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CN-116810794-B - Robot, control method and device thereof, and storage medium

CN116810794BCN 116810794 BCN116810794 BCN 116810794BCN-116810794-B

Abstract

The disclosure relates to the technical field of intelligent robots, and particularly provides a robot, a control method, a control device and a storage medium thereof. A robot control method comprises the steps of obtaining first posture information of a robot, determining second posture information of a standing surface according to the first posture information, determining a target kinetic equation according to a kinetic equation of the robot and a kinetic equation of the standing surface, establishing a control optimization task of the robot based on the target kinetic equation, obtaining target moment of each joint of the robot based on the first posture information, the second posture information and the control optimization task, and controlling movement of each joint of the robot according to the target moment. In the embodiment of the disclosure, the dynamic analysis and the optimized control of the gesture of the robot and the gesture of the standing surface solve the balance problem of the robot on the dynamic standing surface, realize the balance control of the robot on the dynamic standing surface, expand the application scene of the robot and improve the control stability of the robot.

Inventors

  • XU ZHE

Assignees

  • 北京小米机器人技术有限公司

Dates

Publication Date
20260508
Application Date
20230727

Claims (9)

  1. 1. A robot control method, comprising: Acquiring first posture information of a robot, and determining second posture information of a standing surface where the robot is located according to the first posture information, wherein the standing surface is a dynamic standing surface, and the second posture information comprises a pitch angle and a roll angle of the standing surface; Determining a target kinetic equation of the robot on the standing surface according to the kinetic equation of the robot and the kinetic equation of the standing surface; Establishing a control optimization task of the robot based on the target dynamics equation, and obtaining target moment of each joint of the robot based on the first gesture information, the second gesture information and the control optimization task; Controlling the movement of each joint of the robot according to the target moment; the determining the target kinetic equation of the robot on the standing surface according to the kinetic equation of the robot and the kinetic equation of the standing surface comprises the following steps: Determining a kinetic equation of the robot according to the corresponding relation between the angular acceleration and the plantar force of each joint of the robot; determining a dynamic equation of the standing surface according to the corresponding relation between the angular acceleration of the standing surface and the supporting force, wherein the supporting force is in equal and opposite directions with the plantar force; And carrying out fusion processing according to the dynamic equation of the robot and the dynamic equation of the standing surface to obtain the target dynamic equation of the robot on the standing surface.
  2. 2. The method of claim 1, wherein the first pose information includes position information of a center point of a trunk of the robot and joint angles of each joint, and wherein determining the second pose information of a standing surface on which the robot is located based on the first pose information includes: Determining the position information of each foot end of the robot in a world coordinate system according to the position information of the trunk center point and the joint angle of each joint; Determining a plane equation of the standing surface according to the position information of each foot end of the robot in a world coordinate system; and determining the pitch angle and the roll angle of the standing surface according to a plane equation of the standing surface.
  3. 3. The method of claim 2, wherein determining the positional information of each foot end of the robot in the world coordinate system based on the positional information of the torso center point and the joint angle of each joint comprises: determining a first vector from the torso center point to each foot end of the robot; determining a second vector from the origin of the world coordinate system to the center point of the trunk according to the first vector from each foot end to the center point of the trunk; And determining the position information of each foot end in a world coordinate system according to the second vector and each first vector.
  4. 4. The method of claim 1, wherein the establishing a control optimization task for the robot based on the target kinetic equation comprises: Establishing a first control task based on angular acceleration of the robot and the standing surface, establishing a second control task based on plantar position of the robot, and establishing a third control task based on plantar force of the robot; Establishing a target control task of the robot on the standing surface according to the first control task, the second control task and the third control task; and establishing a constraint task for the target control task based on the target kinetic equation to obtain the control optimization task.
  5. 5. The method of claim 4, wherein the establishing a constraint task on the target control task based on the target kinetic equation, resulting in the control optimization task, comprises: and establishing a constraint task for the target control task based on the target dynamics equation, a preset constraint condition and a preset weight of each control task to obtain the control optimization task.
  6. 6. The method of claim 1, wherein the obtaining the target moment of each joint of the robot based on the first pose information, the second pose information, and the control optimization task comprises: Determining expected angular acceleration and target plantar force of each joint of the robot based on the first gesture information, the second gesture information and the control optimization task; the target moment for each joint is determined based on the desired angular acceleration and the target plantar force.
  7. 7. A robot control device, comprising: The attitude determination module is configured to acquire first attitude information of the robot and determine second attitude information of a standing surface where the robot is located according to the first attitude information, wherein the standing surface is a dynamic standing surface, and the second attitude information comprises a pitch angle and a roll angle of the standing surface; a dynamics equation module configured to determine a target dynamics equation of the robot on the standing surface from the dynamics equation of the robot and the dynamics equation of the standing surface; The moment determining module is configured to establish a control optimization task of the robot based on the target kinetic equation, and obtain target moment of each joint of the robot based on the first gesture information, the second gesture information and the control optimization task; a motion control module configured to control respective articulation of the robot in accordance with the target torque; The kinetic equation module is configured to: Determining a kinetic equation of the robot according to the corresponding relation between the angular acceleration and the plantar force of each joint of the robot; determining a dynamic equation of the standing surface according to the corresponding relation between the angular acceleration of the standing surface and the supporting force, wherein the supporting force is in equal and opposite directions with the plantar force; And carrying out fusion processing according to the dynamic equation of the robot and the dynamic equation of the standing surface to obtain the target dynamic equation of the robot on the standing surface.
  8. 8. A robot comprising a robot body, a robot body and a robot body, characterized by comprising the following steps: processor, and A memory storing computer instructions for causing a processor to perform the method of any one of claims 1 to 6.
  9. 9. A storage medium having stored thereon computer instructions for causing a computer to perform the method according to any one of claims 1 to 6.

