Bipedal Robot Control Using Virtual Gravity Torque
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Solution Overview
Problem
Existing walking robot control methods face challenges in maintaining stability on uneven surfaces and inclined planes due to local minima in optimization problems and high computation times, requiring specific control strategies for each robot model, which are not easily standardized.
Innovation Solution
A control method for walking robots that applies virtual gravity torques in anti-gravity and gravity directions to joints of support and swing legs, respectively, along with gravity compensation torque, to maintain balance and stability, allowing for interchangeable leg functions and low energy consumption.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If optimization methods are used to locate ZMP within support plane, then stability is improved, but computation time increases and local minima occur
Solution Approach 1:
The patent transforms the complex optimization problem into a simplified parameter-based control method by applying virtual gravity torque that directly adjusts joint positions based on current state, avoiding iterative optimization and its associated computation time and local minima issues
2Stability of the object's composition
If model-specific control strategies are designed, then balance maintenance is improved, but adaptability across different robot models deteriorates
Solution Approach 1:
The patent creates a universal control method based on virtual gravity torque that can be applied to different bipedal robot models without requiring model-specific strategies, achieving both balance maintenance and adaptability through a common framework
3Stability of the object's composition
If virtual gravity torque is applied to support leg, then stability is improved, but energy consumption increases
Solution Approach 1:
The patent applies virtual gravity torque in the anti-gravity direction to the support leg, creating an equipotential effect that maintains stability while reducing the energy required for balance maintenance by counteracting gravitational effects
Data Source
AI summary
A walking robot and a control method thereof. The control method of the walking robot which walks using two legs includes applying first virtual gravity torque including a vector component in the anti-gravity direction to respective joints of a support leg from among the two legs during walking, and applying second virtual gravity torque including a vector component in the gravity direction to respective joints of a swing leg from among the two legs during walking. Thereby, the walking robot implements a natural walking motion having a low energy consumption rate.