CN113485403B - Robot gait planning method, device, processing equipment and storage medium - Google Patents
Robot gait planning method, device, processing equipment and storage medium Download PDFInfo
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Abstract
The invention provides a gait planning method, device, processing equipment and storage medium of a robot, and relates to the technical field of robots. Comprising the following steps: according to the preset footprint track information of the robot, the centroid track information of the horizontal direction of the robot is determined, and the horizontal direction comprises: an abscissa direction and an ordinate direction; according to the centroid track information of the horizontal direction of the robot and preset robot motion parameters, centroid movement information of the vertical direction of the robot is determined, wherein the vertical direction comprises: a vertical coordinate direction; obtaining centroid track information of the robot according to centroid track information in the horizontal direction and centroid movement information in the vertical direction; and planning the gait of the robot according to the centroid track information of the robot. And the centroid track information in the horizontal direction and the centroid movement information in the vertical direction are determined, then the centroid track information of the robot is determined, the obtained centroid track information is more accurate, and the gait planned based on the centroid track information is more accurate and reliable.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a gait planning method, device, processing equipment and storage medium of a robot.
Background
With the advent of the intellectualization era, various robots have grown endlessly. The automatic control of the robot is one of important subjects, and the gait planning of the robot is planned so that the robot walks according to the planned gait, which is also the content of the study.
In the related art, a reference trajectory of a capture point (CP point) is preset when gait planning is performed on a robot, and the capture point of the robot is controlled to track the reference trajectory of the capture point to perform movement when controlling the movement of the robot.
However, in the related art, the problem that gait planning is unreliable easily occurs by controlling the capturing points of the robot to track the reference track of the capturing points for movement.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a gait planning method, device, processing equipment and storage medium for a robot, so as to solve the problem that the gait planning is unreliable easily when a capturing point of the robot is controlled to track a reference track of the capturing point for movement in the related art.
In order to achieve the above purpose, the technical scheme adopted by the embodiment of the invention is as follows:
In a first aspect, an embodiment of the present invention provides a gait planning method for a robot, including:
According to the preset footprint track information of the robot, the centroid track information of the horizontal direction of the robot is determined, and the horizontal direction comprises: an abscissa direction and an ordinate direction;
According to the centroid track information of the horizontal direction of the robot and preset robot motion parameters, centroid movement information of the vertical direction of the robot is determined, wherein the vertical direction comprises: a vertical coordinate direction;
Obtaining centroid track information of the robot according to the centroid track information in the horizontal direction and the centroid movement information in the vertical direction;
and performing gait planning on the robot according to the centroid track information of the robot.
Optionally, the determining centroid track information of the robot in the horizontal direction according to the preset footprint track information of the robot includes:
according to the preset footprint track information of the robot, determining centroid track information in the horizontal direction corresponding to the initial gait;
Determining track information of capturing points of other gaits according to track information corresponding to a plurality of steps at the tail in preset footprint track information of the robot and preset key point relations, wherein the key point relations represent relations between footprints and the capturing points and between capturing points and barycenters;
Obtaining centroid track information in the horizontal direction corresponding to the rest gait according to track information of the plurality of capturing points of the rest gait and the key point relation;
And taking the centroid track information in the horizontal direction corresponding to the initial gait and the centroid track information in the horizontal direction corresponding to the rest gaits as the centroid track information in the horizontal direction of the robot.
Optionally, the determining centroid movement information of the robot in the vertical direction according to the centroid track information of the robot in the horizontal direction and the preset robot motion parameter includes:
determining a centroid track in the vertical direction of the robot according to the ankle joint position of the robot, centroid track information in the abscissa direction of the robot, the initial height of a hip joint of the preset robot and the amplitude of a preset sinusoidal mode;
and taking the centroid track in the vertical direction of the robot as centroid movement information in the vertical direction of the robot.
Optionally, the determining the centroid track in the vertical direction of the robot according to the ankle joint position of the robot, the centroid track information in the abscissa direction of the robot, the preset initial height of the hip joint of the robot and the preset sinusoidal mode amplitude includes:
And determining the centroid track of the robot in the vertical direction by adopting a hyperbolic tangent function according to the front ankle joint position, the rear ankle joint position of the robot, the centroid track information of the robot in the abscissa direction, the initial height of the hip joint of the preset robot and the amplitude of the preset sinusoidal mode.
