CN-121973236-A - Multi-degree-of-freedom joint linkage control method and device for humanoid robot

CN121973236ACN 121973236 ACN121973236 ACN 121973236ACN-121973236-A

Abstract

The application provides a multi-degree-of-freedom joint linkage control method and device for a humanoid robot, which comprise the steps of obtaining an ankle joint real-time moment value, an inertia absorption sharing quantity of a knee hip ankle joint three joint and head front and rear acceleration data, comparing the ankle joint real-time moment value with a preset rated range, judging the degree of ankle moment approaching the rated range, evaluating the ankle joint moment saturation trend according to the degree approaching the rated range, determining a saturation region, adjusting the inertia absorption sharing proportion of the knee hip ankle joint three joint according to the saturation region, calculating the residual inertia quantity according to the adjusted inertia absorption sharing proportion of the knee hip ankle joint three joint, determining the transferred inertia sharing quantity, monitoring acceleration response on a front and rear axis of a head based on the transferred inertia sharing quantity to obtain a filtered head front and rear acceleration peak value, and finely adjusting the inertia absorption sharing proportion of the knee hip ankle joint three joint according to the degree that the filtered head front and rear acceleration peak value exceeds the preset threshold value.

Inventors

LIANG SHIJIE
ZHANG QIANHU
JIANG MING
LIU YIPING
SUN JUN
ZHANG WENBO

Assignees

深圳市长盈机器人有限公司
深圳市长盈精密技术股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260330

Claims (10)

