Biped Robot Lateral Balance Control Using a Double Inverted Pendulum
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Solution Overview
Problem
Biped robots experience instability and poor stability due to external environmental or human factors causing their centroid to deviate, leading to challenges in maintaining balance during lateral movement.
Innovation Solution
A biped robot control method based on a double inverted pendulum model is implemented, which calculates a stable point and adjusts the control output quantity to maintain stability and adaptability during lateral movement, improving the robot's anti-interference capability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a biped robot performs lateral movement, then the robot can navigate and move in different directions, but the centroid deviates due to external disturbances causing poor stability
Solution Approach 1:
The patent implements a feedback control mechanism that continuously monitors the robot's centroid position and adjusts control outputs based on detected deviations. The controller receives state information about the robot's current position and orientation, compares it with desired values, and generates corrective control signals to maintain stability during lateral movement.
Solution Approach 2:
The patent dynamically adjusts control parameters such as control output quantity and stabilization factors based on the robot's current state and external disturbances. By changing these parameters in real-time, the system adapts to varying conditions while maintaining centroid stability during lateral navigation.
2Reliability
If the robot increases anti-interference capability through control adjustments, then stability improves, but control complexity increases
Solution Approach 1:
The patent employs dynamic control strategies where control parameters are adjusted in real-time based on the robot's state and external disturbances. The stabilization factor and control output quantity are dynamically modified according to current conditions, allowing the system to maintain reliability without requiring overly complex static control structures.
Solution Approach 2:
The control system is divided into modular components including state detection, deviation calculation, control output generation, and parameter adjustment modules. This segmentation allows each component to perform its specific function independently, simplifying the overall control architecture while maintaining high anti-interference capability.
Data Source
AI summary
A biped robot control methods and a biped robot using the same as well as a computer readable storage medium are provided. The method includes: obtaining an initial distance between a centroid of a double inverted pendulum model of the biped robot and a support point of the biped robot, an initial moving speed of the centroid and an initial displacement of the centroid; calculating a measured value of a stable point of the doable inverted pendulum model based on the initial distance and the initial moving speed; calculating a control output quantity based on the initial moving speed and the measured value of the stable point; calculating a desired displacement of the centroid of the double-inverted pendulum model based on the initial moving speed, the initial displacement, and the control output quantity; and controlling the biped robot to move laterally according to the desired displacement.