Search

US-12625503-B2 - Robot control method, and computer-readable storage medium and wheel-legged biped robot using the same

US12625503B2US 12625503 B2US12625503 B2US 12625503B2US-12625503-B2

Abstract

A robot control method, and a computer-readable storage medium and a wheel-legged biped robot using the same are provided. The method includes: determining a kinetic model of the wheel-legged biped robot; determining, using the kinetic model, a sliding surface of the wheel-legged biped robot; determining, according to the sliding surface, a double power reaching law and a sliding mode control law of the wheel-legged biped robot; and controlling, according to the sliding surface, the double power reaching law and the sliding mode control law, the wheel-legged biped robot. Through the above-mentioned method, the adaptability of the wheel-legged biped robot to uncertain external disturbances can be enhanced, thereby improving its robustness to effectively maintain its balance even in the environment with complex terrain.

Inventors

  • Meng YAN
  • Jiangchen Zhou
  • Chunyu Chen
  • Huan Tan

Assignees

  • UBTECH ROBOTICS CORP LTD

Dates

Publication Date
20260512
Application Date
20241231
Priority Date
20240130

Claims (20)

  1. 1 . A method for controlling a wheel-legged biped robot, comprising: determining a kinetic model of the wheel-legged biped robot; determining, using the kinetic model, a sliding surface of the wheel-legged biped robot; determining, according to the sliding surface, a double power reaching law and a sliding mode control law of the wheel-legged biped robot; and controlling, according to the sliding surface, the double power reaching law and the sliding mode control law, the wheel-legged biped robot.
  2. 2 . The method of claim 1 , controlling, according to the sliding surface, the double power reaching law and the sliding mode control law, the wheel-legged biped robot comprises: determining, according to the kinetic model and the sliding surface, an adaptive law of the wheel-legged biped robot; and controlling, according to the sliding surface, the double power reaching law, the sliding mode control law and the adaptive law, the wheel-legged biped robot.
  3. 3 . The method of claim 2 , controlling, according to the sliding surface, the double power reaching law, the sliding mode control law and the adaptive law, the wheel-legged biped robot comprises: determining, according to the sliding mode control law and the adaptive law, an adaptive sliding mode control law of the wheel-legged biped robot; and controlling, according to the sliding surface, the double power reaching law and the adaptive sliding mode control law, the wheel-legged biped robot.
  4. 4 . The method of claim 1 , determining the kinetic model of the wheel-legged biped robot comprises: determining parameters of a wheeled inverted pendulum model obtained by simplifying the wheel-legged biped robot; and determining, according to the parameters of the wheeled inverted pendulum mode, the kinetic model of the wheel-legged biped robot.
  5. 5 . The method of claim 4 , determining the parameters of the wheeled inverted pendulum model obtained by simplifying the wheel-legged biped robot comprises: simplifying the wheel-legged biped robot into the wheeled inverted pendulum model consisting of a body, two legs, and two wheels; and determining, according to the wheeled inverted pendulum model, the parameters of the wheeled inverted pendulum model including one or more of a body mass, a wheel mass, a wheel radius, a distance between the two wheels, an inverted pendulum height, an inertia of the body around a preset three-dimensional coordinate system axis, an inertia of the wheel around the preset three-dimensional coordinate system axis, a forward angle, a tilt angle, and a steering angle.