Description

Robot, control method and device thereof, and storage medium Technical Field The disclosure relates to the technical field of intelligent robots, and in particular relates to a robot, a control method and device thereof, and a storage medium. Background The foot robot is a robot designed to imitate a legged animal or a human in nature, and has a high degree of freedom, thereby having excellent movement ability and stability under various complex terrains. In the related art, the control for the foot robot is mainly focused on the stability of the robot itself, but when the robot is in a dynamic standing surface, the conventional robot control algorithm cannot cope with such a scene because the standing surface itself is in an unstable state. Disclosure of Invention In order to solve the problem of balance of a robot on a dynamic standing surface and improve the control stability of the robot, the embodiment of the disclosure provides a robot control method, a device, a robot and a storage medium. In a first aspect, embodiments of the present disclosure provide a robot control method, including: acquiring first posture information of a robot, and determining second posture information of a standing surface where the robot is located according to the first posture information; Determining a target kinetic equation of the robot on the standing surface according to the kinetic equation of the robot and the kinetic equation of the standing surface; Establishing a control optimization task of the robot based on the target dynamics equation, and obtaining target moment of each joint of the robot based on the first gesture information, the second gesture information and the control optimization task; and controlling each joint movement of the robot according to the target moment. In some embodiments, the first posture information includes position information of a trunk center point of the robot and joint angles of each joint, the second posture information includes pitch angles and roll angles of the standing surface, and the determining the second posture information of the standing surface where the robot is located according to the first posture information includes: Determining the position information of each foot end of the robot in a world coordinate system according to the position information of the trunk center point and the joint angle of each joint; Determining a plane equation of the standing surface according to the position information of each foot end of the robot in a world coordinate system; and determining the pitch angle and the roll angle of the standing surface according to a plane equation of the standing surface. In some embodiments, the determining the position information of each foot end of the robot in the world coordinate system according to the position information of the trunk center point and the joint angle of each joint includes: determining a first vector from the torso center point to each foot end of the robot; determining a second vector from the origin of the world coordinate system to the center point of the trunk according to the first vector from each foot end to the center point of the trunk; And determining the position information of each foot end in a world coordinate system according to the second vector and each first vector. In some embodiments, the determining a target kinetic equation of the robot on the standing surface according to the kinetic equation of the robot and the kinetic equation of the standing surface includes: Determining a kinetic equation of the robot according to the corresponding relation between the angular acceleration and the plantar force of each joint of the robot; determining a dynamic equation of the standing surface according to the corresponding relation between the angular acceleration of the standing surface and the supporting force, wherein the supporting force is in equal and opposite directions with the plantar force; And carrying out fusion processing according to the dynamic equation of the robot and the dynamic equation of the standing surface to obtain the target dynamic equation of the robot on the standing surface. In some embodiments, the establishing the control optimization task of the robot based on the target kinetic equation includes: Establishing a first control task based on angular acceleration of the robot and the standing surface, establishing a second control task based on plantar position of the robot, and establishing a third control task based on plantar force of the robot; Establishing a target control task of the robot on the standing surface according to the first control task, the second control task and the third control task; and establishing a constraint task for the target control task based on the target kinetic equation to obtain the control optimization task. In some embodiments, the establishing a constraint task for the target control task based on the target kinetic equation, to obtain the control