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