Optionally, the determining centroid movement information of the robot in the vertical direction according to the centroid track information of the robot in the horizontal direction and the preset robot motion parameter includes:
Determining centroid acceleration in the vertical direction of the robot according to centroid track information in the abscissa direction of the robot, a preset robot step length and a preset sinusoidal mode amplitude;
And taking the centroid track in the vertical direction of the robot and the centroid acceleration in the vertical direction of the robot as centroid movement information in the vertical direction of the robot.
Optionally, the determining the centroid acceleration in the vertical direction of the robot according to the centroid track information in the abscissa direction of the robot, the preset robot step length and the preset sinusoidal mode amplitude includes:
And determining the centroid acceleration of the robot in the vertical direction by adopting a hyperbolic cosine function according to the centroid track information of the robot in the abscissa direction, the preset robot step length and the preset sine mode amplitude.
Optionally, the step of planning the robot according to the centroid track information of the robot includes:
and performing kinematic inverse solution according to the centroid track information of the robot to obtain foot track information of the robot, wherein the foot track information is used for representing the gesture of the foot.
In a second aspect, an embodiment of the present invention further provides a gait planning device for a robot, including:
The determining module is used for determining centroid track information of the horizontal direction of the robot according to preset footprint track information of the robot, and the horizontal direction comprises: an abscissa direction and an ordinate direction; according to the centroid track information of the horizontal direction of the robot and preset robot motion parameters, centroid movement information of the vertical direction of the robot is determined, wherein the vertical direction comprises: a vertical coordinate direction;
the acquisition module is used for acquiring centroid track information of the robot according to the centroid track information in the horizontal direction and the centroid movement information in the vertical direction;
and the planning module is used for planning the gait of the robot according to the centroid track information of the robot.
Optionally, the determining module is further configured to determine centroid track information in a horizontal direction corresponding to the initial gait according to preset footprint track information of the robot; determining track information of capturing points of other gaits according to track information corresponding to a plurality of steps at the tail in preset footprint track information of the robot and preset key point relations, wherein the key point relations represent relations between footprints and the capturing points and between capturing points and barycenters; obtaining centroid track information in the horizontal direction corresponding to the rest gait according to track information of the plurality of capturing points of the rest gait and the key point relation; and taking the centroid track information in the horizontal direction corresponding to the initial gait and the centroid track information in the horizontal direction corresponding to the rest gaits as the centroid track information in the horizontal direction of the robot.
Optionally, the determining module is further configured to determine a centroid track in a vertical direction of the robot according to an ankle joint position of the robot, centroid track information in an abscissa direction of the robot, a preset initial height of a hip joint of the robot, and a preset sinusoidal mode amplitude; and taking the centroid track in the vertical direction of the robot as centroid movement information in the vertical direction of the robot.
Optionally, the determining module is further configured to determine a centroid track in a vertical direction of the robot by using a hyperbolic tangent function according to a front ankle joint position, a rear ankle joint position of the robot, centroid track information in a abscissa direction of the robot, an initial height of a hip joint of the preset robot, and the preset sinusoidal mode amplitude.
Optionally, the determining module is further configured to determine a centroid acceleration in a vertical direction of the robot according to centroid track information in an abscissa direction of the robot, a preset robot step length and a preset sinusoidal mode amplitude; and taking the centroid track in the vertical direction of the robot and the centroid acceleration in the vertical direction of the robot as centroid movement information in the vertical direction of the robot.
Optionally, the determining module is further configured to determine a centroid acceleration in a vertical direction of the robot by using a hyperbolic cosine function according to centroid track information in an abscissa direction of the robot, the preset robot step length and a preset sine mode amplitude.
Optionally, the planning module is further configured to perform a kinematic inverse solution according to centroid track information of the robot, to obtain foot track information of the robot, where the foot track information is used to represent a pose of the foot.
In a third aspect, an embodiment of the present invention further provides a processing apparatus, including: a memory storing a computer program executable by the processor, and a processor implementing the gait planning method of the robot according to any one of the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a storage medium, where a computer program is stored, where the computer program is read and executed to implement the gait planning method of the robot according to any one of the first aspect.
