula (2):
wherein Kp, ki, and Kd represent the proportional gain, integral gain, and differential gain, respectively, of the PID controller, eh (t) represents the deviation of the measured value of the head IMU 14, E i (t) represents the deviation of the measurements of the hip IMU 15. Wherein the head IMU 14 measures deviationsFor the correspondence between the measured value and the true value measured by the head IMU 14, the deviation of the measured value of the hip IMU 15 is the correspondence between the measured value and the true value measured by the hip IMU 15.
In the embodiment of the invention, the hip motor 11 is adjusted to ensure that the body adapts to the inclination of the ground as the hip angle changes to keep the robot standing stably. Wherein the proportional gain is multiplied by the deviation of the measurement of the hip IMU 15 and the derivative and integral gain are used together with the deviation of the measurement of the head IMU 14.
In the case where the COM height of the robot is set, the arm of the hip joint is far smaller than the arm of the ankle joint. Therefore, when the fore-and-aft balance of the bipedal robot 1 is achieved, the hip joint motor 11 is adjusted first, then the ankle joint motor 13 and the hip joint motor 11 are adjusted simultaneously, and the hip joint motor 11 adjusts the auxiliary ankle joint motor 13 to achieve the final balance posture of the bipedal robot 1.
Referring to fig. 5-8, fig. 5-8 are exemplary diagrams illustrating the adjustment of front-to-back balance provided by embodiments of the present invention. For ease of understanding, embodiments of the present invention will be described with reference to fig. 5-8 for adjustment of the fore-aft balance of the bipedal robot 1.
As shown in fig. 5, when the ground is flat, that is, when the inclination angle θ of the ground is 0, the bipedal robot 1 maintains a balanced standing state, the hip IMU 15 and the head IMU 14 are in a horizontal state at this time, and the calf IMU 16 is in a certain inclined state.
When the ground is inclined, the head IMU 14 or the hip IMU 15 is changed, and the change direction of the ground inclination can be judged according to the change directions of the two IMUs.
As shown in fig. 6 and 7, when the inclination of the ground has changed by θ and is maintained at the inclination, the robot reaches a new equilibrium state in which the angle of the lower leg coincides with that before the inclination of the ground is changed, and the ankle is changed to adjust the sole using PID control to adapt to the change of the ground and to conform to the ground as shown in formula (1). The position of the center of gravity of the upper body is then adjusted to the ground inclination angle using PID control hip joint variation to keep the bipedal robot 1 stably standing as shown in equation (2). Thereby ensuring that the COM and ZMP positions should always be within the foot support polygon.
When the change of the ground inclination is stopped, the change of the head IMU 14 or the hip IMU 15 is stopped, the change angle of the ground inclination can be judged by comparing the change values of the two IMUs with the value before the ground inclination, and then the posture of the body is adjusted to return to the state of standing balance.
As shown in fig. 8, the change in the angle of the foot IMU 17 is the ground inclination angle θ. At this time, in order to restore the body to the pre-standing state, the ankle joint is rotated in the direction of the change of the ground angle, and the change speed may be uniform. At this time, the hip joint is changed to maintain the body balance, and here, PID control is still used, as shown in formula (2), to ensure that the body adapts to the ankle joint change along with the hip joint angle change to keep the robot stably standing, and finally, the bipedal robot 1 reaches a new balance state, in which the bipedal robot 1 meets the following 3 points:
i. the trunk above the waist of the biped robot 1 is vertical to the horizontal plane.
ii. The connecting line of the ankle joint and the knee joint of the biped robot 1 is vertical to the ground.
And iii, the sole of the biped robot 1 is parallel to the ground.
Specifically, as shown in fig. 9, fig. 9 is a schematic flow chart of the left-right balance adjustment provided in the embodiment of the present invention. The adjusting of the left-right balance comprises:
S21, acquiring thigh length information and waist width information of the bipedal robot;
s22, adjusting the hip joint motor according to thigh length information, waist width information and the measured value of the hip IMU so that the waist line of the bipedal robot is parallel to the horizontal plane to realize left and right balance of the bipedal robot.
