Central Pattern Generator Torque Control for Slope Navigation
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Solution Overview
Problem
Existing robot control systems are not robust enough to navigate terrains with varying slopes efficiently and cost-effectively, lacking effective methods to adapt torque characteristics based on terrain conditions.
Innovation Solution
A method involving a central pattern generator (CPG) that calculates and responds to slope and friction attributes to generate control pulses for torque adjustment in robot legs, using minimal feedback to adapt movement on different terrains, including the use of series elastic actuators for torque application and friction minimization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional robot control systems are used, then the system structure is simple, but the robot cannot robustly navigate terrains with varying slopes
Solution Approach 1:
The patent implements feedback by measuring the actual slope of the terrain using sensors and using this information to adjust the robot's gait parameters. The slope measurement feedback loop allows the robot to adapt its movement to match the actual terrain conditions, improving reliability on varying slopes while maintaining a relatively simple control architecture.
Solution Approach 2:
The patent employs dynamic gait adjustment by modifying step length, step frequency, and body orientation based on the measured slope. This dynamic adaptation allows the robot to maintain stability and robustness across different terrain conditions without requiring a completely complex control system, as the adjustments are made in real-time based on simple slope measurements.
2Adaptability or versatility
If complex control algorithms are implemented to handle varying terrains, then navigation capability improves, but computational cost and system complexity increase
Solution Approach 1:
The patent changes key gait parameters (step length, step frequency, body pitch angle) based on the measured slope angle. This parameter-based adaptation provides a simple yet effective way to achieve terrain versatility without implementing complex control algorithms. The relationship between slope angle and gait parameters can be pre-determined or simply adjusted, reducing computational requirements.
Solution Approach 2:
The patent performs preliminary slope measurement before executing the gait cycle, allowing the robot to pre-adjust its gait parameters based on the anticipated terrain conditions. This preliminary action enables the robot to adapt to varying terrains efficiently without requiring complex real-time control algorithms during the actual movement execution.
3Reliability
If continuous feedback and control adjustments are made, then navigation accuracy on slopes improves, but energy consumption increases
Solution Approach 1:
The patent implements periodic slope measurement and gait parameter adjustment, where the control system updates the gait parameters at specific intervals or at key events in the gait cycle (such as at the beginning of each step). This periodic control approach maintains slope navigation stability while significantly reducing energy consumption compared to continuous control adjustments.
Solution Approach 2:
The patent applies control adjustments only when necessary - specifically when the slope changes beyond a certain threshold or at critical points in the gait cycle. This partial action approach maintains adequate navigation stability by making adjustments only when needed, rather than continuously, thereby reducing energy consumption for control operations.
Data Source
AI summary
A robot, a method and a device for controlling a movement of a robot are provided. The method can include controlling multiple steps of the robot. Thus, the method can include multiple iterations of: (i) calculating or receiving a first slope attribute indicative of a slope of a first area of a terrain on which a first leg of the robot steps; (ii) feeding the first slope attribute to a central pattern generator (CPG); and (iii) generating, by the CPG and in response to the slope attribute, at least one control pulse for controlling a torque characteristic of a torque applied by at least one leg of the robot.