Biped Robot Walking Control With Smooth Balance-Step Transition
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Solution Overview
Problem
Biped robots face challenges in maintaining balance due to external and internal disturbances, leading to difficulties in stabilizing their state during walking.
Innovation Solution
The method involves detecting loss of balance in a biped robot, smoothing the foot trajectory corresponding to a stability-maintaining step length to restore balance, and using this smoothed trajectory to control the robot's walking, thereby avoiding step leaping and improving reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the biped robot uses a predicted balance step length to restore balance quickly, then the balance recovery speed is improved, but the foot trajectory produces large differences causing step leaping phenomenon
Solution Approach 1:
The patent applies dynamics by making the step length adaptive rather than fixed. The step length is dynamically adjusted based on the robot's current balance state, transitioning from a predicted balance step length to a smoothly varied step length that adapts to the robot's motion state, thereby avoiding step leaping while maintaining balance recovery capability
Solution Approach 2:
The patent changes the parameter of step length from a fixed predicted value to a smoothly varied value through transition processing. This parameter transformation reduces abrupt changes in foot trajectory while maintaining the balance-restoring function, effectively preventing step leaping phenomenon
2Reliability
If the biped robot maintains a fixed walking trajectory, then the walking stability is improved, but the robot cannot effectively restore balance when subjected to disturbances
Solution Approach 1:
The patent makes the walking trajectory dynamic by introducing smooth transition processing that adapts the step length based on the robot's balance state. This allows the trajectory to maintain stability during normal walking while automatically adjusting to restore balance when disturbances occur
Solution Approach 2:
The patent implements feedback by using the robot's current balance state information to adjust the step length through transition processing. The system continuously monitors the balance state and modifies the foot trajectory accordingly, enabling effective balance recovery while maintaining overall walking stability
Data Source
AI summary
A walking control method for a biped robot includes: detecting whether the biped robot is in an unbalanced state; in response to detection that the biped robot is in the unbalanced state, obtaining a predicted balance step length corresponding to the biped robot in the unbalanced state; performing a smooth transition processing on the predicted balance step length according to a current movement step length of the biped robot to obtain a desired balance step length corresponding to the predicted balance step length; determining a planned leg trajectory of the biped robot according to the desired balance step length; and controlling a current swing leg of the biped robot to move according to the planned leg trajectory.