Biped Robot Gait Control Using Sole Force Feedback
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Solution Overview
Problem
Biped robots lack intelligence in their movement, often colliding with obstacles or humans due to inaccurate distance sensor data and limited detection ranges, leading to potential damage and safety risks.
Innovation Solution
A method for controlling biped robot movement by calculating actual movement trajectories using six-dimensional sensor data from the soles and servo angles, adjusting target angles for servos to adapt to external forces, and implementing real-time closed-loop control to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If distance sensors are used to detect obstacles, then the robot can perform autonomous walking, but the low accuracy and small detection range of the sensors prevent accurate calculation of obstacle effects
Solution Approach 1:
The patent implements a feedback mechanism where the robot continuously monitors its actual movement trajectory and compares it with the planned trajectory. When deviations occur due to external forces or obstacles, the system adjusts the movement plan in real-time. This closed-loop feedback approach enables accurate obstacle effect calculation without relying solely on low-precision distance sensors.
Solution Approach 2:
The patent replaces reliance on mechanical/optical distance sensors with a dynamics-based detection method. By analyzing the relationship between applied forces, robot mass, and resulting motion changes, the system infers obstacle characteristics and effects through physical laws rather than direct sensor measurement, thereby achieving higher precision.
2Ease of operation
If the robot continues walking without intelligence, then it maintains simple control, but it will collide with obstacles and humans causing damage and safety risks
Solution Approach 1:
The system continuously monitors the robot's actual movement trajectory and compares it with the planned trajectory. When deviations indicating potential collisions are detected, the control system adjusts the movement plan in real-time to avoid obstacles and ensure safety, while maintaining relatively simple control architecture.
Solution Approach 2:
The patent calculates the expected movement trajectory in advance based on the planned path and robot dynamics. By comparing this pre-calculated trajectory with actual movement, the system can predict and prevent collisions before they occur, taking preliminary protective action rather than reacting after collision.
3Measurement precision
If six-dimensional sensors and force calculations are implemented, then the actual movement trajectory can be accurately calculated, but the device complexity increases
Solution Approach 1:
The six-dimensional force sensors mounted on the robot's soles serve multiple functions: they detect ground reaction forces, calculate external forces acting on the robot, determine movement trajectory deviations, and provide data for balance control. This multi-functionality reduces the need for separate sensors for each measurement, thereby limiting the increase in device complexity.
Solution Approach 2:
The robot uses its own motion sensors and force sensors to self-measure its movement trajectory and external forces without requiring external measurement equipment. The system calculates its own dynamics parameters and adjusts its control accordingly, making the complex measurement system self-sufficient and reducing overall system complexity.
Data Source
AI summary
The present disclosure discloses a biped robot and its moving method and apparatus. The method includes: calculating a motion state of each servo of legs of a biped robot according to an actual trajectory of the biped robot, and controlling the servo to rotate to the corresponding motion state. The scheme enables the biped robot to achieve flexible controls to the biped robot according to the received real-time external feedbacks.