Task hierarchical control method, and robot and computer readable storage medium using the same

A 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 obtaining a task instruction for the robot, and determining a target task card among a set of task cards according to the task instruction, wherein the target task card comprises a first amount of selection matrices for dividing a target task into the first amount of hierarchical subtasks and a controller name for executing each of the hierarchical subtasks, and wherein each of the selection matrices is a matrix with a size of n×k, where n is a degree of freedom of the robot, and k is a dimension of a task selected through a selection matrix;
• instructions for obtaining a null space projection matrix of each of the hierarchical subtasks based on the corresponding selection matrix;
• instructions for generating control links of the first amount according to the corresponding controller of each of the hierarchical subtasks and the corresponding null space projection matrix by calling the corresponding controller in a controller library according to the controller name;
• instructions for calculating a control torque of each of the control links based on the corresponding selection matrix and an expected end control parameter and a measured joint parameter of the robot, and obtaining a hierarchical control output quantity by adding the control torque of all the control links;
• and
• instructions for controlling the robot to perform the target task using the hierarchical control output quantity.

A non-transitory computer readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:

• instructions for obtaining a task instruction for the robot, and determining a target task card among a set of task cards according to the task instruction, wherein the target task card comprises a first amount of selection matrices for dividing a target task into the first amount of hierarchical subtasks and a controller name for executing each of the hierarchical subtasks, and wherein each of the selection matrices is a matrix with a size of n×k, where n is a degree of freedom of the robot, and k is a dimension of a task selected through a selection matrix;
• instructions for obtaining a null space projection matrix of each of the hierarchical subtasks based on the corresponding selection matrix;
• instructions for generating control links of the first amount according to the corresponding controller of each of the hierarchical subtasks and the corresponding null space projection matrix by calling the corresponding controller in a controller library according to the controller name;
• instructions for calculating a control torque of each of the control links based on the corresponding selection matrix and an expected end control parameter and a measured joint parameter of the robot, and obtaining a hierarchical control output quantity by adding the control torque of all the control links;
• and
• instructions for controlling the robot to perform the target task using the hierarchical control output quantity.