1. The joint linkage control method of the humanoid robot with multiple degrees of freedom is characterized by comprising the following steps: Acquiring an ankle joint real-time moment value, an inertial absorption sharing quantity of the knee, hip and ankle joint and head front and rear acceleration data, and comparing the ankle joint real-time moment value with a preset rated range to judge the degree of the ankle moment approaching the rated range; estimating the moment saturation trend of the ankle joint according to the degree approaching the rated range and determining a saturation region; adjusting the inertial absorption sharing proportion of the knee joint, hip joint and ankle joint according to the saturation region; calculating residual inertia according to the adjusted inertia absorption sharing proportion of the knee, hip and ankle joints, determining transferred inertia sharing quantity, and monitoring acceleration response on the front and rear axes of the head based on the transferred inertia sharing quantity to obtain a filtered front and rear acceleration peak value of the head; the inertial absorption sharing proportion of the knee, hip and ankle joints is finely adjusted according to the degree that the front and rear acceleration peak value of the filtered head exceeds a preset threshold value; the inertia absorption sharing proportion of the knee joint, hip joint and ankle joint after fine adjustment is applied to a joint driving assembly to obtain an ankle joint real-time moment value in the deceleration process, joint linkage control parameters are updated through an iterative optimization method, and the trunk nodding jitter amplitude is confirmed to be restrained in the deceleration switching process.
2. The method for controlling joint linkage of multiple degrees of freedom of a humanoid robot according to claim 1, wherein the steps of obtaining real-time moment values of the ankle joint, inertial absorption sharing amounts of the knee, hip and ankle joint and acceleration data of the head front and back comprise: Arranging a moment sensor array at the ankle position of the joint driving assembly, and acquiring real-time moment values of the ankle joint by detecting the torque deformation of the ankle joint in a deceleration stage; acquiring front and rear acceleration data of the head through a triaxial accelerometer and a triaxial gyroscope, and extracting a front and rear acceleration peak value of the head; the method comprises the steps of obtaining load values born by the knee joint, the hip joint and the ankle joint respectively, and calculating the proportion of the load values of the joints to the total of the loads of the three joints to obtain the inertial absorption sharing quantity of the knee joint, the hip joint and the ankle joint.
3. The method for controlling the joint linkage of the humanoid robot with multiple degrees of freedom according to claim 1, wherein the step of comparing the real-time moment value of the ankle joint with a preset rated range to determine the degree of approach of the moment of the ankle to the rated range comprises the steps of: Performing ratio operation on the real-time moment value of the ankle joint and a preset rated moment upper limit value of the ankle joint to obtain a ratio result; if the ratio result exceeds a preset approach threshold, judging that the ankle moment is in a high risk state approaching a rated range; if the ratio result is lower than the approach threshold, judging that the ankle moment is in a safe state; and determining the degree of the ankle moment approaching the rated range according to the judging result that the ankle moment is in the safe state.
4. The method for controlling joint linkage of multiple degrees of freedom of a humanoid robot according to claim 1, wherein the steps of evaluating the saturation trend of the ankle moment according to the degree of approach to the rated range and determining the saturation region include: Comparing the degree of approaching the rated range with a preset multi-level threshold value, wherein the multi-level threshold value comprises a low saturation boundary value and a high saturation boundary value; if the degree of approaching the rated range is lower than a low saturation boundary value, judging that the ankle moment saturation trend is in a mild state; If the degree of approaching the rated range is between the low saturation boundary value and the high saturation boundary value, judging the state as a medium state; if the degree of approaching the rated range is higher than the high saturation boundary value, judging that the weight state is achieved; And according to the determined saturation trend, adopting an interval mapping mode to correspond different states to a safe interval, a transition interval or a saturation interval, and determining the saturation interval of the ankle moment.
5. The humanoid robot multi-degree-of-freedom joint linkage control method according to claim 1, wherein the adjusting the inertial absorption sharing ratio of the knee, hip and ankle three joints according to the saturation interval comprises: according to the saturation interval, reading the reference sharing proportion of the knee, hip and ankle joints from a preset interval corresponding table; Adopting a linear interpolation algorithm, taking upper and lower boundary values of the saturated region as interpolation endpoints, taking the relative position of the degree approaching the rated range in the region as an interpolation factor, and calculating the reduction of ankle joint sharing proportion and the supplement of knee joint and hip joint sharing proportion; And performing superposition operation on the reference sharing proportion according to the reduction amount and the supplement amount to obtain the adjusted sharing proportion.
6. The method for controlling joint linkage of multiple degrees of freedom of a humanoid robot according to claim 1, wherein the calculating the residual inertial mass according to the adjusted inertial absorption sharing ratio of the knee, hip and ankle three joints and determining the transferred inertial sharing amount comprises: Acquiring a real-time moment value of the ankle joint and a moment reference value before switching at the moment of switching the walking speed according to the adjusted sharing proportion, subtracting the moment reference value from the real-time moment value to obtain an ankle moment variation, and obtaining a residual inertia quantity which cannot be absorbed by the ankle joint according to the product of the moment variation and the current sharing proportion of the ankle joint; The method comprises the steps of adopting a proportional integral differential control method, taking the residual inertia quantity as deviation input, respectively carrying out weighted summation on the current value, the accumulated value and the change rate of the deviation by using a preset proportion coefficient, an integral coefficient and a differential coefficient to obtain a knee transfer quantity, and subtracting the knee transfer quantity from the residual inertia quantity to obtain a hip transfer quantity; superposing the knee transfer quantity on the knee-joint-adjusted sharing proportion to obtain a transferred knee-joint inertial sharing quantity, superposing the hip transfer quantity on the hip-joint-adjusted sharing proportion to obtain a transferred hip-joint inertial sharing quantity, subtracting the residual inertial quantity from the ankle-joint-adjusted sharing proportion to obtain a transferred ankle-joint inertial sharing quantity, and determining the transferred inertial sharing quantity.
7. The joint linkage control method of the humanoid robot with multiple degrees of freedom according to claim 1 is characterized in that the step of monitoring acceleration responses on the front and rear axes of the head based on the transferred inertial sharing quantity to obtain filtered front and rear acceleration peaks of the head comprises the steps of obtaining acceleration signal sequences of the head in the front and rear axis directions from a trunk gesture measurement module based on the transferred inertial sharing quantity, smoothing the acceleration signal sequences by adopting a low-pass filter to remove high-frequency noise components, and extracting extreme points in the filtered acceleration signal sequences as the filtered front and rear acceleration peaks of the head.
8. The humanoid robot multi-degree-of-freedom joint linkage control method according to claim 1, wherein the adjusting the inertial absorption sharing ratio of the knee, hip and ankle joints according to the degree that the filtered front and rear acceleration peak exceeds the preset threshold value comprises: comparing the filtered head front-rear acceleration peak value with a preset trunk point head shaking threshold value; if the front-back acceleration peak value of the head exceeds the preset trunk nodding jitter threshold value, calculating an exceeding degree coefficient; If the front-back acceleration peak value of the head does not exceed the preset trunk nodding jitter threshold value, setting the exceeding degree coefficient to be zero; inquiring the fine tuning increment of the ankle joint, the knee joint and the hip joint from a preset fine tuning corresponding table according to the exceeding degree coefficient; and according to the fine adjustment increment, adjusting the transferred inertial sharing quantity, and determining the inertial absorption sharing proportion of the knee, hip and ankle joints after fine adjustment.
9. The method for controlling joint linkage of multiple degrees of freedom of a humanoid robot according to claim 1, wherein the method for updating joint linkage control parameters by an iterative optimization method comprises the steps of: writing the inertia absorption sharing proportion of the knee, hip and ankle joints after fine adjustment into a control register of a joint driving assembly, and adjusting the output torque proportion of each joint motor; Continuously reading real-time moment values of the ankle joint in the deceleration process from the ankle moment acquisition module; And adopting a gradient descent method, and iteratively updating joint linkage control parameters by taking the difference value between the real-time moment value of the ankle joint and the upper limit value of the rated moment as an error signal.
10. A humanoid robot multi-degree-of-freedom joint linkage control device, the device comprising: The ankle moment acquisition and comparison module is used for acquiring real-time moment values of the ankle joints, inertial absorption sharing amounts of the knee, hip and ankle joints and front and rear acceleration data of the head, comparing the real-time moment values of the ankle joints with a preset rated range, and judging the degree of the ankle moment approaching the rated range; the ankle moment saturation evaluation module is used for evaluating the ankle moment saturation trend according to the degree approaching the rated range and determining a saturation region; The inertial absorption sharing proportion adjustment module is used for adjusting the inertial absorption sharing proportion of the knee, hip and ankle joints according to the saturation interval; The head acceleration monitoring and inertial transfer module is used for calculating residual inertial quantity according to the adjusted inertial absorption sharing proportion of the knee, hip and ankle joints, determining transferred inertial sharing quantity, and monitoring acceleration response on the front and rear axes of the head based on the transferred inertial sharing quantity so as to obtain a filtered front and rear acceleration peak value of the head; The inertial absorption sharing proportion fine adjustment module is used for fine adjusting the inertial absorption sharing proportion of the knee, hip and ankle joints according to the degree that the front and rear acceleration peak value of the filtered head exceeds a preset threshold value; The joint linkage control parameter iteration optimization module is used for applying the inertia absorption sharing proportion of the knee joint, hip joint and ankle joint after fine adjustment to the joint driving assembly to obtain an ankle joint real-time moment value in the deceleration process, updating the joint linkage control parameter through an iteration optimization method, and confirming that the trunk nodding jitter amplitude is restrained in the deceleration switching process.

