Biped Walking Robot Balance Control via Trunk Inclination Feedback
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Solution Overview
Problem
Conventional biped walking robots face instability when receiving external forces, as they struggle to maintain balance on irregular surfaces and quickly changing environments, often leading to increased inclination or loss of balance due to the reliance on floor reaction force sensing and complex ZMP calculations.
Innovation Solution
A walking control method that adjusts the position of the center of gravity to a predetermined reference angle, allowing the upper body to be maintained within a specific angle range by operating the legs to correct inclination angles in real-time, using a combination of PID control and integrated correction signals to stabilize the robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional walking control uses floor reaction force sensing and ZMP calculations to maintain balance, then balance control can be achieved on irregular surfaces, but the device complexity and computational requirements increase significantly
Solution Approach 1:
The patent extracts and eliminates the complex ZMP calculation and floor reaction force sensing components from the balance control system. Instead, it uses a simplified approach based on inclination angle detection and direct torque application to the trunk, removing the harmful complexity while preserving the essential balance control function
Solution Approach 2:
The patent replaces the complex mechanical sensing and calculation system (ZMP-based control requiring floor reaction force sensors and computational algorithms) with a simpler inclination-based control system that directly measures trunk angle and applies corrective torque, substituting a cumbersome mechanical-computational system with a more elegant sensorimotor approach
2Adaptability or versatility
If conventional walking control makes stride proportional to inclination angle, then the robot can respond to external forces, but the upper body inclination is not constantly maintained vertically leading to potential loss of balance
Solution Approach 1:
The patent implements continuous feedback control by constantly monitoring the trunk's inclination angle and dynamically adjusting the corrective torque applied to the trunk. This closed-loop feedback mechanism ensures the upper body remains vertically oriented while allowing the legs to adapt their stride to external forces, simultaneously achieving stability and adaptability
Solution Approach 2:
The patent applies preliminary corrective torque to the trunk based on detected inclination before the robot can lose balance. By proactively counteracting inclination forces through trunk torque control, the system prevents balance loss rather than reacting after the fact, maintaining vertical orientation as a preliminary stabilizing action
Data Source
AI summary
Provided is a walking control method enabling stable walking operation to be realized, a walking control program and a biped walking robot. A walking control method includes, during walking operation of a biped walking robot having a position of center of gravity being adjusted at a predetermined reference angle that enables the robot to be upright, a step of acquiring information indicative of an inclination angle of an upper body relative to the reference angle, and a step of operating, with one of a first leg and a second leg not being grounded due to the walking operation, the first leg and the second leg such that the upper body is maintained within a predetermined angle range relative to the reference angle according to the inclination angle.