Referring to fig. 10, fig. 10 is an exemplary diagram of the adjustment of the left-right balance provided by the embodiment of the present invention. For ease of understanding, embodiments of the present invention will be described with reference to fig. 10 for adjusting the left-right balance of the bipedal robot 1.
As shown in fig. 10, it is assumed that the ground wrap point (P x ，P y ) Is inclined at an angle θ, which is a point (P x ，P y ) Fixed relative to the waist. (w) x1 ，w y1 ) Indicating the position of the left hip joint motor 111, (f) x1 ，f y1 ) Representing the vertical projected position of the left hip motor 111 on the ground, (w x2 ，w y2 ) Indicating the position of the right hip motor 112, (f) x2 ，f y2 ) Showing the vertical projected position of the right hip motor 112 on the ground.
(h x1 ，h y1 ) Indicating the position of the left knee motor 121, (h) x2 ，h y2 ) Indicating the position of the right knee motor 122. (P) x1 ，P y1 ) Represents the midpoint of the connection between the left hip motor 111 and the right hip motor 112, (P) x2 ，P y2 ) The vertical projection position of the midpoint of the connection between the left and right hip motors 111 and 112 on the ground is shown. (w) x1 -w x2 ) Indicating waist width, H 1 Represents the vertical distance of the left hip joint motor 111 to the ground, H 2 The vertical distance from the right hip motor 112 to the ground is represented by H, the vertical distance from the midpoint of the connection line between the left hip motor 111 and the right hip motor 112 to the ground is represented by α, the angle of the left hip motor 111 is represented by β, the angle of the right hip motor 112 is represented by θ, and the ground inclination angle is represented by θ.
In the embodiment of the invention, the whole left-right balance adjustment process is a dynamic balance process, the core is to adjust the angle of the knee joint, and the hip joint and the ankle joint need to be adjusted along with each other so as to ensure that the sole can keep fit with the ground. When the left-right balance of the bipedal robot 1 is achieved, the hip motor 11, the knee motor 12, and the ankle motor 13 are simultaneously kept activated to achieve roll control. Furthermore, the concept of inverse kinematics is used to locate all joint positions.
Specifically, in step S22, the thigh length information includes a left thigh length and a right thigh length, the hip motor 11 includes a left hip motor 111 and a right hip motor 112, and the hip IMU 15 includes a left hip IMU 151 and a right hip IMU 152.
The relation that the hip joint motor is adjusted according to the thigh length information, the waist width information and the measured value of the hip IMU so that the waist line of the bipedal robot is parallel to the horizontal plane is specifically as follows:
Wherein L is 1 Indicating the length L of the left thigh of the bipedal robot 1 2 Indicating the length of the right thigh of the bipedal robot 1, and L 1 ＝L 2 ；H 1 Represents the vertical distance of the left hip motor 111 to the ground, α represents the angle of the left hip motor 111, E iα (t) represents the deviation of the measured value of the left hip IMU 151, α' is the angle of adjustment of the left hip motor 111; h 2 Represents the vertical distance of the right hip motor 112 to the ground, β represents the angle of the right hip motor 112, E iβ (t) represents the deviation of the measurement of the right hip IMU 152, β' being the angle of adjustment of the right hip motor 112; (w) x1 -w x2 ) Represents the waist width, H represents the vertical distance from the ground to the midpoint of the connection between the left and right hip motors 111 and 112, (P) y1 -P y2 ) Represents the vertical distance from the ground to the midpoint of the connection of the left and right hip motors 111 and 112, θ represents the ground inclination angle, kp, ki, and Kd represent the proportional, integral, and differential gains of the PID controller, respectively.