  6. 6 . The method of claim 1 , determining, using the kinetic model, the sliding surface of the wheel-legged biped robot comprises: determining the sliding surface of the wheel-legged biped robot based on an equation of: S = [ s 1 s 2 ] = e . + λ ⁢ e ; where, e is a system state error of the wheel-legged biped robot and e=X−X d =[e 1 e 3 ] T , X is an actual system state of the wheel-legged biped robot and X=[q 1 q 3 ] T , q 1 is an actual forward angle of the wheel-legged biped robot, q 3 is an actual steering angle of the wheel-legged biped robot, X d is a demanded system state of the wheel-legged biped robot and X d =[q 1d q 3d ] T , q 1d is a demanded forward angle of the wheel-legged biped robot, q 3d is a demanded steering angle of the wheel-legged biped robot, e 1 is a forward angle error of the wheel-legged biped robot, and e 3 is a steering angle error of the wheel-legged biped robot; S is the sliding surface, s 1 is a first component of the sliding surface, and s 2 is a second component of the sliding surface; λ is a parameter matrix of the sliding surface and λ = [ λ 1 0 0 λ 2 ] , λ 1 is a first parameter of the sliding surface, and λ 2 is a second parameter of the sliding surface; and ė is an angular velocity error of the wheel-legged biped robot and ė=[ė 1 ė 3 ] T , ė 1 is a forward angular velocity error of the wheel-legged biped robot, and ė 3 is a steering angular velocity error of the wheel-legged biped robot.
  7. 7 . The method of claim 6 , determining, according to the sliding surface, the double power reaching law and the sliding mode control law of the wheel-legged biped robot comprises: determining the double power reaching law of the wheel-legged biped robot based on an equation of: S . = - k 1 [ ❘ "\[LeftBracketingBar]" s 1 ❘ "\[RightBracketingBar]" 0 0 ❘ "\[LeftBracketingBar]" s 2 ❘ "\[RightBracketingBar]" ] δ 1 [ sgn ⁡ ( s 1 ) sgn ⁡ ( s 2 ) ] - k 2 [ ❘ "\[LeftBracketingBar]" s 1 ❘ "\[RightBracketingBar]" 0 0 ❘ "\[LeftBracketingBar]" s 2 ❘ "\[RightBracketingBar]" ] δ 2 [ sgn ⁡ ( s 1 ) sgn ⁡ ( s 2 ) ] = - k 1 [ ❘ "\[LeftBracketingBar]" s 1 ❘ "\[RightBracketingBar]" δ 1 sgn ⁡ ( s 1 ) ❘ "\[LeftBracketingBar]" s 2 ❘ "\[RightBracketingBar]" δ 1 sgn ⁡ ( s 2 ) ] - k 2 [ ❘ "\[LeftBracketingBar]" s 1 ❘ "\[RightBracketingBar]" δ 2 sgn ⁡ ( s 1 ) ❘ "\[LeftBracketingBar]" s 2 ❘ "\[RightBracketingBar]" δ 2 sgn ⁡ ( s 2 ) ] ; where, sgn is a sign function; k 1 is a first reaching law parameter, and k 2 is a second reaching law parameter; and δ 1 is a first power parameter, δ 2 is a second power parameter, and δ 1 +δ 2 =2.
  8. 8 . A non-transitory computer-readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise: instructions for determining a kinetic model of a wheel-legged biped robot; instructions for determining, using the kinetic model, a sliding surface of the wheel-legged biped robot; instructions for determining, according to the sliding surface, a double power reaching law and a sliding mode control law of the wheel-legged biped robot; and instructions for controlling, according to the sliding surface, the double power reaching law and the sliding mode control law, the wheel-legged biped robot.
  9. 9 . The storage medium of claim 8 , wherein the instructions for controlling, according to the sliding surface, the double power reaching law and the sliding mode control law, the wheel-legged biped robot comprise: instructions for determining, according to the kinetic model and the sliding surface, an adaptive law of the wheel-legged biped robot; and instructions for controlling, according to the sliding surface, the double power reaching law, the sliding mode control law and the adaptive law, the wheel-legged biped robot.
  10. 10 . The storage medium of claim 9 , wherein the instructions for controlling, according to the sliding surface, the double power reaching law, the sliding mode control law and the adaptive law, the wheel-legged biped robot comprise: instructions for determining, according to the sliding mode control law and the adaptive law, an adaptive sliding mode control law of the wheel-legged biped robot; and instructions for controlling, according to the sliding surface, the double power reaching law and the adaptive sliding mode control law, the wheel-legged biped robot.
