A high speed inertia coasting motion control architecture suitable for foot-based land machines

Abstract

The application discloses a high-speed inertia sliding motion control framework suitable for foot-type land machines, and belongs to the technical field of foot-type machine motion control. The high-speed motion is reconstructed into a ballistic motion mode of kicking and pushing, emptying, inertia sliding and landing buffering. The high-frequency leg swinging logic of traditional fast walking is abandoned, and high-speed displacement is realized by relying on inertia and gravity balance. The physical constraint that joint torque and response speed cannot be simultaneously pulled to the maximum is avoided from the motion mode level. The application does not limit the number of feet, and provides a unified high-speed motion bottom solution for biped, quadruped and various foot-type land machines. The application has the advantages of high-speed stability, low energy consumption, easy realization and strong universality, and can significantly improve the high-speed motion capability and safety of the foot-type land machine.

Description

Technical Field

[0001] This invention relates to the field of footed land mechanical motion control technology, specifically disclosing a general high-speed motion control method and system based on biomimetic inertial gliding, which overcomes the physical constraints of joint torque and response speed, and is applicable to various types of footed land mobile robots and biomimetic equipment. Background Technology

[0002] Current foot-based terrestrial machines generally suffer from a bottleneck in high-speed movement: Joint torque, rigidity, and response speed are subject to hard physical constraints; if they are too fast, they become unstable, and if they are too stable, they become slow, which cannot be eliminated by algorithms. The industry generally equates high-speed motion with "fast walking" and adopts a control method that uses continuous support, high-frequency leg swing, and strong computing power closed loop, which violates the laws of natural high-speed motion. The machine does not fully utilize the balance of inertia and gravity to achieve displacement, resulting in high energy consumption, large impact, and easy instability at high speeds. Lacking a unified underlying architecture, the mechanical control logic of different leg types is independent of each other, failing to follow the unified physical principles of high-speed land movement. Existing solutions all focus on improving joint performance and control computing power, but do not fundamentally reconstruct the movement pattern, and cannot truly achieve stable, efficient, and high-speed running. Summary of the Invention

[0003] Purpose of the invention This invention addresses the physical constraints of terrestrial mechanical joints in foot-like animals and the shortcomings of traditional motion logic by providing a high-speed inertial gliding motion control architecture. It simulates the physical nature of high-speed running in terrestrial mammals, achieving stable, efficient, and low-impact high-speed displacement without improving joint performance. Technical solution A method for controlling high-speed inertial gliding motion applicable to footed land machinery, comprising: The exercise is divided into walking mode and high-speed running mode; the walking mode uses continuous support, while the high-speed running mode uses a ballistic motion process of pushing off—taking off—inertial gliding—landing and cushioning. During the high-speed phase, the lower limbs push off to give the whole machine inertia, entering a gliding state without ground support. It relies on inertia and gravity to maintain dynamic balance and reduce the continuous work done by the joints. During the airborne phase, joint control gain is reduced, torque and response requirements are lowered, and physical constraints on the joints are avoided from the perspective of motion patterns. The landing phase employs a flexible buffer to absorb the impact and prepare for the next push, achieving intermittent support and cyclical gliding. The entire approach is a universal architecture for terrestrial mechanics in legged animals, without limiting the number of legs, and adapts to different structures only through limb phase coordination. A high-speed inertial gliding motion control system suitable for footed land machinery, comprising: Sports mode switching unit Bionic pedaling control unit Inertial balance maintenance unit Flexible landing buffer unit Limb phase coordination unit All logic is unified and universal, supporting various types of legged land machinery to achieve high-speed running. Beneficial effects Breaking through the physical constraints of joints: High-speed displacement relying on inertial gliding, without the need for high torque and high response output throughout the entire process, fundamentally solving the contradiction between fast but unstable and stable but not fast; Universal for all types of feet: A single architecture covers all footed land machinery, making it extremely versatile; More stable at high speed: There is no ground disturbance during the take-off phase, and it relies on inertial dynamic balance, making it less prone to shaking and instability; Lower energy consumption: Reduces the active work done by joints and makes full use of inertial displacement, resulting in significantly higher efficiency than traditional fast walking mode; Easy to implement and portable: No hardware upgrades are required; it can be achieved simply by optimizing the control logic. Detailed Implementation Example 1: High-speed running control (general-purpose footed land machinery) When the machine is at low speed, it uses the continuous support walking mode; after reaching the high speed threshold, it enters the inertial gliding running mode: the lower limbs complete the explosive push, so that the whole machine enters the air gliding; during the air, it relies on inertia and center of gravity posture to maintain balance and reduce joint output; upon landing, it uses flexible cushioning to absorb the impact and prepares for the next push, thus achieving high-speed and stable movement in a cycle.

Claims

1. A method for controlling high-speed inertial gliding motion applicable to footed land machinery, characterized in that, include: The exercise is divided into walking mode and high-speed running mode; the high-speed running mode adopts a ballistic movement process of pushing off—taking off—inertial gliding—landing and cushioning. The machine enters a gliding state by pushing off with the lower limbs, relying on inertia and gravity to maintain dynamic balance and reduce continuous joint output. Reduce joint control gain during the airborne phase to avoid the physical constraint that torque and response speed cannot be maximized simultaneously; During the landing phase, a flexible cushioning mechanism is implemented to absorb the impact and prepare for the next push-off. This method is a general method for terrestrial machinery of legged animals and does not limit the number of legs.

2. The method according to claim 1, characterized in that, The high-speed running mode includes an airborne phase without ground support, rather than a fast walking mode with high-frequency leg swings.

3. The method according to claim 1, characterized in that, During the airborne phase, displacement is completed by inertia, eliminating the need for joints to maintain high torque and high response throughout the entire process.

4. The method according to claim 1, characterized in that, The landing cushioning system simultaneously absorbs impact and stores kinetic energy, reducing energy consumption during movement.

5. A high-speed inertial gliding motion control system suitable for footed land machinery, characterized in that, include: Movement mode switching unit, bionic push control unit, inertial balance maintenance unit, flexible landing cushioning unit, and limb phase coordination unit; The system is a universal architecture for foot types. It adapts to different foot structures through phase coordination and can achieve high-speed running control without refactoring the hardware.

6. The system according to claim 5, characterized in that, The system can operate independently, without relying on the performance of the main processor, and does not introduce interrupt and scheduling risks.

7. The system according to claim 5, characterized in that, The system can be combined with an analog-to-digital conversion noise-resistant architecture and a brain-like independent emergency control architecture to form a full-link safety system from perception to motion.