Biped Robot Gait Control With Stepwise Angular Momentum Correction
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Solution Overview
Problem
Existing biped robot control methods fail to correct angular momentum during each step, leading to deviations in actual motion posture and unstable walking on slopes and complex terrains, assuming flat surfaces as a disturbance factor.
Innovation Solution
A motion control method for biped robots that involves acquiring state parameters during single-foot supporting states, using linear inverted pendulum models to adjust angular momentum by determining the position of the centroid relative to the swing foot, employing preset functions and equations to predict and control the robot's motion trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If conventional control methods assume flat surface walking, then control complexity is reduced, but walking stability on slopes deteriorates
Solution Approach 1:
The patent changes the control parameters by introducing angular momentum correction terms specifically for slope conditions. The control method modifies the relationship between centroid position and support foot by adding slope compensation parameters, allowing the robot to maintain stability on inclined surfaces without fundamentally changing the control architecture.
Solution Approach 2:
The patent implements dynamic angular momentum correction during the walking cycle. By continuously adjusting the centroid position based on real-time angular momentum calculations, the system adapts to slope conditions dynamically while maintaining a relatively simple control structure.
2Device complexity
If angular momentum is not corrected during each step, then control computation is simplified, but motion posture accuracy deteriorates
Solution Approach 1:
The patent applies preliminary angular momentum correction at the beginning of each single-foot supporting state. By calculating and correcting the centroid position in advance based on predicted angular momentum changes, the system ensures accurate motion posture without requiring complex continuous computation throughout the walking cycle.
Solution Approach 2:
The patent implements feedback control by monitoring the robot's state parameters (centroid position, angular momentum) and adjusting the swing foot trajectory accordingly. This feedback mechanism corrects motion posture deviations while maintaining computational efficiency through targeted corrections rather than continuous complex calculations.
3Device complexity
If slope is treated as a disturbance factor, then control framework remains simple, but walking planning ability deteriorates
Solution Approach 1:
The patent transforms the control approach by changing how slope is represented in the control parameters. Instead of treating slope as an external disturbance, the method incorporates slope angle and direction into the angular momentum calculation parameters, enabling the robot to plan walks on slopes using the same control framework.
Solution Approach 2:
The patent makes the control system dynamic by adapting angular momentum correction parameters based on detected slope conditions. The system automatically adjusts its behavior according to the slope environment while maintaining a unified control framework that works for both flat and inclined surfaces.
Data Source
AI summary
A motion control method includes: acquiring a current state parameter of a robot in response to determining that the robot is in a single-foot supporting state; and determining, based on a first preset function and a preset angular momentum value, the position of the centroid of the robot relative to a swing foot at an end moment of the current single-foot supporting state according to the current state parameter of the robot, such that an angular momentum of the centroid relative to the support foot at an end moment of a next single-foot supporting state reaches the angular momentum value, and controlling the robot to walk according to the position of the centroid of the robot relative to the swing foot at the end moment of the current single-foot supporting state.