Biped Robot Step Control With Compliant Leg Pose Adjustment
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Solution Overview
Problem
Biped robots experience collisions and internal forces due to mismatches between planned walking trajectories and actual ground conditions, affecting walking stability and terrain adaptability.
Innovation Solution
A robot control apparatus and method that performs compliant control on leg pose conditions to match desired leg positions and postures with actual ground conditions, using elastic damping control models to adjust ankle joint angles and positions, reducing landing impacts and inter-leg forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the biped robot follows the pre-planned walking trajectory, then the walking path is predetermined and simple to control, but the leg pose condition does not match the actual ground conditions, causing serious collisions and instability
Solution Approach 1:
The patent implements feedback control by continuously monitoring the actual ground conditions and comparing them with the pre-planned walking trajectory. The controller adjusts the leg pose conditions in real-time based on the detected ground elevation changes, ensuring the robot adapts to actual terrain while maintaining stable walking. This resolves the contradiction by allowing simple pre-planned trajectories while adding feedback to ensure reliability.
Solution Approach 2:
The patent makes the leg pose conditions dynamic by allowing them to change in real-time based on actual ground conditions. Instead of following a fixed pre-planned trajectory, the robot dynamically adjusts its leg positions and postures to match the actual terrain, resolving the contradiction between simple control and stable walking.
2Reliability
If the leg pose condition is adjusted to match actual ground conditions, then walking stability improves, but the control complexity increases
Solution Approach 1:
The patent uses feedback control to automatically adjust leg pose conditions based on detected ground conditions. The controller receives information about actual ground elevation and automatically computes the necessary pose adjustments, improving walking stability without requiring complex manual intervention or overly complicated control mechanisms.
Solution Approach 2:
The robot performs self-adjustment of its leg pose conditions by detecting ground conditions and automatically modifying its walking trajectory. This self-service capability improves walking stability while keeping the control system relatively simple, as the robot handles the adaptation autonomously without external assistance.
3Device complexity
If the robot uses a simplified gait planning model, then the control process is easier, but the mismatch between planned and actual ground conditions causes serious landing collisions
Solution Approach 1:
The patent introduces feedback control to the simplified gait planning model, where the controller continuously monitors actual ground conditions and adjusts the walking trajectory accordingly. This feedback mechanism allows the robot to maintain simple control architecture while avoiding harmful landing collisions by adapting to actual terrain variations.
Solution Approach 2:
The patent applies preliminary action by pre-adjusting the leg pose conditions based on anticipated ground variations. The controller prepares the robot's leg positions in advance to match expected terrain changes, reducing landing impact forces while keeping the gait planning model relatively simple.
4Manufacturing precision
If the robot maintains rigid leg structure for precise trajectory following, then trajectory accuracy is improved, but the robot cannot adapt to uneven ground, generating larger inter-leg internal forces
Solution Approach 1:
The patent makes the leg pose conditions dynamic, allowing the robot to adjust its leg positions and postures in real-time based on actual ground conditions. This dynamic adaptation maintains trajectory following precision while enabling terrain adaptability, resolving the contradiction between rigid precision and flexible adaptation.
Solution Approach 2:
The patent changes the parameters of the walking trajectory by adjusting leg pose conditions according to actual ground elevation. This parameter adjustment allows the robot to maintain precise trajectory following while adapting to uneven terrain, reducing inter-leg internal forces generated by rigid trajectory adherence.
Data Source
AI summary
A robot step control method, a robot control apparatus, and a storage medium are provided. The method includes: determining an expected support force of two legs of a biped robot according to zero-moment point planning data and actual position data of the two legs at a current moment, and determining a current desired joint posture angle of ankle joints of the two legs and a desired joint position matching an actual leg support state using a compliance control algorithm based on an expected support force of the two legs, and centroid movement planning data, centroid actual movement data, step planning data and actual force data of the two legs at the current moment. In such manner, all-direction compliant controls can be performed on a desired leg pose condition according to the actual motion status of the biped robot, thereby improving the walking stability and terrain adaptability of the biped robot.