Bipedal Gait Planning Across Single and Double Support Phases
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Solution Overview
Problem
Two-legged robots exhibit poor walking stability due to reliance on center-of-mass state control during single support phase only, neglecting double support phase dynamics.
Innovation Solution
A motion control method that acquires gait parameters and inputs them into a gait planning model to determine gait trajectory parameters for both double and single support phases, including center-of-mass position and movement speed, to stabilize the robot's movement by combining both phases.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the two-legged robot is controlled to walk based only on the center-of-mass state in the Single Support Phase, then the control system is simple, but the walking stability is poor
Solution Approach 1:
The gait planning model is segmented into two distinct phases: Single Support Phase model and Double Support Phase model. Each phase has its own center-of-mass state parameters and control equations, allowing independent optimization of control strategies for each phase while maintaining overall system stability.
Solution Approach 2:
The control system dynamically switches between Single Support Phase control and Double Support Phase control based on the robot's current gait phase. The center-of-mass state parameters are dynamically adjusted according to the phase transition, enabling adaptive control that maintains stability throughout the walking cycle.
2Stability of the object's composition
If the gait planning model includes both Single Support Phase and Double Support Phase center-of-mass states, then the walking stability is improved, but the device complexity increases
Solution Approach 1:
The Single Support Phase model and Double Support Phase model are merged into a unified gait planning framework. The model seamlessly integrates both phases by using phase-specific center-of-mass state parameters and transition conditions, achieving improved stability without requiring completely separate control systems.
Solution Approach 2:
The system changes parameters based on the gait phase: during Single Support Phase, it uses single-leg support parameters; during Double Support Phase, it uses dual-leg support parameters. This parameter switching allows the system to adapt to different mechanical configurations without increasing fundamental system complexity.
Data Source
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AI summary
A method for controlling motion of a two-legged robot includes: acquiring gait parameters of the two-legged robot; inputting the gait parameters to a preset gait planning model; determining gait trajectory parameters of the two-legged robot based on the gait parameters through the preset gait planning model, in which the gait trajectory parameters include a center-of-mass state corresponding to a double support phase and a center-of-mass state corresponding to a single support phase, and the center-of-mass state includes a center-of-mass position and a center-of-mass movement speed; and controlling the two-legged robot to move according to the gait trajectory parameters.