Biped Robot Equivalent Trajectory for Stable Closed-Loop Control
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Solution Overview
Problem
Biped robots experience unstable movement trajectories due to oscillating mass centers, making it difficult to accurately reflect their real-time position and overall walking direction, which hinders stable and reliable control.
Innovation Solution
A method for generating an equivalent trajectory for biped robots using a processor-based system that determines switching moments, finds mass center positions, and connects these positions to create a stable equivalent trajectory, allowing for closed-loop control and mapping of mass center positions to equivalent speeds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the mass center trajectory is used for navigation and positioning, then the robot can maintain dynamic balance through mass center oscillation, but the trajectory cannot effectively reflect the overall real-time position of the robot
Solution Approach 1:
The patent segments the mass center trajectory into multiple discrete mass center positions at different switching moments. By selecting and connecting specific positions (rather than using the continuous oscillating trajectory), the system separates the dynamic balance function from the positioning function, allowing accurate position reflection while maintaining balance.
Solution Approach 2:
The patent introduces an equivalent trajectory as an intermediary representation. This equivalent trajectory connects selected mass center positions and serves as a mediator between the actual oscillating mass center and the navigation/positioning system, providing accurate position information without requiring direct use of the oscillating trajectory.
2Reliability
If the mass center trajectory is used for control, then dynamic balance is maintained, but stable and reliable control cannot be performed
Solution Approach 1:
The patent segments the continuous mass center trajectory into discrete positions at switching moments. This segmentation eliminates the instability caused by continuous oscillation, providing stable control points while maintaining the dynamic balance achieved through mass center movement.
Solution Approach 2:
The patent determines mass center positions at switching moments in advance, before actual control execution. This preliminary determination of stable position points allows the control system to plan and execute movements based on predetermined stable states, improving control stability.
Data Source
AI summary
The present disclosure provides an equivalent trajectory generating method for a biped robot and a biped robot using the same. The method includes: obtaining a motion state of the biped robot by a position sensor; determining switching moments in an advancing direction of the biped robot, based on the motion state of the biped robot; finding the mass center position of the biped robot at each switching moment; connecting the mass center positions at the switching moments as an equivalent trajectory of the biped robot; and performing a closed loop control on the biped robot according to the equivalent trajectory. Through the method, the overall real-time position of the robot can be obtained according to the equivalent trajectory effectively, which is advantageous to perform a stable and reliable control to the biped robot according to the equivalent trajectory of the biped robot.