The beneficial effects of the invention are as follows: the embodiment of the invention provides a gait planning method of a robot, which comprises the following steps: according to the preset footprint track information of the robot, the centroid track information of the horizontal direction of the robot is determined, and the horizontal direction comprises: an abscissa direction and an ordinate direction; according to the centroid track information of the horizontal direction of the robot and preset robot motion parameters, centroid movement information of the vertical direction of the robot is determined, wherein the vertical direction comprises: a vertical coordinate direction; obtaining centroid track information of the robot according to centroid track information in the horizontal direction and centroid movement information in the vertical direction; and planning the gait of the robot according to the centroid track information of the robot. The centroid track information in the horizontal direction and the centroid movement information in the vertical direction are respectively determined based on the preset footprint track information of the robot, and then the centroid track information of the robot is determined based on the centroid track information in the horizontal direction and the centroid movement information in the vertical direction, so that the determined centroid track information is more accurate, and the gait planned based on the centroid track information is more accurate and reliable.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a gait planning method of a robot according to an embodiment of the present invention;
Fig. 2 is a flow chart of a gait planning method of a robot according to an embodiment of the present invention;
Fig. 3 is a flow chart of a gait planning method of a robot according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a robot walking according to an embodiment of the present invention;
fig. 5 is a flow chart of a gait planning method of a robot according to an embodiment of the present invention;
Fig. 6 is a schematic structural diagram of a gait planning device of a robot according to an embodiment of the present invention;
Fig. 7 is a schematic structural diagram of a processing apparatus according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be noted that, if the terms "upper", "lower", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or an azimuth or the positional relationship conventionally put in use of the product of the application, it is merely for convenience of describing the present application and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present application.
Furthermore, the terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, 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 but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
According to the gait planning method of the robot, the execution main body can be processing equipment, the processing equipment can be a part of the robot, and for example, the processing equipment can be a controller of the robot. The processing device may also be a device separate from the robot with which the processing device may communicate. For example, the processing device may be a terminal or a server, and when the processing device is a terminal, the processing device may be any one of the following: notebook computers, desktop computers, tablet computers, smart phones, and the like.
The gait planning method of the robot provided by the embodiment of the application is explained below by taking the processing equipment as an execution main body.
Fig. 1 is a flow chart of a gait planning method of a robot according to an embodiment of the present invention, as shown in fig. 1, the method may include:
s101, determining centroid track information of the robot in the horizontal direction according to preset footprint track information of the robot.
Wherein, the horizontal direction may include: an abscissa direction and an ordinate direction. The abscissa direction indicates an x direction in a three-dimensional coordinate system, the ordinate direction indicates a y direction in the three-dimensional coordinate system, and the x direction and the y direction are directions on a horizontal plane.
It should be noted that, the preset footprint track information may be footprint track information obtained by processing a robot walking instruction, footprint track information planned by a developer, or footprint track information determined by other manners, which is not particularly limited in the embodiment of the present application.
In some embodiments, the processing device analyzes the preset footprint track information of the robot in different walking stages in a corresponding manner, and then obtains centroid track information of the robot in the horizontal direction.
S102, determining centroid movement information of the robot in the vertical direction according to centroid track information of the robot in the horizontal direction and preset robot motion parameters.
Wherein, the vertical direction may include: and (5) vertical coordinate direction. The vertical coordinate direction represents the z-direction in the three-dimensional coordinate system. In addition, the preset robot motion parameters can be related parameters and preset values in the robot walking process.
In some embodiments, the processing device may determine centroid movement information in a vertical direction of the robot according to centroid track information in an abscissa direction of the robot in centroid track information in a horizontal direction of the robot and preset robot motion parameters.
S103, obtaining centroid track information of the robot according to centroid track information in the horizontal direction and centroid movement information in the vertical direction.
Wherein the centroid trace information of the robot may be referred to as complete centroid trace information of the robot.
In the embodiment of the application, the processing equipment can combine the centroid track information in the horizontal direction and the centroid movement information in the vertical direction to obtain the centroid track information of the robot.
S104, performing gait planning on the robot according to the centroid track information of the robot.
In some embodiments, the processing device may perform gait planning on the robot according to centroid track information of the robot by using a gait planning algorithm, so as to obtain a gait planning result. The gait planning result is used for indicating the foot gesture of the robot when walking.
When the processing device and the robot are independent devices, the processing device can send a gait planning result to the robot, the robot can receive the gait planning result, and then the robot can be controlled to walk according to the gait planning result. When the processing equipment is a part of the robot, the processing equipment can directly control the robot to walk according to gait planning results.
Alternatively, the robot in the embodiment of the present application may be a bipedal robot.
