Ground Plane Estimation Using Contact Points and Gravity Reference
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Solution Overview
Problem
Robotic devices operating on uneven terrains face challenges in maintaining balance and forward progress due to the difficulty in accurately estimating the slope and shape of the ground surface, which existing systems fail to address effectively.
Innovation Solution
A method and system that determine the orientation of a robotic device with respect to a gravity-aligned reference frame and the location of contact points with the ground surface, using a combination of inertial measurement units, sensors, and non-contact sensor systems to estimate a flat-plane approximation of the ground surface, allowing for adjustments in position and orientation to maintain balance and progress.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If robotic devices use simple ground estimation methods, then device complexity is reduced, but measurement precision of ground plane estimation deteriorates
Solution Approach 1:
The ground estimation system is segmented into multiple independent components: inertial measurement units for orientation detection, contact point sensors for location detection, and computational modules for plane approximation. Each component performs a specific function, allowing the system to achieve high measurement precision through coordinated operation of simplified individual elements.
Solution Approach 2:
The system uses multi-functional sensors that serve multiple purposes: inertial measurement units provide both orientation data and gravity reference, contact point sensors simultaneously detect ground contact and provide positional information. This multi-functionality reduces overall device complexity while maintaining estimation precision.
2Measurement precision
If robotic devices use multiple sensors and complex processing, then measurement precision of ground plane estimation is improved, but device complexity increases
Solution Approach 1:
Multiple sensor data streams are merged into a unified ground plane estimation through computational integration. The inertial measurement data, contact point locations, and ground surface measurements are combined using mathematical models to produce a single coherent ground plane approximation, reducing the need for separate processing systems.
Solution Approach 2:
The system introduces computational algorithms as intermediaries that translate raw sensor data from multiple sources into meaningful ground plane parameters. These intermediary processing steps simplify the integration of complex sensor inputs while maintaining high measurement precision.
3Stability of the object's composition
If robotic devices accurately determine ground plane on uneven terrain, then stability and balance are improved, but difficulty of detecting and measuring ground surface increases
Solution Approach 1:
The system performs preliminary ground detection by identifying contact points before full ground plane estimation. Inertial measurement units pre-determine device orientation relative to gravity, providing a reference framework that simplifies subsequent ground surface detection and measurement on uneven terrain.
Solution Approach 2:
The system applies local quality detection by focusing measurements on specific contact points where the device interacts with the ground, rather than attempting to measure the entire ground surface uniformly. This localized approach simplifies detection on uneven terrain while providing sufficient information for stability control.
4Stability of the object's composition
If robotic devices adjust position and orientation frequently, then balance and mobility on inclined terrain are improved, but use of energy increases
Solution Approach 1:
The system implements feedback control by continuously monitoring ground plane estimation and device orientation, then making adjustments only when deviations from desired balance exceed thresholds. This feedback mechanism optimizes energy usage by avoiding unnecessary adjustments while maintaining stability on inclined terrain.
Solution Approach 2:
The system dynamically adjusts the frequency and magnitude of position and orientation corrections based on real-time ground plane conditions. On stable terrain, adjustments are minimized to conserve energy, while on changing terrain, the system increases adjustment activity to maintain balance, optimizing energy consumption across varying operational conditions.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables robotic devices to accurately estimate the ground plane, thereby improving their balance and mobility on inclined and uneven terrains by providing precise adjustments based on the determined distance and orientation relative to the ground surface.
Implementation Method 1
determining an orientation of a body of a robotic device with respect to a gravity aligned reference frame
Implementation Method 2
determining the location of one or more contact points between the robotic device and a ground surface
Data Source
AI summary
A method for estimating a ground plane includes receiving a pose of a robotic device with respect to a gravity aligned reference frame, receiving one or more locations of one or more corresponding contact points between the robotic device and a ground surface, and determining a ground plane estimation of the ground surface based on the orientation of the robotic device with respect to the gravity aligned reference frame and the one or more locations of one or more corresponding contact points between the robotic device and the ground surface. The ground plane estimation includes a ground surface contour approximation. The method further includes determining a distance between a body of the robotic device and the determined ground plane estimation and causing adjustment of the pose of the robotic device with respect to the ground surface based on the determined distance and the determined ground plane estimation.