Biped Robot Impedance Control Impact Attenuation
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Solution Overview
Problem
Impedance control in biped robots causes deformation and affects balance during walking, as it fails to effectively manage external forces without causing structural changes.
Innovation Solution
A method using a natural attenuation function to correct impact forces and an impedance model to determine transfer functions, allowing for controlled joint angle adjustments through inverse kinematics, thereby minimizing deformation and stabilizing the robot's gait.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If impedance control is applied to reduce external force impact, then the robot's ability to handle ground contact forces is improved, but the robot experiences deformation and balance degradation
Solution Approach 1:
The patent segments the impedance control into two distinct phases: a first impedance control applied during leg swing that allows larger amplitude movements, and a second impedance control applied during ground contact that suppresses vibrations. This segmentation allows each phase to have optimized control parameters, preventing deformation during ground contact while maintaining walking efficiency
Solution Approach 2:
The patent dynamically switches between different impedance control modes based on the robot's walking phase. The controller adjusts impedance parameters in real-time, transitioning from a first impedance mode during swing phase to a second impedance mode during stance phase, allowing the system to adapt to changing mechanical conditions and prevent balance degradation
2Adaptability or versatility
If impedance control acts on the entire two legs supporting period, then the robot can handle ground contact feedback forces, but it causes deformation and affects walking balance
Solution Approach 1:
The patent applies periodic impedance control that is synchronized with the robot's walking cycle. The controller alternates between a first impedance control during the swing period and a second impedance control during the stance period, with each phase having specifically tuned parameters that prevent deformation while maintaining the ability to handle ground contact forces
Solution Approach 2:
The patent changes impedance parameters based on the walking phase. During swing phase, the first impedance control uses parameters that allow larger amplitude movements, while during stance phase, the second impedance control uses parameters with higher stiffness and damping to suppress vibrations and prevent deformation, thus adapting to different mechanical requirements
Data Source
AI summary
The present disclosure provides an impedance control method for a biped robot as well as an apparatus and a biped robot using the same. The method includes: correcting an impact force on a landing leg in the two legs of the biped robot using a natural attenuation function, and taking the corrected impact force as an input of an impedance control; obtaining an impedance model of the biped robot; determining a transfer function of the impedance control based on the impedance model; calculating an output of the impedance control based on the input of the impedance control and the transfer function of the impedance control; determining a joint angle of each joint based on the output of the impedance control and a planned pose of the biped robot; and transmitting joint angle information of each joint to motor(s) of the joint to perform the impedance control.