Biped Robot Torso Yaw Adjustment for Singularity Avoidance
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Solution Overview
Problem
Biped robots experience instability and potential falls due to differences between their model and real ZMP, especially during singularity poses, which makes real-time stabilization challenging and alters their walking pattern from human-like to a more bent posture.
Innovation Solution
A method and system for a biped robot that generates walking patterns by adjusting the yaw direction angle of the torso to avoid singularity poses, maintaining torso height similar to humans, and ensuring dynamic stability, including a walking pattern generating unit, singularity pose detecting unit, torso position adjusting unit, and control unit to manage ZMP differences.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the height of the torso is decreased from Zc to Zc-1 to avoid singularity pose, then the robot can avoid singularity pose, but the knees must be severely bent and the walking pattern differs from human
Solution Approach 1:
The patent introduces a yaw direction angle adjustment for the torso as an additional degree of freedom to resolve the singularity pose problem. Instead of only adjusting torso height (one dimension), the system now adjusts both height and yaw angle (two dimensions), allowing the robot to maintain natural knee angles while avoiding singularity through rotational adjustment of the torso in the yaw direction.
2Reliability
If real time stabilization control is applied to correct ZMP error, then the robot can walk stably, but when singularity pose is generated, the horizontal position value of the torso cannot be changed
Solution Approach 1:
The patent makes the torso configuration dynamic by introducing adjustable yaw direction angles in addition to height adjustment. This dynamic capability allows the system to adapt its degrees of freedom based on operational conditions: using height adjustment for general stabilization and yaw angle adjustment specifically when approaching singularity poses, thereby maintaining control flexibility throughout the entire operation range.
3Shape
If the robot maintains torso height similar to humans, then the walking pattern is human-like, but the robot generates singularity pose and loses stability
Solution Approach 1:
The patent changes the parameters of torso configuration from only height (Zc) to include both height (Zc) and yaw direction angle (θ). This parameter expansion allows the system to maintain human-like torso height for natural walking patterns while using the additional yaw angle parameter to actively avoid singularity poses, thus preserving both human-likeness and stability.
Data Source
AI summary
Disclosed are a robot, which generates a stable walking pattern similar to that of a human, and a method of controlling walking thereof. The method includes generating a walking pattern of a leg connected to a torso of the robot; detecting whether or not a singularity pose of the leg walking according to the walking pattern is generated; and changing the walking pattern by adjusting a yaw direction angle of the torso when the singularity pose is generated.