In summary, an embodiment of the present invention provides a gait planning method for a robot, including: according to the preset footprint track information of the robot, the centroid track information of the horizontal direction of the robot is determined, and the horizontal direction comprises: an abscissa direction and an ordinate direction; according to the centroid track information of the horizontal direction of the robot and preset robot motion parameters, centroid movement information of the vertical direction of the robot is determined, wherein the vertical direction comprises: a vertical coordinate direction; obtaining centroid track information of the robot according to centroid track information in the horizontal direction and centroid movement information in the vertical direction; and planning the gait of the robot according to the centroid track information of the robot. The centroid track information in the horizontal direction and the centroid movement information in the vertical direction are respectively determined based on the preset footprint track information of the robot, and then the centroid track information of the robot is determined based on the centroid track information in the horizontal direction and the centroid movement information in the vertical direction, so that the determined centroid track information is more accurate, and the gait planned based on the centroid track information is more accurate and reliable.
Fig. 2 is a flow chart of a gait planning method of a robot according to an embodiment of the present invention, as shown in fig. 2, a process of determining centroid track information of a horizontal direction of the robot according to preset footprint track information of the robot in S101 may include:
s201, determining centroid track information in the horizontal direction corresponding to the initial gait according to preset footprint track information of the robot.
The preset footprint track information of the robot is the same in the initial gait stage when the preset footprint track information of the robot is fixed. The initial gait phase may be several steps of the robot just beginning to walk.
In some embodiments, the processing device may employ a preset footprint generator to determine centroid track information in a horizontal direction corresponding to the initial gait of the robot based on preset footprint track information of the initial gait.
S202, determining track information of capture points of the rest gait according to track information corresponding to a plurality of steps at the tail in the track information of the preset footprint of the robot and a preset key point relation.
The key point relation characterizes the relation between the footprint and the capturing point and the relation between the capturing point and the centroid.
It should be noted that the capturing point may be related to the position and the speed of the centroid, and when the speed of the centroid is 0, the position of the centroid coincides with the position of the capturing point, and the position of the capturing point changes with the speed of the centroid.
S203, centroid track information in the horizontal direction corresponding to the rest gait is obtained according to track information of a plurality of capturing points of the rest gait and the key point relation.
The remaining gait may be a gait other than the initial gait in the complete gait of the robot.
In the embodiment of the application, the speed of the mass center is 0 when the robot stops walking, and the position of the mass center coincides with the position of the capturing point, so that the mass center track information in the horizontal direction corresponding to the rest gait can be determined by adopting a key point relation according to the track information corresponding to a plurality of steps at the end.
In some embodiments, track information of capture points of the remaining gait is determined by deriving a direction from the last gait to the initial gait using a relationship between the footprint and the capture points in a preset key point relationship according to track information corresponding to the last plurality of steps. And then, based on the track information of the capturing points of the rest gaits and the relation between the footprint and the capturing points in the key point relation, the centroid track information in the horizontal direction corresponding to the rest gaits is determined.
Note that, the relationship between the characteristic footprint and the capturing point in the key point relationship may be expressed as:
G1(s)：ξk＝e-ωT(ξk+1-pk)+pk
In addition, the relationship of the capture point to the centroid can be expressed as:
G2(s)：xk+1＝e-ωT(xk-ξk)+ξk
Where ω represents the world constant of the inverted pendulum, T represents the period, ζ k and ζ k+1 represent the capture points, x k and x k+1 represent the centroid, and p k represents the footprint.
S204, taking centroid track information in the horizontal direction corresponding to the initial gait and centroid track information in the horizontal direction corresponding to the rest gaits as centroid track information in the horizontal direction of the robot.
In the embodiment of the application, the processing equipment can combine the centroid track information in the horizontal direction corresponding to the initial gait and the centroid track information in the horizontal direction corresponding to the rest gaits to obtain the centroid track information in the horizontal direction of the robot.
It should be noted that, the centroid track information finally determined in the embodiment of the present application may be centroid track information of the bipedal robot when the bipedal robot supports a single foot.
Fig. 3 is a flow chart of a gait planning method of a robot according to an embodiment of the present invention, as shown in fig. 3, a process of determining centroid movement information of a vertical direction of a robot according to centroid track information of the horizontal direction of the robot and preset robot motion parameters in S102 may include:
S301, determining a centroid track in the vertical direction of the robot according to the ankle joint position of the robot, centroid track information in the abscissa direction of the robot, the initial height of the hip joint of the preset robot and the amplitude of the preset sinusoidal mode.
The ankle joint position of the robot may be an ankle joint position of both feet of the robot.
