Biped Robot Gait Control for Collision-Free Team Walking
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Solution Overview
Problem
Biped robots face challenges in coordinating their gait to avoid collisions when working in close proximity, as existing methods either prioritize endpoint accuracy over timing or only correct the endpoint of the motion path, leading to potential collisions and inconsistency among team robots.
Innovation Solution
A biped robot gait control method that calculates gait parameters based on the relative pose between supporting legs and joint distances, using a global coordinate system and centroid coordinate system to ensure accurate positioning and timing, with real-time adjustments to avoid collisions by modifying gait parameters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If only endpoint accuracy is prioritized without positional closed looping during walking, then endpoint accuracy is improved, but collision risk increases due to lack of process monitoring
Solution Approach 1:
The patent implements a feedback mechanism by continuously monitoring the actual positions of multiple biped robots during movement and comparing them with planned trajectories. The control system adjusts gait parameters in real-time based on this feedback to maintain safe distances and prevent collisions, while still achieving accurate endpoint positioning.
Solution Approach 2:
The patent introduces an intermediary control system that coordinates between multiple robots. This intermediary system calculates relative positions and adjusts gait parameters for each robot to maintain safe spacing, acting as a mediator that prevents direct collision while allowing individual robots to reach their destinations accurately.
2Measurement precision
If correction algorithm only adjusts endpoint of motion path, then endpoint accuracy is improved, but timing consistency deteriorates causing robots to miss stop conditions
Solution Approach 1:
The patent changes multiple parameters simultaneously including gait phase, step length, and timing adjustments rather than only correcting endpoint position. By modifying these parameters dynamically, the system maintains both accurate endpoint positioning and synchronized timing across multiple robots, ensuring they reach stop conditions together.
3Ease of operation
If gait parameters are not adjusted in real-time, then control simplicity is maintained, but collision risk increases in close-proximity team operations
Solution Approach 1:
The patent implements dynamic gait parameter adjustment where the control system continuously adapts step length, gait phase, and timing based on real-time relative positions of robots. This dynamic approach maintains control simplicity through automated algorithms while significantly improving collision avoidance in close-proximity operations.
Data Source
AI summary
A biped robot gait control method as well as a robot and a computer readable storage medium are provided. During the movement, the system obtains a current supporting pose of a current supporting leg of the biped robot, and calculates a relative pose between the supporting legs based on the current supporting pose and a preset ideal supporting pose of a next step. The system further calculates modified gait parameters of the next step based on the relative pose between the two supporting legs and a joint distance between left and right ankle joints in an initial state of the biped robot when standing. Finally, the system controls the next supporting leg to move according to the modified gait parameters.