Biped Robot Foothold Control for Dynamic Obstacle-Aware Walking
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Biped robots face limitations in flexible and autonomous movement due to pre-defined foothold positions, which restrict their capability to follow paths effectively and maintain balance, especially when encountering obstacles or varying terrain.
Innovation Solution
A foothold position control system utilizing a fuzzy controller with inputs from a laser radar, vision sensor, gyroscope, and six-component force sensor to determine a specific foothold position dynamically, considering real-time positional and angular data, allowing for intelligent and autonomous selection of foothold positions based on step-length constraints and obstacle avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If pre-defined foothold positions are established by permutation and combination, then the robot can maintain stability and balance, but the robot's flexibility and autonomous movement capability are restricted
Solution Approach 1:
The patent transforms the static pre-defined foothold positions into dynamic selectable positions. The fuzzy controller continuously evaluates multiple candidate foothold positions based on real-time conditions (obstacle locations, path requirements, robot state) and dynamically selects the most appropriate position. This allows the robot to adapt its foothold selection to varying environments while maintaining stability through systematic evaluation criteria.
Solution Approach 2:
The patent changes the parameter of foothold position from fixed pre-defined values to variable positions determined by fuzzy logic processing. By introducing fuzzy membership functions and evaluation criteria that consider multiple factors (distance to obstacles, path alignment, step length constraints), the system can continuously adjust foothold parameters to optimize both stability and flexibility.
2Device complexity
If fixed foothold sets are used, then the control system is simpler, but the robot cannot autonomously select variable foothold positions
Solution Approach 1:
The patent enables the robot to autonomously select foothold positions through a self-service mechanism. The fuzzy controller automatically evaluates candidate positions, processes sensor data about obstacles and path requirements, and determines the optimal foothold without human intervention. This autonomous selection process enhances the robot's independence while the modular fuzzy logic structure keeps the control system manageable.
Solution Approach 2:
The patent implements feedback mechanisms where sensor data (laser radar, vision sensors, force sensors) continuously informs the fuzzy controller about the environment and robot state. This feedback loop allows the system to adjust foothold selection based on real-time conditions, enabling autonomous adaptation while maintaining a structured control approach that balances complexity and intelligence.
3Measurement precision
If multiple sensor inputs are processed through fuzzy logic, then the foothold position selection is more accurate and adaptive, but the computational processing complexity increases
Solution Approach 1:
The patent segments the complex fuzzy logic processing into distinct modules: fuzzification of sensor inputs (laser radar, vision, force sensors), separate evaluation of multiple candidate foothold positions, and defuzzification to determine the final selection. This segmentation allows each module to process specific aspects independently, improving accuracy through comprehensive evaluation while managing computational complexity through modular architecture.
Data Source
AI summary
A foothold position control system and method for a biped robot are provided. 1) A feasible collision-free path is planned by using a path planning algorithm; 2) an available foothold area of a swing foot is determined according to step-length constraints, movement capabilities, foot sizes, and center offsets of a biped robot; and 3) fuzzy processing is performed to determine a specific foothold position of the biped robot. Selection of suitable foothold positions on both sides of a path when a biped robot executes specific walking actions after finishing path planning is realized. The foothold position control system and method has the advantages of being simple and easy to implement, having low computational load and high speed, being capable of exerting extreme movement capabilities of different biped robots, enabling more flexible movement of the biped robots, and so on.