Biped Robot Gait Control With Toe-Heel Sole Rotation
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Solution Overview
Problem
Existing biped robot gait control methods limit dynamic walking capabilities, requiring the plantar to remain parallel to the ground, which restricts stair climbing speed and efficiency, and fails to simulate human-like gait effectively.
Innovation Solution
A computer-implemented method for biped robot gait control that plans initial ankle joint positions and sole rotation angles, using inverse kinematics to calculate joint angles and adjust gait, allowing the sole to rotate around the toe or heel, enabling a humanoid gait with toes leading and heels grounding.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the plantar is kept parallel to the ground during leg raising and falling, then the gait control algorithm complexity is reduced, but the simulation level of human-like gait decreases and stair climbing speed is limited
Solution Approach 1:
The patent applies dynamics by transitioning from a static constraint (plantar always parallel to ground) to a dynamic model where the plantar angle varies during the gait cycle. The method calculates time-varying joint angles and plantar orientations that naturally change during leg raising and falling phases, enabling the robot to achieve human-like gait patterns while maintaining computational tractability through dynamic optimization.
Solution Approach 2:
The patent changes key parameters from fixed values to variable parameters. Specifically, the plantar angle is changed from a constant zero value (parallel to ground) to a time-varying parameter that changes during the gait cycle. The joint angles are also transformed from fixed configurations to dynamic trajectories that optimize both simulation level and climbing speed.
2Device complexity
If the plantar is kept parallel to the ground during leg raising and falling, then the gait planning difficulty is reduced, but the simulation level of human-like gait decreases
Solution Approach 1:
The patent introduces dynamic variation in plantar orientation during the gait cycle, allowing the sole to rotate relative to the ground plane. This dynamic approach captures the natural motion patterns of human walking, where the foot orientation changes continuously from heel strike through toe-off, thereby significantly improving the simulation level while maintaining reasonable planning complexity through systematic optimization methods.
Solution Approach 2:
The patent applies preliminary action by pre-calculating optimal joint angle trajectories and plantar orientation sequences before executing the gait. The method computes the complete gait cycle parameters in advance, including the time-varying plantar angles and joint configurations, which are then executed during actual walking. This preliminary computation reduces real-time control complexity while achieving high-fidelity human-like gait simulation.
3Device complexity
If the plantar is kept parallel to the ground, then the control algorithm is simplified, but the ability to lift the leg to a large extent is reduced
Solution Approach 1:
The patent changes the plantar angle parameter from a fixed zero value to a time-varying parameter that allows significant variation during the gait cycle. This parameter change enables the leg to be lifted to larger extents by coordinating plantar rotation with hip and knee joint movements, thereby increasing the effective range of motion without substantially complicating the control algorithm through systematic optimization approaches.
Data Source
AI summary
The present disclosure relates to robot technology, which provides a gait control method, device, and terminal device for a biped robot. The method includes: planning an initial position of an ankle joint of the biped robot and a rotation angle of a sole of the biped robot to rotate around one of a toe and a heel of the biped robot; planning a body pose of the biped robot; calculating a target position of the ankle joint based on the initial position of the ankle joint and the rotation angle of the sole; obtaining a joint angle of each of a plurality of joints of the biped robot by performing an operation on the body pose and the target position of the ankle joint utilizing an inverse kinematics algorithm; and adjusting a gait of the biped robot based on the joint angle of each of the joints.