Specifically, the left thigh length L of the bipedal robot 1 1 Equal to the length D of the left calf 1 And the length L of the right thigh of the bipedal robot 1 2 Equal to the length D of the right leg 2 。
Specifically, the angle of the ankle joint motor 13 is equal to the angle of the hip joint motor 11.
Specifically, the sum of the angle of the knee joint motor 12 and the angle of the double hip joint motor 11 is 180 degrees. More specifically, the sum of the angle γ of the left knee motor 121 and the angle α of twice the left hip motor 111 is 180 degrees, i.e., γ=pi-2α. The sum of the angle ω of the right knee motor 122 and twice the angle β of the left hip motor 111 is 180 degrees, i.e., ω=pi-2β.
It will be appreciated that the robot is balancedProvided that the process (w) x1 ，w y1 ) And) w x2 ，w y2 ) Is parallel to the horizontal plane. According to the inverse kinematics principle, the included angle formed by the movement of the hip joint, the knee joint and the ankle joint on the sagittal plane can be found, so that the corresponding motor is controlled to adjust the left and right balance of the bipedal robot 1.
In the embodiment of the invention, when the ground is inclined, head IMU information, shank IMU information and hip IMU information of the bipedal robot 1 are acquired, and then front-back balance adjustment and left-right balance adjustment are simultaneously carried out on the bipedal robot 1 according to the acquired IMU information of the bipedal robot 1. Wherein the adjusting of the fore-aft balance includes obtaining a measurement of the head IMU 14, a measurement of the calf IMU 16 and a measurement of the hip IMU 15, then calculating a first desired angle of the ankle joint motor 13 based on the measurement of the head IMU 14 and the measurement of the calf IMU 16, and calculating a second desired angle of the hip joint motor 11 based on the measurement of the head IMU 14 and the measurement of the hip IMU 15, and finally adjusting the ankle joint motor 13 based on the first desired angle and the hip joint motor 11 based on the second desired angle to achieve the fore-aft balance of the bipedal robot 1. The adjustment of the left-right balance includes acquiring thigh length information and waist width information of the bipedal robot 1, and then adjusting the hip motor 11 according to the thigh length information, the waist width information, and the measurement value of the hip IMU 15 so that the waist line of the bipedal robot 1 is parallel to the horizontal plane to achieve the left-right balance of the bipedal robot 1. According to the embodiment of the invention, the hip motor 11, the knee motor 12, the ankle motor 13, the head IMU 14, the shank IMU 16 and the hip IMU 16 are utilized to simultaneously perform front-back balance control and left-right balance control, so that the bipedal robot 1 stands and walks on various uneven floors such as inclined planes and steps to achieve a new balance state, in the balance state, the angle of the shank is consistent with the inclination angle of the floor before the change, the sole adapts to the change of the floor through the change of the joints and is attached to the floor, and therefore, the positions of COM and ZMP are always located in a polygonal area surrounded by the contact of the foot surfaces of the bipedal robot 1 and the floor, and the walking stability and the environment adaptability of the bipedal robot 1 are effectively improved. In addition, the balance control method of the biped robot can ensure the balance of the biped robot 1 in the front-back direction and the left-right direction, and the hip joint is adopted in the front-back direction to assist in adjusting the body balance, so that the defect that the ankle joint is damaged too much by only using the ankle joint to keep the body balance is avoided, the ankle joint of the biped robot 1 is protected more favorably, and meanwhile, the balance strategy of a human being in the scene is more similar.
Referring to fig. 11, fig. 11 is a schematic structural diagram of an electronic device for implementing a balance control method of a bipedal robot according to an embodiment of the invention.
The electronic device 2 may comprise a processor 20, a memory 21, a communication bus 22 and a communication interface 23, and may further comprise a computer program stored in the memory 21 and executable on the processor 20, such as a balancing control program for a bipedal robot.