Description

Multi-degree-of-freedom joint linkage control method and device for humanoid robot Technical Field The invention relates to the technical field of information, in particular to a joint linkage control method and device for multiple degrees of freedom of a humanoid robot. Background In the field of humanoid robot research, breakthrough of walking control technology is important for realizing stability and humanized motion of robots. This field is directly related to the adaptability of robots in complex environments and natural interactions with humans, and is one of the core directions of robot technology development. Particularly, in multi-joint linkage control, how to balance the coordination of each joint and the stability of the overall gesture becomes a key index for measuring the performance of the robot. In current research and application, many methods tend to ignore the complexity of inter-joint dynamic load distribution when dealing with stability problems when robots walk. The existing scheme is more prone to presetting a fixed load distribution proportion, lacks real-time adaptive capacity to walking state change, and particularly in a speed switching scene, the static strategy easily causes partial joint overload or overall posture unbalance, so that the movement smoothness and the safety of the robot are affected. Focusing on specific technical difficulties, dynamic adjustment of the inter-articular inertial absorption ratio becomes a core challenge. The inertial absorption ratio refers to the ratio distribution of impact force generated by different joints (such as ankle, knee and hip) sharing body movement during walking. If the ratio cannot be flexibly adjusted according to the change of the actual walking speed, the problem that the joint moment exceeds the bearing range is caused, and the stability is out of control. For example, when the robot switches from fast walking to slow walking, if the proportion of inertial absorption shared by the ankle joints is too high, the moment it produces may approach or exceed the limits of the hardware, forcing the load to be transferred to other joints, such as the knee joint. The abrupt load transfer breaks the original balance state, so that the upper body posture is in unnatural shaking, and even the falling risk can be caused. Therefore, how to dynamically adjust the inertial absorption ratio of the ankle joint, the knee joint and the hip joint according to the real-time load state of the ankle joint in the speed switching process so as to avoid moment overload and reduce upper body shaking becomes a key problem in the robot walking control. Disclosure of Invention The invention provides a joint linkage control method of a humanoid robot with multiple degrees of freedom, which mainly comprises the following steps: Acquiring an ankle joint real-time moment value, an inertial absorption sharing quantity of the knee, hip and ankle joint and head front and rear acceleration data, and comparing the ankle joint real-time moment value with a preset rated range to judge the degree of the ankle moment approaching the rated range; estimating the moment saturation trend of the ankle joint according to the degree approaching the rated range and determining a saturation region; adjusting the inertial absorption sharing proportion of the knee joint, hip joint and ankle joint according to the saturation region; calculating residual inertia according to the adjusted inertia absorption sharing proportion of the knee, hip and ankle joints, determining transferred inertia sharing quantity, and monitoring acceleration response on the front and rear axes of the head based on the transferred inertia sharing quantity to obtain a filtered front and rear acceleration peak value of the head; the inertial absorption sharing proportion of the knee, hip and ankle joints is finely adjusted according to the degree that the front and rear acceleration peak value of the filtered head exceeds a preset threshold value; the inertia absorption sharing proportion of the knee joint, hip joint and ankle joint after fine adjustment is applied to a joint driving assembly to obtain an ankle joint real-time moment value in the deceleration process, joint linkage control parameters are updated through an iterative optimization method, and the trunk nodding jitter amplitude is confirmed to be restrained in the deceleration switching process. Further, obtaining real-time moment values of the ankle joint, inertial absorption sharing amounts of the knee, hip and ankle joints and front and rear acceleration data of the head, comprises: Arranging a moment sensor array at the ankle position of the joint driving assembly, and acquiring real-time moment values of the ankle joint by detecting the torque deformation of the ankle joint in a deceleration stage; acquiring front and rear acceleration data of the head through a triaxial accelerometer and a triaxial gyroscope, and extracting a front and rear