  11. 11 . The storage medium of claim 10 , wherein the instructions for determining the kinetic model of the wheel-legged biped robot comprise: instructions for determining parameters of a wheeled inverted pendulum model obtained by simplifying the wheel-legged biped robot; and instructions for determining, according to the parameters of the wheeled inverted pendulum mode, the kinetic model of the wheel-legged biped robot.
  12. 12 . The storage medium of claim 11 , wherein the instructions for determining the parameters of the wheeled inverted pendulum model obtained by simplifying the wheel-legged biped robot comprise: instructions for simplifying the wheel-legged biped robot into the wheeled inverted pendulum model consisting of a body, two legs, and two wheels; and instructions for determining, according to the wheeled inverted pendulum model, the parameters of the wheeled inverted pendulum model including one or more of a body mass, a wheel mass, a wheel radius, a distance between the two wheels, an inverted pendulum height, an inertia of the body around a preset three-dimensional coordinate system axis, an inertia of the wheel around the preset three-dimensional coordinate system axis, a forward angle, a tilt angle, and a steering angle.
  13. 13 . The storage medium of claim 8 , wherein the instructions for determining, using the kinetic model, the sliding surface of the wheel-legged biped robot comprise: instructions for determining the sliding surface of the wheel-legged biped robot based on an equation of: S = [ s 1 s 2 ] = e . + λ ⁢ e ; where, e is a system state error of the wheel-legged biped robot and e=X−X d =[e 1 e 3 ] T , X is an actual system state of the wheel-legged biped robot and X=[q 1 q 3 ] T , q 1 is an actual forward angle of the wheel-legged biped robot, q 3 is an actual steering angle of the wheel-legged biped robot, X d is a demanded system state of the wheel-legged biped robot and X d =[q 1d q 3d ] T , q 1d is a demanded forward angle of the wheel-legged biped robot, q 3d is a demanded steering angle of the wheel-legged biped robot, e 1 is a forward angle error of the wheel-legged biped robot, and e 3 is a steering angle error of the wheel-legged biped robot; S is the sliding surface, s 1 is a first component of the sliding surface, and s 2 is a second component of the sliding surface; λ is a parameter matrix of the sliding surface and λ = [ λ 1 0 0 λ 2 ] , λ 1 is a first parameter of the sliding surface, and λ 2 is a second parameter of the sliding surface; and ė is an angular velocity error of the wheel-legged biped robot and ė=[ė 1 ė 3 ] T , ė 1 is a forward angular velocity error of the wheel-legged biped robot, and ė 3 is a steering angular velocity error of the wheel-legged biped robot.
  14. 14 . A wheel-legged biped robot, comprising: a processor; a memory coupled to the processor; and one or more computer programs stored in the memory and executable on the processor; wherein, the one or more computer programs comprise: instructions for determining a kinetic model of the wheel-legged biped robot; instructions for determining, using the kinetic model, a sliding surface of the wheel-legged biped robot; instructions for determining, according to the sliding surface, a double power reaching law and a sliding mode control law of the wheel-legged biped robot; and instructions for controlling, according to the sliding surface, the double power reaching law and the sliding mode control law, the wheel-legged biped robot.
  15. 15 . The robot of claim 14 , wherein the instructions for controlling, according to the sliding surface, the double power reaching law and the sliding mode control law, the wheel-legged biped robot comprise: instructions for determining, according to the kinetic model and the sliding surface, an adaptive law of the wheel-legged biped robot; and instructions for controlling, according to the sliding surface, the double power reaching law, the sliding mode control law and the adaptive law, the wheel-legged biped robot.
  16. 16 . The robot of claim 15 , wherein the instructions for controlling, according to the sliding surface, the double power reaching law, the sliding mode control law and the adaptive law, the wheel-legged biped robot comprise: instructions for determining, according to the sliding mode control law and the adaptive law, an adaptive sliding mode control law of the wheel-legged biped robot; and instructions for controlling, according to the sliding surface, the double power reaching law and the adaptive sliding mode control law, the wheel-legged biped robot.