The processor 20 may be formed by an integrated circuit in some embodiments, for example, a single packaged integrated circuit, or may be formed by a plurality of integrated circuits packaged with the same function or different functions, including one or more central processing units (Central Processing unit, CPU), a microprocessor, a digital processing chip, a graphics processor, a combination of various control chips, and so on. The processor 20 is a control unit (control unit) of the electronic device 2, connects the respective components of the entire electronic device 2 using various interfaces and lines, executes various functions of the electronic device 2 and processes data by running or executing programs or modules stored in the memory 21 (for example, executing a balance control program of a bipedal robot, etc.), and calling data stored in the memory 21.
The memory 21 includes at least one type of readable storage medium including flash memory, a removable hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 21 may in some embodiments be an internal storage unit of the electronic device 2, such as a removable hard disk of the electronic device 2. The memory 21 may in other embodiments also be an external storage device of the electronic device 2, such as a plug-in mobile hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the electronic device 2. Further, the memory 21 may also include both an internal storage unit and an external storage device of the electronic device 2. The memory 21 may be used not only for storing application software installed in the electronic device 2 and various types of data, such as codes of a balance control program of the bipedal robot, etc., but also for temporarily storing data that has been output or is to be output.
The communication bus 22 may be a Peripheral Component Interconnect (PCI) bus, an extended industry standard architecture (extended industrystandardarchitecture, EISA) bus, or the like. The bus may be classified as an address bus, a data bus, a control bus, etc. The bus is arranged to enable a connection communication between the memory 21 and at least one processor 20 or the like.
The communication interface 23 is used for communication between the electronic device 2 and other devices described above, including a network interface and a user interface. Optionally, the network interface may comprise a wired interface and/or a wireless interface (e.g., WI-FI interface, bluetooth interface, etc.), typically used to establish a communication connection between the electronic device 2 and other electronic devices. The user interface may be a Display (Display), an input unit such as a Keyboard (Keyboard), or alternatively a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, or the like. The display may also be referred to as a display screen or display unit, as appropriate, for displaying information processed in the electronic device 2 and for displaying a visual user interface.
Fig. 11 shows only an electronic device with components, it will be understood by those skilled in the art that the structure shown in fig. 11 is not limiting of the electronic device 2 and may include fewer or more components than shown, or may combine certain components, or a different arrangement of components.
For example, although not shown, the electronic device 2 may further include a power source (such as a battery) for supplying power to the respective components, and the power source may be logically connected to the at least one processor 20 through a power management device, so that functions of charge management, discharge management, power consumption management, and the like are implemented through the power management device. The power supply may also include one or more of any of a direct current or alternating current power supply, recharging device, power failure detection circuit, power converter or inverter, power status indicator, etc. The electronic device 2 may further include various sensors, bluetooth modules, wi-Fi modules, etc., which will not be described herein.
It should be understood that the embodiments described are for illustrative purposes only and are not limited to this configuration in the scope of the patent application.
The balance control program of the bipedal robot stored in the memory 21 of the electronic device 2 is a combination of a plurality of instructions, which when executed in the processor 20, can implement:
when the ground is inclined, acquiring IMU information of the bipedal robot, wherein the IMU information at least comprises head IMU information, shank IMU information and hip IMU information;
performing front-back balance adjustment and left-right balance adjustment on the bipedal robot according to IMU information of the bipedal robot; the front-back balance adjustment and the left-right balance adjustment are performed simultaneously;
Wherein the adjusting of the fore-aft balance comprises:
acquiring a measurement of the head IMU, a measurement of the calf IMU and a measurement of the hip IMU;
calculating a first desired angle of an ankle joint motor from the measurements of the head IMU and the calf IMU and calculating a second desired angle of a hip joint motor from the measurements of the head IMU and the hip IMU;
adjusting the ankle joint motor according to the first desired angle and the hip joint motor according to the second desired angle to achieve fore-aft balance of the bipedal robot;
the adjusting of the left-right balance comprises:
acquiring thigh length information and waist width information of the bipedal robot;
and adjusting the hip joint motor according to the thigh length information, the waist width information and the measured value of the hip IMU so that the waist line of the bipedal robot is parallel to the horizontal plane to realize left-right balance of the bipedal robot.
