Pose control method, robot and computer-readable storage medium

Patent metadata

Field	Value
Publication number	US-12005584-B2
Application number	US-202117488341-A
Country	US
Kind code	B2
Filing date	Sep 29, 2021
Priority date	Dec 22, 2020
Publication date	Jun 11, 2024
Grant date	Jun 11, 2024

Abstract

A pose control method for a robot includes: estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm; estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm; estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities.

First claim

What is claimed is:

1. A computer-implemented pose control method for a robot, comprising:
estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm;
estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm;
estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and
performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities;
wherein estimating the second set of joint angular velocities of all joints of the robot according to the momentum planning algorithm comprises:
obtaining actual joint angular velocities of the robot;
calculating an actual momentum of the robot according to the actual joint angular velocities;
constructing a counter-rotational momentum corresponding to the actual momentum; and
calculating the second set of joint angular velocities according to the counter-rotational momentum; and

wherein the actual momentum of the robot is calculated according to the following equation: m feedback =Aω feedback , where A represents a predefined mapping matrix, ω feedback represents the actual angular velocities, and m feedback represents the actual momentum of the robot.

2. The method of claim 1 , wherein the counter-rotational momentum is constructed according to the following equation:

m
2

=

[

0

0

0

-

k
x

×

m
feedback

⁡

(
0
)

-

k
y

×

m
feedback

⁡

(
1
)

0

]

,

where m feedback (0) represents a rotational component of the actual momentum in an x-axis direction, m feedback (1) represents a rotational component of the actual momentum in a y-axis direction, and m 2 represents the counter-rotational momentum.

3. The method of claim 1 , wherein the second set of joint angular velocities is calculated according to the following equation: ω 2 =A*m 2 , where A represents the predefined mapping matrix, A* represents a generalized inverse matrix of A, m 2 represents the counter-rotational momentum, and ω 2 represents the second set of joint angular velocities.

4. The method of claim 1 , wherein estimating the third set of joint angular velocities of all joints of the robot according to the pose return-to-zero algorithm comprises:
obtaining an actual pose of each end of the robot, wherein the ends of the robot comprise ends of arms of the robot or ends of feet of the robot;
calculating a desired speed of each end of the robot according to the actual pose and a predefined initial pose of each end of the robot;
calculating joint angular velocities of the robot according to the desired speed of each end of the robot; and
combining the joint angular velocities of the robot into the third joint angular velocities.

5. The method of claim 4 , wherein the joint angular velocities of the robot are calculated according to the following equation: ω 3,i =J i v i , where v i represents the desired speed of an i-th end of the robot, J i represents a kinematic Jacobian matrix from a robot coordinate system to an i-th end coordinate system, ω 3,i represents angular velocities of all joints in an i-th chain.

6. The method of claim 1 , wherein performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities, comprises:
calculating desired joint angular velocities of the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities;
calculating desired joint angles of the robot according to the desired joint angular velocities; and
controlling a pose of the robot according to the desired joint angles.

7. A robot comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprises:
instructions for estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm;
instructions for estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm;
instructions for estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and
instructions for performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities;
wherein the instructions for estimating the third set of joint angular velocities of all joints of the robot according to the pose return-to-zero algorithm comprise:
instructions for obtaining an actual pose of each end of the robot, wherein the ends of the robot comprise ends of arms of the robot or ends of feet of the robot;
instructions for calculating a desired speed of each end of the robot according to the actual pose and a predefined initial pose of each end of the robot;
instructions for calculating joint angular velocities of the robot according to the desired speed of each end of the robot; and
instructions for combining the joint angular velocities of the robot into the third joint angular velocities; and

wherein the join

Assignees

• Ubtech Robotics Corp Ltd

Inventors

• Wang Hongge
• Chen Chunyu
• Liu Yizhang
• Ge Ligang
• Bai Jie
• Ma Xingxing
• Zhou Jiangchen
• Xiong Youjun

Classifications

• B25J9/1607

  Calculation of inertia, jacobian matrixes and inverses · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J13/088

  with position, velocity or acceleration sensors · CPC title

• B25J9/1653 Primary

  parameters identification, estimation, stiffness, accuracy, error analysis · CPC title

• B62D57/032 Primary

  with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) · CPC title