Fig. 4 is a schematic diagram of a robot walking provided in an embodiment of the present invention, as shown in fig. 4, z c is a preset initial height of a hip joint of the robot, and a larger z c generates a straight knee in a single supporting stage; a represents the preset sinusoidal mode amplitude, and a larger A represents a lower buttock position for dual support. The different robot hip types can be determined by adjusting z c and a.
In some embodiments, the processing device may determine the centroid trace in the vertical direction of the robot using a first calculation formula based on the ankle joint position of the robot, centroid trace information in the abscissa direction of the robot, a preset initial height of the hip joint of the robot, and a preset sinusoidal mode amplitude.
S302, taking a centroid track in the vertical direction of the robot as centroid movement information in the vertical direction of the robot.
The height of the center of gravity of the human body changes during the walking process. In order for the robot to achieve a humanoid gait, the centroid trajectory of the robot also needs to be changed in the z-direction. Variations in the height of the robot's centroid can also bring about some practical uses. For example, it may reduce the power consumption of the robot to some extent.
Optionally, the step S301 may include: and determining the centroid track of the robot in the vertical direction by adopting a hyperbolic tangent function according to the front ankle joint position, the rear ankle joint position of the robot, the centroid track information of the robot in the abscissa direction, the initial height of the hip joint of the preset robot and the amplitude of the preset sinusoidal mode.
The front ankle joint position and the rear ankle joint position of the robot are shown in fig. 4.
It should be noted that the front ankle joint position may be denoted as x footfront, the rear ankle joint position may be denoted as x footreart, the centroid trace information of the robot in the abscissa direction may be denoted as x com, the preset robot hip joint initial height may be denoted as z c, the hyperbolic tangent function may be denoted as tanh (), and the preset sinusoidal mode amplitude may be denoted as a.
The calculation process of the centroid trace z com in the vertical direction of the robot is as follows:
It should be noted that, using the tanh () hyperbolic tangent function, the centroid trace in the vertical direction can be made smoother.
Optionally, fig. 5 is a flow chart of a gait planning method of a robot according to an embodiment of the present invention, as shown in fig. 5, a process of determining centroid movement information of a vertical direction of a robot according to centroid track information of the horizontal direction of the robot and preset robot motion parameters in S102 may include:
S501, determining the centroid acceleration of the robot in the vertical direction according to the centroid track information of the robot in the abscissa direction, the preset robot step length and the preset sine mode amplitude.
The processing device can calculate the centroid acceleration of the robot in the vertical direction by adopting a centroid acceleration calculation formula in the vertical direction according to the centroid track information of the robot in the abscissa direction, the preset robot step length and the preset sine mode amplitude.
S502, taking a centroid track in the vertical direction of the robot and a centroid acceleration in the vertical direction of the robot as centroid movement information in the vertical direction of the robot.
It should be noted that, when the acceleration of the center of mass of the robot in the vertical direction is small, the footprint change of the robot is small, the foot length of the robot is a preset foot length, and the footprint error of the robot can be tolerated. From the viewpoint of generating a centroid track in the horizontal direction from the track information of the capturing point, the influence on the generated horizontal centroid track is not great. Thus, in the embodiment of the application, when the centroid trace information in the vertical direction has not much displacement and acceleration, then the centroid trace information is stable to the robot.
Wherein the preset foot length can be 160mm (millimeter)
Optionally, the determining the centroid acceleration in the vertical direction of the robot in S501 according to the centroid track information in the abscissa direction of the robot, the preset robot step length and the preset sinusoidal mode amplitude may include: and determining the centroid acceleration of the robot in the vertical direction by adopting a hyperbolic cosine function according to the centroid track information of the robot in the horizontal direction and the preset robot step length.
The preset sinusoidal mode amplitude may be represented as a, the centroid trace information of the abscissa direction of the robot may be represented as x com, the preset robot step size may be represented as L step, and the preset coefficient may be represented as b. The centroid acceleration a (t) of the robot in the vertical direction is calculated as follows:
In the embodiment of the application, the centroid track in the horizontal direction of the robot, the centroid track in the vertical direction of the robot and the centroid acceleration in the vertical direction of the robot can be used as centroid track information of the robot. The centroid track information of the robot has the following characteristics: the smooth centroid track reaches the lowest point in the two-foot support stage, so that the robot can be allowed to have longer walking step length in the actual walking process, energy conversion can be completed through centroid change, and the power consumption in the walking process is reduced. For continuous acceleration tracks, the track acceleration in the vertical direction can be controlled by selecting proper relevant parameters in the tracks, so that the walking stability is ensured.