In particular, the specific implementation method of the above instructions by the processor 20 may refer to the description of the relevant steps in the corresponding embodiment of the drawings, which is not repeated herein.
Further, the modules/units integrated by the electronic device 2 may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as separate products. The computer readable storage medium may be volatile or nonvolatile. For example, the computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM).
The present invention also provides a computer readable storage medium storing a computer program which, when executed by a processor of an electronic device, can implement:
when the ground is inclined, acquiring IMU information of the bipedal robot, wherein the IMU information at least comprises head IMU information, shank IMU information and hip IMU information;
performing front-back balance adjustment and left-right balance adjustment on the bipedal robot according to IMU information of the bipedal robot; the front-back balance adjustment and the left-right balance adjustment are performed simultaneously;
wherein the adjusting of the fore-aft balance comprises:
acquiring a measurement of the head IMU, a measurement of the calf IMU and a measurement of the hip IMU;
calculating a first desired angle of an ankle joint motor from the measurements of the head IMU and the calf IMU and calculating a second desired angle of a hip joint motor from the measurements of the head IMU and the hip IMU;
adjusting the ankle joint motor according to the first desired angle and the hip joint motor according to the second desired angle to achieve fore-aft balance of the bipedal robot;
the adjusting of the left-right balance comprises:
Acquiring thigh length information and waist width information of the bipedal robot;
and adjusting the hip joint motor according to the thigh length information, the waist width information and the measured value of the hip IMU so that the waist line of the bipedal robot is parallel to the horizontal plane to realize left-right balance of the bipedal robot.
In the several embodiments provided in the present invention, it should be understood that the disclosed apparatus, device and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be other manners of division when actually implemented.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units can be realized in a form of hardware or a form of hardware and a form of software functional modules.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.
The present embodiments are, therefore, to be considered as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned.
It should be understood that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and that although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention.
Claims (10)
1. A balance control method of a biped robot, the method comprising:
when the ground is inclined, acquiring IMU information of the bipedal robot, wherein the IMU information at least comprises head IMU information, shank IMU information and hip IMU information;
Performing front-back balance adjustment and left-right balance adjustment on the bipedal robot according to IMU information of the bipedal robot; the front-back balance adjustment and the left-right balance adjustment are performed simultaneously;
wherein the adjusting of the fore-aft balance comprises:
s11, acquiring a measured value of the head IMU, a measured value of the shank IMU and a measured value of the hip IMU;
s12, calculating a first expected angle of an ankle joint motor according to the measured value of the head IMU and the measured value of the shank IMU, and calculating a second expected angle of a hip joint motor according to the measured value of the head IMU and the measured value of the hip IMU;
s13, adjusting the ankle joint motor according to the first expected angle and the hip joint motor according to the second expected angle so as to realize front-back balance of the bipedal robot;
the adjusting of the left-right balance comprises:
s21, acquiring thigh length information and waist width information of the bipedal robot;
s22, adjusting the hip joint motor according to the thigh length information, the waist width information and the measured value of the hip IMU so that the waist line of the biped robot is parallel to the horizontal plane to realize left and right balance of the biped robot.
2. The balance control method of a bipedal robot of claim 1, wherein in step S12, the relation for calculating the first desired angle of the ankle joint motor according to the measurement value of the head IMU and the measurement value of the shank IMU is specifically:
wherein Kp, ki, and Kd represent the proportional gain, integral gain, and differential gain, respectively, of the PID controller, eh (t) represents the deviation of the measurement value of the head IMU, E l (t) represents a deviation of the measurement of the calf IMU.
