Biped Robot COM Control for Stable Walking on Slopes
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Solution Overview
Problem
Biped robots with high centers of mass tend to lose stability when walking on small slopes, as their line of gravity can fall outside the slope, leading to potential falls.
Innovation Solution
A control method for biped robots that involves acquiring distances between the center of mass and preset key points on the feet, calculating position offsets, and adjusting initial trajectories using kinematics algorithms to maintain stability by ensuring the center of mass remains within the support area.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the center of mass is positioned high for better mobility, then the robot can walk more freely, but the line of gravity falls outside the support area on slopes causing instability
Solution Approach 1:
The robot dynamically adjusts its center of mass position during walking on slopes by modifying joint angles and body posture in real-time. The control system calculates required COM adjustments based on slope angle and robot state, enabling the high COM design to remain stable through active compensation rather than passive structural modification
Solution Approach 2:
The system changes physical parameters including joint angles, body inclination, and center of mass position to maintain stability. By adjusting these parameters dynamically based on slope conditions, the robot compensates for the high COM design and prevents the line of gravity from falling outside the support area
2Stability of the object's composition
If the center of mass is lowered to improve stability on slopes, then the line of gravity remains within the support area, but the robot's mobility and walking capability are reduced
Solution Approach 1:
The control system performs preliminary calculations of the required center of mass adjustment before executing the walking motion on slopes. By pre-computing the necessary joint angle modifications and body posture adjustments, the system ensures stability is maintained from the start of each step without requiring actual COM lowering
Solution Approach 2:
The patent replaces passive mechanical COM lowering with active control mechanisms. Instead of physically lowering the center of mass through structural changes, the system uses control algorithms to adjust joint angles and body posture, substituting mechanical modification with intelligent control
3Device complexity
If conventional control methods are used on slopes, then the control algorithm is simple, but the robot falls when the line of gravity falls outside the small slope
Solution Approach 1:
The control system continuously monitors the robot's state including joint angles, body posture, and center of mass position, and uses this feedback to adjust control parameters in real-time. This closed-loop feedback mechanism ensures the line of gravity remains within the support area, significantly improving walking reliability on slopes
Solution Approach 2:
The system performs preliminary calculations of the required center of mass adjustment before executing the walking motion on slopes. By pre-computing the necessary joint angle modifications and body posture adjustments, the system ensures stability is maintained from the start of each step
Data Source
AI summary
A robot control method includes: acquiring distances between a center of mass (COM) of the biped robot and each of preset key points of feet of the biped robot, and acquiring an initial position of the COM of the biped robot; calculating a position offset of the COM based on the distances; adjusting the initial position of the COM based on the position offset of the COM to obtain a desired position of the COM of the biped robot; and determining desired walking parameters of the biped robot based on the desired position of the COM by using a preset inverse kinematics algorithm, wherein the desired walking parameters are configured to control the biped robot to walk.