  17. 17 . The robot of claim 14 , wherein the instructions for determining the kinetic model of the wheel-legged biped robot comprise: instructions for determining parameters of a wheeled inverted pendulum model obtained by simplifying the wheel-legged biped robot; and instructions for determining, according to the parameters of the wheeled inverted pendulum mode, the kinetic model of the wheel-legged biped robot.
  18. 18 . The robot of claim 17 , wherein the instructions for determining the parameters of the wheeled inverted pendulum model obtained by simplifying the wheel-legged biped robot comprise: instructions for simplifying the wheel-legged biped robot into the wheeled inverted pendulum model consisting of a body, two legs, and two wheels; and instructions for determining, according to the wheeled inverted pendulum model, the parameters of the wheeled inverted pendulum model including one or more of a body mass, a wheel mass, a wheel radius, a distance between the two wheels, an inverted pendulum height, an inertia of the body around a preset three-dimensional coordinate system axis, an inertia of the wheel around the preset three-dimensional coordinate system axis, a forward angle, a tilt angle, and a steering angle.
  19. 19 . The robot of claim 14 , wherein the instructions for determining, using the kinetic model, the sliding surface of the wheel-legged biped robot comprise: instructions for determining the sliding surface of the wheel-legged biped robot based on an equation of: S = [ s 1 s 2 ] = e . + λ ⁢ e ; where, e is a system state error of the wheel-legged biped robot and e=X−X d =[e 1 e 3 ] T , X is an actual system state of the wheel-legged biped robot and X=[q 1 q 3 ] T , q 1 is an actual forward angle of the wheel-legged biped robot, q 3 is an actual steering angle of the wheel-legged biped robot, X d is a demanded system state of the wheel-legged biped robot and X d =[q 1d q 3d ] T , q 1d is a demanded forward angle of the wheel-legged biped robot, q 3d is a demanded steering angle of the wheel-legged biped robot, e 1 is a forward angle error of the wheel-legged biped robot, and e 3 is a steering angle error of the wheel-legged biped robot; S is the sliding surface, s 1 is a first component of the sliding surface, and s 2 is a second component of the sliding surface; λ is a parameter matrix of the sliding surface and λ = [ λ 1 0 0 λ 2 ] , λ 1 is a first parameter of the sliding surface, and λ 2 is a second parameter of the sliding surface; and ė is an angular velocity error of the wheel-legged biped robot and ė=[ė 1 ė 3 ] T , ė 1 is a forward angular velocity error of the wheel-legged biped robot, and ė 3 is a steering angular velocity error of the wheel-legged biped robot.
  20. 20 . The robot of claim 19 , wherein the instructions for determining, according to the sliding surface, the double power reaching law and the sliding mode control law of the wheel-legged biped robot comprise: instructions for determining the double power reaching law of the wheel-legged biped robot based on an equation of: S . = - k 1 [ ❘ "\[LeftBracketingBar]" s 1 ❘ "\[RightBracketingBar]" 0 0 ❘ "\[LeftBracketingBar]" s 2 ❘ "\[RightBracketingBar]" ] δ 1 [ sgn ⁡ ( s 1 ) sgn ⁡ ( s 2 ) ] - k 2 [ ❘ "\[LeftBracketingBar]" s 1 ❘ "\[RightBracketingBar]" 0 0 ❘ "\[LeftBracketingBar]" s 2 ❘ "\[RightBracketingBar]" ] δ 2 [ sgn ⁡ ( s 1 ) sgn ⁡ ( s 2 ) ] = - k 1 [ ❘ "\[LeftBracketingBar]" s 1 ❘ "\[RightBracketingBar]" δ 1 sgn ⁡ ( s 1 ) ❘ "\[LeftBracketingBar]" s 2 ❘ "\[RightBracketingBar]" δ 1 sgn ⁡ ( s 2 ) ] - k 2 [ ❘ "\[LeftBracketingBar]" s 1 ❘ "\[RightBracketingBar]" δ 2 sgn ⁡ ( s 1 ) ❘ "\[LeftBracketingBar]" s 2 ❘ "\[RightBracketingBar]" δ 2 sgn ⁡ ( s 2 ) ] ; where, sgn is a sign function: k 1 is a first reaching law parameter, and k 2 is a second reaching law parameter; and δ 1 is a first power parameter, δ 2 is a second power parameter, and δ 1 +δ 2 =2.