3. The balance control method of the bipedal robot of claim 1, wherein in step S12, the relation of calculating the second desired angle of the hip motor according to the measurement value of the head IMU and the measurement value of the hip IMU is specifically:
wherein Kp, ki, and Kd represent the proportional gain, integral gain, and differential gain, E, respectively, of the PID controller h (t) represents the deviation of the measurement value of the head IMU, E i (t) represents a deviation of the measurements of the hip IMU.
4. The balance control method of a bipedal robot of claim 1, wherein the adjustment of the hip motor is performed first and then the adjustment of the ankle motor and the hip motor is performed simultaneously when the fore-and-aft balance of the bipedal robot is achieved.
5. The balance control method of a bipedal robot of claim 1, wherein the hip motor, the knee motor and the ankle motor are simultaneously kept activated to achieve roll control when achieving left-right balance of the bipedal robot.
6. The balance control method of a bipedal robot of claim 5, wherein a sum of an angle of the knee joint motor and an angle twice the hip joint motor is 180 degrees.
7. The balance control method of a bipedal robot of claim 5, wherein an angle of the ankle joint motor is equal to an angle of the hip joint motor.
8. The balance control method of a bipedal robot of claim 5, wherein the thigh length information includes a left thigh length and a right thigh length, the hip motor includes a left hip motor and a right hip motor, and the hip IMU includes a left hip IMU and a right hip IMU;
in step S22, the adjusting the hip joint motor according to the thigh length information, the waist width information and the measurement value of the hip IMU so that the relationship between the waist line of the bipedal robot and the horizontal plane is specifically:
Wherein L is 1 Representing the length of the left thigh, L, of a bipedal robot 2 Represents the length of the right thigh of the bipedal robot, and L 1 ＝L 2 ；H 1 Represents the vertical distance from the left hip joint motor to the ground, and alpha represents the left hipAngle of joint motor, E iα (t) represents the deviation of the measurement of the left hip IMU, α' being the angle of adjustment of the left hip motor; h 2 Represents the vertical distance from the right hip joint motor to the ground, beta represents the angle of the right hip joint motor, E iβ (t) represents the deviation of the measurement of the right hip IMU, β' being the angle of adjustment of the right hip motor; (w) x1 -w x2 ) Represents the waist width, H represents the vertical distance from the midpoint of the connecting line of the left hip joint motor and the right hip joint motor to the ground, (P) y1 -P y2 ) The vertical distance from the midpoint of the connecting line of the left hip joint motor and the right hip joint motor to the ground is represented, θ represents the inclination angle of the ground, and Kp, ki, and Kd represent the proportional gain, integral gain, and differential gain of the PID controller, respectively.
9. The balance control method of a bipedal robot of claim 8, wherein a left thigh length of the bipedal robot is equal to a left calf length and a right thigh length of the bipedal robot is equal to a right calf length.
10. A bipedal robot, wherein the bipedal robot applies the balance control method of the bipedal robot according to any one of claims 1 to 9; the bipedal robot comprises at least a head IMU, two shank IMUs, two hip motors, two knee motors and two ankle motors.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117742134A (en) * | 2023-12-21 | 2024-03-22 | 桂林电子科技大学 | A walking planning and control method for bipedal robots |
| CN119024853A (en) * | 2024-08-29 | 2024-11-26 | 广州汽车集团股份有限公司 | Control method and control system of intelligent mobile terminal and intelligent mobile terminal |
| CN119803446A (en) * | 2025-03-17 | 2025-04-11 | 江淮前沿技术协同创新中心 | Mapping method, electronic device and storage medium based on multi-sensor fusion |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117742134A (en) * | 2023-12-21 | 2024-03-22 | 桂林电子科技大学 | A walking planning and control method for bipedal robots |
| CN119024853A (en) * | 2024-08-29 | 2024-11-26 | 广州汽车集团股份有限公司 | Control method and control system of intelligent mobile terminal and intelligent mobile terminal |
| CN119803446A (en) * | 2025-03-17 | 2025-04-11 | 江淮前沿技术协同创新中心 | Mapping method, electronic device and storage medium based on multi-sensor fusion |
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