Optionally, the step of performing gait planning on the robot according to the centroid track information of the robot in S104 may include: and performing kinematic inverse solution according to the centroid track information of the robot to obtain foot track information of the robot, wherein the foot track information is used for representing the gesture of the foot.
The foot trajectory information of the robot can be gait planning results.
The following describes a gait planning device, a processing device, a storage medium, and the like of a robot for executing the gait planning method of the robot provided by the present application, and specific implementation processes and technical effects thereof refer to relevant contents of the gait planning method of the robot, which are not described in detail below.
Fig. 6 is a schematic structural diagram of a gait planning device of a robot according to an embodiment of the present invention, as shown in fig. 6, the device may include:
the determining module 601 is configured to determine centroid track information of a horizontal direction of the robot according to preset footprint track information of the robot, where the horizontal direction includes: an abscissa direction and an ordinate direction; according to the centroid track information of the horizontal direction of the robot and preset robot motion parameters, centroid movement information of the vertical direction of the robot is determined, wherein the vertical direction comprises: a vertical coordinate direction;
an obtaining module 602, configured to obtain centroid track information of the robot according to the centroid track information in the horizontal direction and the centroid movement information in the vertical direction;
and the planning module 603 is configured to perform gait planning on the robot according to centroid track information of the robot.
Optionally, the determining module 601 is further configured to determine centroid track information in a horizontal direction corresponding to the initial gait according to preset footprint track information of the robot; determining track information of capturing points of other gaits according to track information corresponding to a plurality of steps at the tail in preset footprint track information of the robot and preset key point relations, wherein the key point relations represent relations between footprints and the capturing points and between capturing points and barycenters; obtaining centroid track information in the horizontal direction corresponding to the rest gait according to track information of the plurality of capturing points of the rest gait and the key point relation; and taking the centroid track information in the horizontal direction corresponding to the initial gait and the centroid track information in the horizontal direction corresponding to the rest gaits as the centroid track information in the horizontal direction of the robot.
Optionally, the determining module 601 is further configured to determine a centroid track in a vertical direction of the robot according to an ankle joint position of the robot, centroid track information in an abscissa direction of the robot, a preset initial height of a hip joint of the robot, and a preset sinusoidal mode amplitude; and taking the centroid track in the vertical direction of the robot as centroid movement information in the vertical direction of the robot.
Optionally, the determining module 601 is further configured to determine a centroid track in a vertical direction of the robot by using a hyperbolic tangent function according to a front ankle joint position, a rear ankle joint position of the robot, centroid track information in an abscissa direction of the robot, an initial height of a hip joint of the preset robot, and the preset sinusoidal mode amplitude.
Optionally, the determining module 601 is further configured to determine a centroid acceleration in a vertical direction of the robot according to centroid track information in an abscissa direction of the robot, a preset robot step length, and a preset sinusoidal mode amplitude; and taking the centroid track in the vertical direction of the robot and the centroid acceleration in the vertical direction of the robot as centroid movement information in the vertical direction of the robot.
Optionally, the determining module 601 is further configured to determine a centroid acceleration in a vertical direction of the robot by using a hyperbolic cosine function according to centroid track information in an abscissa direction of the robot, the preset robot step length and a preset sine mode amplitude.
Optionally, the planning module 604 is further configured to perform a kinematic inverse solution according to centroid track information of the robot, to obtain foot track information of the robot, where the foot track information is used to characterize a pose of the foot.
The foregoing apparatus is used for executing the method provided in the foregoing embodiment, and its implementation principle and technical effects are similar, and are not described herein again.
The above modules may be one or more integrated circuits configured to implement the above methods, for example: one or more Application SPECIFIC INTEGRATED Circuits (ASIC), or one or more microprocessors (DIGITAL SINGNAL processor, DSP), or one or more field programmable gate arrays (Field Programmable GATE ARRAY, FPGA), etc. For another example, when a module above is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 7 is a schematic structural diagram of a processing device according to an embodiment of the present invention, where the processing device may be a computing device with a data processing function. The processing device may include: a processor 701 and a memory 702. The memory 702 is used for storing a program, and the processor 701 calls the program stored in the memory 702 to execute the above method embodiment. The specific implementation manner and the technical effect are similar, and are not repeated here.
Optionally, the present invention also provides a program product, such as a computer readable storage medium, comprising a program for performing the above-described method embodiments when being executed by a processor.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit 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 may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: processor) to perform some of the steps of the methods according to the embodiments of the invention. And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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