Description

CROSS REFERENCE TO RELATED APPLICATIONS The present disclosure claims priority to Chinese Patent Application No. 202410132737.2, filed Jan. 30, 2024, which is hereby incorporated by reference herein as if set forth in its entirety. TECHNICAL FIELD The present disclosure relates to robot technology, and particularly to a robot control method, and a computer-readable storage medium and a wheel-legged biped robot using the same. BACKGROUND A wheel-legged biped robot is a robot that moves by connecting two legs to two wheels. As to reducing the probability of tipping over during the movement of the wheel-legged biped robot, balance control of the wheel-legged biped robot is essential. In the existing method, a proportional integral derivative (PID) controller can generally be used to control the wheel-legged biped robot to maintain its balance. However, due to the nonlinear dynamic characteristics of the wheel-legged biped robot, its control is a complicated problem while easily affected by external interferences, which has poor robustness and is difficult to maintain balance in the environment with complex terrain. BRIEF DESCRIPTION OF DRAWINGS To describe the technical schemes in the embodiments of the present disclosure or in the prior art more clearly, the following briefly introduces the drawings required for describing the embodiments or the prior art. It should be understood that, the drawings in the following description merely show some embodiments. For those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. FIG. 1 is a flow chart of a robot control method according to an embodiment of the present disclosure. FIG. 2 is a schematic diagram of simplifying a wheel-legged biped robot into a wheeled inverted pendulum model consisting of a body, two legs, and two wheels. FIG. 3 is a schematic diagram of controlling a wheel-legged biped robot. FIG. 4 is a schematic diagram of the structure of a robot control apparatus according to an embodiment of the present disclosure. FIG. 5 is a schematic diagram of the structure of a robot according to an embodiment of the present disclosure. DETAILED DESCRIPTION In order to make the objects, features and advantages of the present disclosure more obvious and easy to understand, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings. Apparently, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present disclosure without creative efforts are within the scope of the present disclosure. It is to be understood that, when used in the description and the appended claims of the present disclosure, the terms “including” and “comprising” indicate the presence of stated features, integers, steps, operations, elements and/or components, but do not preclude the presence or addition of one or a plurality of other features, integers, steps, operations, elements, components and/or combinations thereof. It is also to be understood that, the terminology used in the description of the present disclosure is only for the purpose of describing particular embodiments and is not intended to limit the present disclosure. As used in the description and the appended claims of the present disclosure, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It is also to be further understood that the term “and/or” used in the description and the appended claims of the present disclosure refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations. As used in the description and the appended claims, the term “if” may be interpreted as “when” or “once” or “in response to determining” or “in response to detecting” according to the context. Similarly, the phrase “if determined” or “if [the described condition or event] is detected” may be interpreted as “once determining” or “in response to determining” or “on detection of [the described condition or event]” or “in response to detecting [the described condition or event]”. In addition, in the present disclosure, the terms “first”, “second”, “third”, and the like in the descriptions are only used for distinguishing, and cannot be understood as indicating or implying relative importance. A wheel-legged biped robot is a robot that moves by connecting two legs to two wheels. As to reducing the probability of tipping over during the movement of the wheel-legged biped robot, balance control of the wheel-legged biped robot is essential. In the existing method, a PID controller can generally be used to control the wheel-legged biped robot to maintain its balance. However, due to the nonlinear dynamic characteristics of