Cost-Effective Center of Gravity Estimation for Legged Robots
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Summary
Problems
Legged robots using force sensors for center of gravity estimation face high manufacturing and operation costs due to the expense and fragility of these sensors, which are prone to deformation under heavy loads.
Innovation solutions
An information processing device estimates the center of gravity of a robot by calculating the reaction force from the ground contact surface based on torque applied to the joints and the length of the leg portions, eliminating the need for force sensors.
TRIZ Analysis
Specific contradictions:
General conflict description:
Principle concept:
If a force sensor is used to determine the center of gravity, then the accuracy of center of gravity estimation is improved, but the manufacturing cost increases and the reliability decreases due to sensor fragility
Why choose this principle:
The patent replaces the mechanical force sensor system with a computational approach using torque sensor data and center of gravity calculation algorithms. The torque sensor measures rotational force at the hip joint, and the control device calculates the center of gravity position through mathematical computation rather than direct mechanical measurement, thereby eliminating the need for fragile force sensors on the sole.
Principle concept:
If a force sensor is installed on the sole to measure ground reaction force, then the center of gravity can be determined accurately, but the operation cost increases due to frequent sensor replacement
Why choose this principle:
The patent substitutes the force sensor measurement system with a torque-based computational system. The torque sensor on the hip joint measures rotational force, and the control device computes the center of gravity position through mathematical relationships between torque, leg length, and gravity, eliminating the need for expensive and fragile force sensors on the sole that require frequent replacement.
Application Domain
Data Source
AI summary:
An information processing device estimates the center of gravity of a robot by calculating the reaction force from the ground contact surface based on torque applied to the joints and the length of the leg portions, eliminating the need for force sensors.
Abstract
A center of gravity of a robot device is estimated without utilization of a force sensor or the like. An information processing device including: a center-of-gravity estimation unit that calculates, on the basis of torque applied to one or more joints included in each of a plurality of leg portions, reaction force applied from a ground contact surface to each of the plurality of leg portions, and that estimates a center of gravity of a robot device including the plurality of leg portions on the basis of the calculated reaction force on the plurality of leg portions.